(safe) umb@umb:~/Desktop/car2$  python3 -u car.py \
  --mode train \
  --host localhost \
  --port 2200 \
  --tm-port 8001 \
  --train-town Town10HD_Opt \
  --spawn-index -1 \
  --train-goal-index -1 \
  --train-steps 50000 \
  --train-npc-min 8 \
  --train-npc-max 20 \
  --source-weather night_rain_fog \
  --out-dir ./culrt_carla_0915_aligned \
  --maml-warmup-batches 10 \
  --debug 2>&1 | tee ./culrt_carla_0915_aligned/train_log2.txt
tee: ./culrt_carla_0915_aligned/train_log2.txt: No such file or directory
Mode: train
Device: cpu
GlobalRoutePlanner available: True
Python: 3.10.19
Source town: Town10HD_Opt | goal=auto | NPC=[8, 20]
Target town: Town02 | goal=auto | NPC=[0, 2]
Weather: source=night_rain_fog target=mixed
Safety shield: False
beta0 candidates: (0.5, 1.0) | auto-select=True
Follow ego view: True
No rendering: False
Output dir: /home/umb/Desktop/car2/culrt_carla_0915_aligned
Auto-selected route target length: 200m ± 12m
Train steps: 50000 | Adapt steps cap: 50000 | Adapt episodes: 100
[OK] Connected to CARLA | host=localhost port=2200 town=Town10HD_Opt sync=True dt=0.050s weather=night_rain_fog fixed_goal_index=-1
[WARN] planner auto-route unavailable from spawn 117 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=80.39m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=18 weather=night_rain_fog spawn_idx=117 goal_idx=None route_len=210.7m spawn=(80.3,16.9,-0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.02 safe=0 progress=0.0% goal=210.72m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.54km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=210.71m dL=0.00 ttc=44.40s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.21km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=1.8% goal=206.94m dL=0.00 ttc=9.68s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.35km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=4.2% goal=201.87m dL=0.02 ttc=10.51s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.12km/h thr=0.35 brk=0.00 str=+0.17 safe=0 progress=6.6% goal=196.83m dL=0.03 ttc=11.27s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.11km/h thr=0.31 brk=0.00 str=-0.05 safe=0 progress=9.0% goal=191.80m dL=0.00 ttc=11.33s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.34km/h thr=0.18 brk=0.00 str=+0.08 safe=0 progress=11.4% goal=186.73m dL=0.04 ttc=7.32s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.08km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=13.8% goal=181.65m dL=0.04 ttc=5.77s tl=None credit=0 reason=
[STEP] step=0160 speed= 19.72km/h thr=0.30 brk=0.00 str=-0.12 safe=0 progress=16.4% goal=176.25m dL=0.02 ttc=4.61s tl=None credit=0 reason=
[STEP] step=0180 speed= 20.32km/h thr=0.46 brk=0.00 str=-0.06 safe=0 progress=19.0% goal=170.69m dL=0.08 ttc=3.58s tl=None credit=0 reason=
[STEP] step=0200 speed= 19.91km/h thr=0.28 brk=0.00 str=-0.04 safe=0 progress=21.7% goal=164.94m dL=0.07 ttc=2.63s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.11km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=24.3% goal=159.52m dL=0.03 ttc=1.80s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.04km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=26.7% goal=154.46m dL=0.06 ttc=1.14s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.01km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=29.1% goal=149.44m dL=0.05 ttc=10.80s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.95km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=31.5% goal=144.44m dL=0.05 ttc=19.76s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.09km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=33.8% goal=139.43m dL=0.03 ttc=19.19s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.13km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=36.2% goal=134.47m dL=0.01 ttc=17.78s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.08km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=38.6% goal=129.43m dL=0.02 ttc=15.07s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.12km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=41.0% goal=124.39m dL=0.03 ttc=13.57s tl=None credit=0 reason=
[STEP] step=0380 speed= 18.20km/h thr=0.23 brk=0.00 str=+0.10 safe=0 progress=43.4% goal=119.36m dL=0.06 ttc=13.55s tl=None credit=0 reason=
[STEP] step=0400 speed= 18.12km/h thr=0.24 brk=0.00 str=-0.16 safe=0 progress=45.8% goal=114.31m dL=0.06 ttc=10.76s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.97km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=48.1% goal=109.28m dL=0.05 ttc=6.02s tl=Red credit=0 reason=
[STEP] step=0440 speed= 10.95km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=50.1% goal=105.21m dL=0.02 ttc=6.51s tl=Red credit=0 reason=
[STEP] step=0460 speed= 16.23km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=51.8% goal=101.64m dL=0.01 ttc=11.92s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.99km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=54.1% goal=96.71m dL=0.01 ttc=9.74s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.32km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=56.5% goal=91.65m dL=0.03 ttc=8.57s tl=None credit=0 reason=
[STEP] step=0520 speed= 18.02km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=58.9% goal=86.64m dL=0.00 ttc=7.72s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.37km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=61.3% goal=81.60m dL=0.03 ttc=6.58s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.21km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=63.7% goal=76.53m dL=0.01 ttc=5.64s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.01km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=66.1% goal=71.51m dL=0.03 ttc=4.70s tl=None credit=0 reason=
[STEP] step=0600 speed= 18.00km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=68.4% goal=66.51m dL=0.02 ttc=3.70s tl=None credit=0 reason=
[STEP] step=0620 speed= 18.00km/h thr=0.37 brk=0.00 str=+0.02 safe=0 progress=70.8% goal=61.51m dL=0.05 ttc=2.70s tl=None credit=0 reason=
[STEP] step=0640 speed= 18.14km/h thr=0.10 brk=0.00 str=-0.02 safe=0 progress=73.2% goal=56.46m dL=0.06 ttc=1.68s tl=None credit=0 reason=
[STEP] step=0660 speed= 10.73km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=75.2% goal=52.31m dL=0.02 ttc=1.44s tl=None credit=0 reason=
[STEP] step=0667 speed=  4.42km/h thr=0.00 brk=0.27 str=-0.04 safe=0 progress=75.6% goal=51.42m dL=0.02 ttc=2.48s tl=None credit=0 reason=collision
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31108 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 69 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=13.92% dL=127.43m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=8 weather=night_rain_fog spawn_idx=69 goal_idx=None route_len=216.2m spawn=(-28.6,140.5,-0.0) yaw=0.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=216.24m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  4.04km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.19m dL=0.00 ttc=14.44s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.05km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=212.25m dL=0.00 ttc=9.47s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.38km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=4.2% goal=207.17m dL=0.03 ttc=8.48s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.51km/h thr=0.35 brk=0.00 str=-0.05 safe=0 progress=6.5% goal=202.13m dL=0.03 ttc=7.74s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.63km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=8.9% goal=197.02m dL=0.01 ttc=6.75s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.91km/h thr=0.33 brk=0.00 str=+0.08 safe=0 progress=11.2% goal=191.99m dL=0.00 ttc=22.47s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.20km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=13.5% goal=186.98m dL=0.03 ttc=29.04s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.11km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=15.9% goal=181.94m dL=0.02 ttc=34.51s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.74km/h thr=0.32 brk=0.00 str=-0.00 safe=0 progress=18.2% goal=176.83m dL=0.00 ttc=30.43s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.15km/h thr=0.35 brk=0.00 str=+0.06 safe=0 progress=20.6% goal=171.75m dL=0.03 ttc=23.96s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.65km/h thr=0.29 brk=0.00 str=+0.16 safe=0 progress=22.9% goal=166.66m dL=0.05 ttc=16.19s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.72km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=25.3% goal=161.44m dL=0.03 ttc=5.81s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.69km/h thr=0.22 brk=0.00 str=-0.08 safe=0 progress=27.7% goal=156.44m dL=0.01 ttc=48.73s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.47km/h thr=0.38 brk=0.00 str=+0.10 safe=0 progress=30.0% goal=151.41m dL=0.01 ttc=61.80s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.05km/h thr=0.34 brk=0.00 str=+0.02 safe=0 progress=32.4% goal=146.27m dL=0.08 ttc=6.43s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.01km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=34.7% goal=141.12m dL=0.01 ttc=61.56s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.14km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=37.1% goal=136.08m dL=0.01 ttc=57.60s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.88km/h thr=0.34 brk=0.00 str=+0.11 safe=0 progress=39.4% goal=130.96m dL=0.04 ttc=67.40s tl=None credit=0 reason=
[STEP] step=0380 speed= 18.35km/h thr=0.31 brk=0.00 str=-0.06 safe=0 progress=41.8% goal=125.81m dL=0.04 ttc=7.08s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.45km/h thr=0.13 brk=0.00 str=-0.10 safe=0 progress=44.1% goal=120.96m dL=0.08 ttc=34.45s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.27km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=46.0% goal=116.72m dL=0.00 ttc=25.08s tl=None credit=0 reason=
[STEP] step=0440 speed= 15.13km/h thr=0.26 brk=0.00 str=-0.10 safe=0 progress=48.0% goal=112.46m dL=0.01 ttc=6.40s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.26km/h thr=0.28 brk=0.00 str=-0.12 safe=0 progress=50.0% goal=108.22m dL=0.01 ttc=17.69s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.93km/h thr=0.32 brk=0.00 str=+0.04 safe=0 progress=51.9% goal=104.01m dL=0.06 ttc=18.11s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.36km/h thr=0.21 brk=0.00 str=+0.08 safe=0 progress=53.9% goal=99.76m dL=0.00 ttc=18.76s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.94km/h thr=0.29 brk=0.00 str=-0.07 safe=0 progress=55.8% goal=95.48m dL=0.03 ttc=25.03s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.86km/h thr=0.34 brk=0.00 str=-0.26 safe=0 progress=57.9% goal=91.10m dL=0.02 ttc=27.05s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.84km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=59.9% goal=86.69m dL=0.12 ttc=16.38s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.83km/h thr=0.35 brk=0.00 str=-0.13 safe=0 progress=62.0% goal=82.24m dL=0.08 ttc=31.56s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.49km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=64.0% goal=77.82m dL=0.05 ttc=31.11s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.91km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=66.0% goal=73.50m dL=0.05 ttc=27.28s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.90km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=68.0% goal=69.12m dL=0.06 ttc=25.76s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.99km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=70.1% goal=64.72m dL=0.05 ttc=23.90s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.14km/h thr=0.27 brk=0.00 str=-0.16 safe=0 progress=72.1% goal=60.35m dL=0.04 ttc=22.09s tl=None credit=0 reason=
[STEP] step=0700 speed= 17.66km/h thr=0.37 brk=0.00 str=-0.08 safe=0 progress=74.2% goal=55.78m dL=0.00 ttc=7.60s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.97km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=76.5% goal=50.79m dL=0.13 ttc=16.70s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.23km/h thr=0.40 brk=0.00 str=+0.10 safe=0 progress=78.8% goal=45.76m dL=0.09 ttc=15.54s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.10km/h thr=0.15 brk=0.00 str=+0.06 safe=0 progress=81.2% goal=40.68m dL=0.02 ttc=7.92s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.32km/h thr=0.43 brk=0.00 str=+0.03 safe=0 progress=83.5% goal=35.64m dL=0.05 ttc=13.95s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.18km/h thr=0.37 brk=0.00 str=+0.06 safe=0 progress=85.9% goal=30.57m dL=0.08 ttc=11.27s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.49km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=88.2% goal=25.48m dL=0.04 ttc=7.51s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.36km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=90.6% goal=20.23m dL=0.04 ttc=5.42s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.04km/h thr=0.26 brk=0.00 str=-0.07 safe=0 progress=93.0% goal=15.10m dL=0.03 ttc=3.20s tl=None credit=0 reason=
[STEP] step=0869 speed= 17.79km/h thr=0.22 brk=0.00 str=+0.18 safe=0 progress=94.1% goal=12.85m dL=0.06 ttc=2.49s tl=None credit=0 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31118 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 128 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=121.73m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=19 weather=night_rain_fog spawn_idx=128 goal_idx=None route_len=199.7m spawn=(32.3,130.5,-0.0) yaw=-179.7 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=199.72m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.84km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=199.68m dL=0.00 ttc=52.91s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.17km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=2.0% goal=195.77m dL=0.00 ttc=22.15s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.70km/h thr=0.40 brk=0.00 str=-0.05 safe=0 progress=4.5% goal=190.68m dL=0.06 ttc=21.69s tl=None credit=0 reason=
[STEP] step=0080 speed= 19.63km/h thr=0.20 brk=0.00 str=-0.04 safe=0 progress=7.2% goal=185.31m dL=0.00 ttc=10.11s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.46km/h thr=0.37 brk=0.00 str=+0.12 safe=0 progress=9.8% goal=180.14m dL=0.02 ttc=8.91s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.14km/h thr=0.27 brk=0.00 str=+0.08 safe=0 progress=12.4% goal=175.01m dL=0.04 ttc=12.31s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.49km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=14.9% goal=169.93m dL=0.02 ttc=31.99s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.16km/h thr=0.40 brk=0.00 str=-0.03 safe=0 progress=17.5% goal=164.86m dL=0.04 ttc=46.29s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.89km/h thr=0.35 brk=0.00 str=-0.06 safe=0 progress=20.0% goal=159.73m dL=0.05 ttc=48.98s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.36km/h thr=0.31 brk=0.00 str=-0.08 safe=0 progress=22.6% goal=154.52m dL=0.03 ttc=51.93s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.20km/h thr=0.26 brk=0.00 str=-0.13 safe=0 progress=25.2% goal=149.46m dL=0.01 ttc=57.24s tl=None credit=0 reason=
[STEP] step=0240 speed= 13.81km/h thr=0.06 brk=0.00 str=-0.07 safe=0 progress=27.5% goal=144.76m dL=0.01 ttc=75.04s tl=Red credit=0 reason=
[STEP] step=0260 speed= 16.83km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=29.5% goal=140.80m dL=0.02 ttc=52.82s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.19km/h thr=0.34 brk=0.00 str=-0.09 safe=0 progress=32.0% goal=135.83m dL=0.01 ttc=35.92s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.27km/h thr=0.35 brk=0.00 str=+0.01 safe=0 progress=34.5% goal=130.80m dL=0.03 ttc=31.55s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.31km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=37.0% goal=125.73m dL=0.07 ttc=17.73s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.12km/h thr=0.37 brk=0.00 str=+0.06 safe=0 progress=39.6% goal=120.66m dL=0.01 ttc=17.60s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.39km/h thr=0.27 brk=0.00 str=+0.04 safe=0 progress=42.1% goal=115.59m dL=0.04 ttc=18.43s tl=None credit=0 reason=
[STEP] step=0380 speed= 18.15km/h thr=0.28 brk=0.00 str=+0.08 safe=0 progress=44.7% goal=110.52m dL=0.04 ttc=20.66s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.07km/h thr=0.13 brk=0.00 str=-0.00 safe=0 progress=47.1% goal=105.70m dL=0.09 ttc=16.83s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.62km/h thr=0.22 brk=0.00 str=+0.09 safe=0 progress=49.2% goal=101.51m dL=0.03 ttc=15.17s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.82km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=51.2% goal=97.39m dL=0.00 ttc=12.16s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.94km/h thr=0.15 brk=0.00 str=+0.11 safe=0 progress=53.3% goal=93.24m dL=0.00 ttc=10.50s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.95km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=55.4% goal=89.07m dL=0.03 ttc=8.55s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.09km/h thr=0.16 brk=0.00 str=+0.13 safe=0 progress=57.5% goal=84.90m dL=0.03 ttc=7.28s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.11km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=59.6% goal=80.74m dL=0.02 ttc=5.68s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.81km/h thr=0.25 brk=0.00 str=+0.10 safe=0 progress=61.7% goal=76.51m dL=0.01 ttc=4.42s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.91km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=63.9% goal=72.06m dL=0.09 ttc=3.09s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.22km/h thr=0.24 brk=0.00 str=+0.12 safe=0 progress=66.2% goal=67.53m dL=0.13 ttc=2.06s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.25km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=68.4% goal=63.05m dL=0.09 ttc=1.13s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.88km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=70.7% goal=58.59m dL=0.06 ttc=8.46s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.33km/h thr=0.13 brk=0.00 str=-0.04 safe=0 progress=72.9% goal=54.04m dL=0.06 ttc=7.18s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.23km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=75.2% goal=49.51m dL=0.09 ttc=6.03s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.06km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=77.5% goal=45.00m dL=0.01 ttc=4.95s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.63km/h thr=0.33 brk=0.00 str=+0.10 safe=0 progress=79.7% goal=40.50m dL=0.06 ttc=3.87s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.30km/h thr=0.18 brk=0.00 str=+0.13 safe=0 progress=82.1% goal=35.75m dL=0.08 ttc=2.85s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.11km/h thr=0.29 brk=0.00 str=+0.06 safe=0 progress=84.6% goal=30.82m dL=0.09 ttc=1.98s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.14km/h thr=0.34 brk=0.00 str=+0.03 safe=0 progress=87.1% goal=25.81m dL=0.03 ttc=2.14s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.28km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=89.6% goal=20.76m dL=0.06 ttc=1.61s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.37km/h thr=0.00 brk=0.24 str=+0.04 safe=0 progress=92.1% goal=15.73m dL=0.03 ttc=2.50s tl=None credit=0 reason=
[STEP] step=0815 speed= 10.17km/h thr=0.00 brk=0.33 str=+0.06 safe=0 progress=93.5% goal=12.89m dL=0.01 ttc=5.80s tl=None credit=0 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31139 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 151 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=94.82m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=18 weather=night_rain_fog spawn_idx=151 goal_idx=None route_len=210.7m spawn=(54.4,-64.4,-0.0) yaw=180.0 start_progress=0.00% start_dL=0.02
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=210.72m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  5.06km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=210.67m dL=0.00 ttc=14.62s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.42km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=206.67m dL=0.00 ttc=3.99s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.32km/h thr=0.19 brk=0.00 str=-0.05 safe=0 progress=4.3% goal=201.59m dL=0.00 ttc=2.79s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.46km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=6.7% goal=196.54m dL=0.01 ttc=1.60s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.28km/h thr=0.44 brk=0.00 str=-0.07 safe=0 progress=9.1% goal=191.46m dL=0.06 ttc=0.64s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.42km/h thr=0.39 brk=0.00 str=+0.01 safe=0 progress=11.5% goal=186.39m dL=0.02 ttc=10.99s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.21km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=14.0% goal=181.32m dL=0.01 ttc=10.75s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.25km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=16.4% goal=176.25m dL=0.08 ttc=11.94s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.11km/h thr=0.23 brk=0.00 str=+0.08 safe=0 progress=18.8% goal=171.20m dL=0.02 ttc=13.50s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.19km/h thr=0.35 brk=0.00 str=+0.03 safe=0 progress=21.1% goal=166.20m dL=0.05 ttc=12.78s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.01km/h thr=0.22 brk=0.00 str=+0.00 safe=0 progress=23.5% goal=161.18m dL=0.09 ttc=12.05s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.56km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=25.9% goal=156.23m dL=0.03 ttc=11.55s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.17km/h thr=0.36 brk=0.00 str=+0.03 safe=0 progress=28.2% goal=151.26m dL=0.05 ttc=10.36s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.02km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=30.6% goal=146.24m dL=0.02 ttc=10.38s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.78km/h thr=0.26 brk=0.00 str=-0.05 safe=0 progress=33.0% goal=141.25m dL=0.05 ttc=10.09s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.06km/h thr=0.33 brk=0.00 str=-0.07 safe=0 progress=35.3% goal=136.29m dL=0.04 ttc=9.67s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.86km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=37.7% goal=131.21m dL=0.04 ttc=9.84s tl=Green credit=0 reason=
[STEP] step=0360 speed= 18.38km/h thr=0.37 brk=0.00 str=-0.08 safe=0 progress=40.2% goal=126.07m dL=0.04 ttc=12.01s tl=Green credit=0 reason=
[STEP] step=0380 speed= 18.04km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=42.6% goal=120.98m dL=0.07 ttc=9.91s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.94km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=45.0% goal=115.99m dL=0.00 ttc=8.68s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.11km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=47.3% goal=110.98m dL=0.00 ttc=7.95s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.13km/h thr=0.43 brk=0.00 str=-0.04 safe=0 progress=49.7% goal=105.93m dL=0.01 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.07km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=52.1% goal=100.88m dL=0.02 ttc=4.93s tl=None credit=0 reason=
[STEP] step=0480 speed= 18.17km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=54.5% goal=95.81m dL=0.01 ttc=3.60s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.30km/h thr=0.35 brk=0.00 str=-0.10 safe=0 progress=56.9% goal=90.75m dL=0.07 ttc=2.41s tl=None credit=0 reason=
[STEP] step=0520 speed= 17.71km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=59.3% goal=85.74m dL=0.11 ttc=1.61s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.57km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=61.4% goal=81.31m dL=0.01 ttc=0.87s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.70km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=63.4% goal=77.19m dL=0.04 ttc=17.35s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.94km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=65.4% goal=73.01m dL=0.04 ttc=14.83s tl=None credit=0 reason=
[STEP] step=0600 speed= 14.83km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=67.3% goal=68.87m dL=0.05 ttc=12.70s tl=None credit=0 reason=
[STEP] step=0620 speed= 14.93km/h thr=0.16 brk=0.00 str=-0.12 safe=0 progress=69.3% goal=64.72m dL=0.02 ttc=12.52s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.64km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=71.3% goal=60.55m dL=0.02 ttc=11.25s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.75km/h thr=0.20 brk=0.00 str=+0.00 safe=0 progress=73.3% goal=56.19m dL=0.01 ttc=11.13s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.53km/h thr=0.22 brk=0.00 str=+0.05 safe=0 progress=75.4% goal=51.86m dL=0.02 ttc=11.53s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.27km/h thr=0.32 brk=0.00 str=+0.06 safe=0 progress=77.4% goal=47.56m dL=0.06 ttc=13.03s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.17km/h thr=0.17 brk=0.00 str=+0.05 safe=0 progress=79.5% goal=43.24m dL=0.04 ttc=19.35s tl=None credit=0 reason=
[STEP] step=0740 speed= 15.54km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=81.5% goal=39.03m dL=0.02 ttc=22.56s tl=None credit=0 reason=
[STEP] step=0760 speed= 15.60km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=83.5% goal=34.77m dL=0.01 ttc=20.81s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.45km/h thr=0.32 brk=0.00 str=-0.05 safe=0 progress=85.6% goal=30.36m dL=0.03 ttc=18.39s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.02km/h thr=0.17 brk=0.00 str=-0.11 safe=0 progress=87.7% goal=25.95m dL=0.07 ttc=16.35s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.65km/h thr=0.23 brk=0.00 str=+0.00 safe=0 progress=89.7% goal=21.77m dL=0.20 ttc=15.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 17.96km/h thr=0.33 brk=0.00 str=+0.02 safe=0 progress=91.9% goal=17.15m dL=0.08 ttc=13.89s tl=None credit=0 reason=
[STEP] step=0857 speed= 17.97km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=93.9% goal=12.89m dL=0.02 ttc=12.75s tl=None credit=0 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31159 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 101 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=14.15% dL=15.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=14 weather=night_rain_fog spawn_idx=101 goal_idx=None route_len=204.7m spawn=(-28.7,28.1,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=204.65m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  5.80km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=0.1% goal=204.54m dL=0.00 ttc=18.64s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.34km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=2.0% goal=200.50m dL=0.00 ttc=6.51s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.15km/h thr=0.22 brk=0.00 str=+0.08 safe=0 progress=4.5% goal=195.37m dL=0.04 ttc=9.76s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.15km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=7.0% goal=190.26m dL=0.03 ttc=20.70s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.57km/h thr=0.21 brk=0.00 str=+0.09 safe=0 progress=9.5% goal=185.11m dL=0.07 ttc=16.35s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.24km/h thr=0.39 brk=0.00 str=+0.06 safe=0 progress=12.0% goal=180.06m dL=0.01 ttc=15.94s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.64km/h thr=0.33 brk=0.00 str=+0.09 safe=0 progress=14.5% goal=174.98m dL=0.02 ttc=16.78s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.48km/h thr=0.39 brk=0.00 str=+0.07 safe=0 progress=17.0% goal=169.89m dL=0.04 ttc=22.42s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.47km/h thr=0.34 brk=0.00 str=+0.08 safe=0 progress=19.5% goal=164.80m dL=0.04 ttc=21.20s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.93km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=22.0% goal=159.70m dL=0.04 ttc=20.68s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.31km/h thr=0.32 brk=0.00 str=-0.04 safe=0 progress=24.4% goal=154.68m dL=0.00 ttc=7.13s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.16km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=26.9% goal=149.61m dL=0.01 ttc=4.58s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.70km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=29.4% goal=144.57m dL=0.01 ttc=3.86s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.01km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=31.8% goal=139.47m dL=0.03 ttc=3.43s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.29km/h thr=0.23 brk=0.00 str=+0.12 safe=0 progress=34.3% goal=134.43m dL=0.02 ttc=3.32s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.47km/h thr=0.35 brk=0.00 str=-0.04 safe=0 progress=36.8% goal=129.34m dL=0.12 ttc=8.64s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.89km/h thr=0.33 brk=0.00 str=-0.09 safe=0 progress=39.3% goal=124.12m dL=0.01 ttc=6.87s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.79km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=41.9% goal=118.88m dL=0.06 ttc=6.34s tl=None credit=0 reason=
[STEP] step=0380 speed= 18.42km/h thr=0.41 brk=0.00 str=-0.03 safe=0 progress=44.4% goal=113.82m dL=0.01 ttc=6.09s tl=None credit=0 reason=
[STEP] step=0400 speed= 18.33km/h thr=0.25 brk=0.00 str=-0.07 safe=0 progress=46.9% goal=108.71m dL=0.02 ttc=6.14s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.15km/h thr=0.25 brk=0.00 str=-0.12 safe=0 progress=49.4% goal=103.62m dL=0.06 ttc=4.04s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.86km/h thr=0.00 brk=0.24 str=+0.06 safe=0 progress=51.8% goal=98.62m dL=0.01 ttc=2.36s tl=Red credit=0 reason=
[STEP] step=0460 speed= 15.50km/h thr=0.33 brk=0.00 str=+0.04 safe=0 progress=53.9% goal=94.35m dL=0.07 ttc=2.56s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.67km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=55.9% goal=90.17m dL=0.19 ttc=3.17s tl=None credit=0 reason=
[STEP] step=0500 speed= 10.90km/h thr=0.07 brk=0.00 str=+0.21 safe=0 progress=57.6% goal=86.78m dL=0.10 ttc=4.88s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.15km/h thr=0.09 brk=0.00 str=+0.06 safe=0 progress=59.0% goal=83.85m dL=0.03 ttc=4.40s tl=None credit=0 reason=
[STEP] step=0540 speed=  9.55km/h thr=0.15 brk=0.00 str=+0.10 safe=0 progress=60.4% goal=81.13m dL=0.02 ttc=8.46s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.05km/h thr=0.12 brk=0.00 str=+0.07 safe=0 progress=61.6% goal=78.48m dL=0.09 ttc=9.52s tl=None credit=0 reason=
[STEP] step=0580 speed=  8.09km/h thr=0.06 brk=0.00 str=+0.22 safe=0 progress=62.8% goal=76.13m dL=0.04 ttc=7.59s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.82km/h thr=0.14 brk=0.00 str=+0.27 safe=0 progress=63.9% goal=73.86m dL=0.01 ttc=2.79s tl=None credit=0 reason=
[STEP] step=0620 speed=  8.08km/h thr=0.24 brk=0.00 str=+0.37 safe=0 progress=65.0% goal=71.63m dL=0.05 ttc=1.55s tl=None credit=0 reason=
[STEP] step=0640 speed= 10.47km/h thr=0.32 brk=0.00 str=+0.24 safe=0 progress=66.2% goal=69.17m dL=0.24 ttc=1.03s tl=None credit=0 reason=
[STEP] step=0660 speed= 17.10km/h thr=0.38 brk=0.00 str=+0.14 safe=0 progress=68.0% goal=65.42m dL=0.07 ttc=39.45s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.96km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=70.5% goal=60.47m dL=0.04 ttc=28.91s tl=None credit=0 reason=
[STEP] step=0700 speed= 18.08km/h thr=0.28 brk=0.00 str=-0.18 safe=0 progress=72.9% goal=55.48m dL=0.07 ttc=29.58s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.18km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=75.3% goal=50.47m dL=0.04 ttc=27.42s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.02km/h thr=0.27 brk=0.00 str=+0.09 safe=0 progress=77.8% goal=45.47m dL=0.03 ttc=26.79s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.90km/h thr=0.25 brk=0.00 str=-0.12 safe=0 progress=80.2% goal=40.47m dL=0.10 ttc=29.67s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.06km/h thr=0.34 brk=0.00 str=-0.05 safe=0 progress=82.7% goal=35.49m dL=0.05 ttc=25.31s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.34km/h thr=0.27 brk=0.00 str=-0.12 safe=0 progress=85.1% goal=30.43m dL=0.01 ttc=18.31s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.39km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=87.6% goal=25.38m dL=0.03 ttc=16.66s tl=None credit=0 reason=
[STEP] step=0840 speed= 19.32km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=90.1% goal=20.20m dL=0.12 ttc=15.74s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.93km/h thr=0.22 brk=0.00 str=+0.10 safe=0 progress=92.7% goal=14.90m dL=0.02 ttc=14.29s tl=None credit=0 reason=
[STEP] step=0868 speed= 16.98km/h thr=0.14 brk=0.00 str=-0.09 safe=0 progress=93.7% goal=12.95m dL=0.02 ttc=14.86s tl=None credit=0 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31175 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 41 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=123.87m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=12 weather=night_rain_fog spawn_idx=41 goal_idx=None route_len=216.3m spawn=(109.4,71.2,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.00 safe=0 progress=0.0% goal=216.28m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  4.96km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.20m dL=0.00 ttc=30.22s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.27km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=212.21m dL=0.00 ttc=8.42s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.23km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=4.2% goal=207.15m dL=0.01 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.10km/h thr=0.39 brk=0.00 str=-0.04 safe=0 progress=6.6% goal=202.10m dL=0.02 ttc=4.27s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.40km/h thr=0.41 brk=0.00 str=-0.02 safe=0 progress=8.9% goal=196.95m dL=0.04 ttc=2.84s tl=None credit=0 reason=
[STEP] step=0120 speed= 14.26km/h thr=0.31 brk=0.00 str=+0.07 safe=0 progress=11.1% goal=192.36m dL=0.05 ttc=2.11s tl=Red credit=0 reason=
[STEP] step=0140 speed= 18.01km/h thr=0.29 brk=0.00 str=-0.05 safe=0 progress=13.2% goal=187.82m dL=0.07 ttc=1.13s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.00km/h thr=0.45 brk=0.00 str=+0.03 safe=0 progress=15.5% goal=182.79m dL=0.01 ttc=2.93s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.53km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=17.9% goal=177.57m dL=0.01 ttc=5.10s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.13km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=20.3% goal=172.48m dL=0.03 ttc=90.83s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.11km/h thr=0.22 brk=0.00 str=-0.03 safe=0 progress=22.6% goal=167.43m dL=0.00 ttc=106.84s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.02km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=24.9% goal=162.42m dL=0.01 ttc=78.83s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.00km/h thr=0.13 brk=0.00 str=-0.02 safe=0 progress=27.2% goal=157.39m dL=0.00 ttc=45.25s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.35km/h thr=0.35 brk=0.00 str=+0.13 safe=0 progress=29.6% goal=152.35m dL=0.03 ttc=33.85s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.10km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=31.9% goal=147.29m dL=0.04 ttc=27.10s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.11km/h thr=0.27 brk=0.00 str=+0.17 safe=0 progress=34.2% goal=142.26m dL=0.06 ttc=23.35s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.07km/h thr=0.39 brk=0.00 str=-0.15 safe=0 progress=36.5% goal=137.25m dL=0.05 ttc=21.12s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.39km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=38.9% goal=132.20m dL=0.01 ttc=20.43s tl=None credit=0 reason=
[STEP] step=0380 speed= 19.55km/h thr=0.32 brk=0.00 str=+0.01 safe=0 progress=41.3% goal=126.97m dL=0.01 ttc=21.52s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.80km/h thr=0.14 brk=0.00 str=-0.05 safe=0 progress=43.7% goal=121.81m dL=0.06 ttc=27.40s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.56km/h thr=0.11 brk=0.00 str=-0.08 safe=0 progress=45.8% goal=117.18m dL=0.01 ttc=32.81s tl=None credit=0 reason=
[STEP] step=0440 speed= 15.66km/h thr=0.28 brk=0.00 str=-0.04 safe=0 progress=47.8% goal=112.93m dL=0.01 ttc=35.74s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.58km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=49.8% goal=108.65m dL=0.07 ttc=32.96s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.82km/h thr=0.27 brk=0.00 str=-0.08 safe=0 progress=51.7% goal=104.41m dL=0.03 ttc=31.18s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.79km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=53.7% goal=100.05m dL=0.01 ttc=29.94s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.23km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=55.7% goal=95.81m dL=0.04 ttc=32.46s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.48km/h thr=0.20 brk=0.00 str=-0.12 safe=0 progress=57.7% goal=91.52m dL=0.01 ttc=36.84s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.28km/h thr=0.19 brk=0.00 str=-0.16 safe=0 progress=59.7% goal=87.24m dL=0.04 ttc=49.68s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.97km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=61.6% goal=83.02m dL=0.01 ttc=50.08s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.01km/h thr=0.26 brk=0.00 str=-0.23 safe=0 progress=63.6% goal=78.73m dL=0.01 ttc=39.95s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.66km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=65.6% goal=74.49m dL=0.00 ttc=37.65s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.62km/h thr=0.19 brk=0.00 str=-0.07 safe=0 progress=67.5% goal=70.22m dL=0.01 ttc=31.28s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.83km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=69.5% goal=65.92m dL=0.04 ttc=24.14s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.36km/h thr=0.33 brk=0.00 str=-0.07 safe=0 progress=71.6% goal=61.51m dL=0.01 ttc=15.71s tl=None credit=0 reason=
[STEP] step=0700 speed= 17.88km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=73.8% goal=56.72m dL=0.02 ttc=14.65s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.69km/h thr=0.31 brk=0.00 str=-0.07 safe=0 progress=76.1% goal=51.77m dL=0.08 ttc=14.66s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.09km/h thr=0.37 brk=0.00 str=-0.10 safe=0 progress=78.4% goal=46.78m dL=0.02 ttc=16.25s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.17km/h thr=0.22 brk=0.00 str=+0.08 safe=0 progress=80.7% goal=41.72m dL=0.07 ttc=15.18s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.12km/h thr=0.32 brk=0.00 str=-0.08 safe=0 progress=83.0% goal=36.69m dL=0.03 ttc=14.22s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.05km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=85.4% goal=31.66m dL=0.01 ttc=13.29s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.04km/h thr=0.32 brk=0.00 str=+0.03 safe=0 progress=87.7% goal=26.65m dL=0.08 ttc=12.29s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.29km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=90.0% goal=21.59m dL=0.02 ttc=11.12s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.14km/h thr=0.30 brk=0.00 str=-0.11 safe=0 progress=92.3% goal=16.57m dL=0.00 ttc=10.21s tl=None credit=0 reason=
[STEP] step=0875 speed= 18.06km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=94.1% goal=12.79m dL=0.05 ttc=9.53s tl=None credit=0 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31189 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 153 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=61.83m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=14 weather=night_rain_fog spawn_idx=153 goal_idx=None route_len=216.3m spawn=(-2.6,-68.0,-0.0) yaw=-179.2 start_progress=0.03% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=216.18m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.14km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=0.0% goal=216.15m dL=0.00 ttc=22.17s tl=None credit=0 reason=
[STEP] step=0040 speed= 17.97km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=212.27m dL=0.00 ttc=12.27s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.82km/h thr=0.33 brk=0.00 str=+0.13 safe=0 progress=4.1% goal=207.32m dL=0.06 ttc=7.89s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.10km/h thr=0.27 brk=0.00 str=+0.10 safe=0 progress=6.4% goal=202.33m dL=0.01 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.28km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=8.8% goal=197.26m dL=0.02 ttc=6.02s tl=Red credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.03 safe=0 progress=9.6% goal=195.45m dL=0.00 ttc=2.52s tl=Red credit=11 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.01 safe=0 progress=9.6% goal=195.45m dL=0.00 ttc=9.19s tl=Red credit=31 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.04 safe=0 progress=9.6% goal=195.45m dL=0.00 ttc=3.09s tl=Red credit=51 reason=
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31205 (sensor.other.collision) 
[INFO] collect_domain_batches: waiting 25 s for CARLA to settle...
[INFO] CARLA ready; proceeding to train_loop.
[OK] Applied MAML-style initialization: {'maml_batches': 10.0, 'maml_inner_loss': -0.14108171612024306, 'maml_query_loss': -0.13789414167404174}
[OK] Connected to CARLA | host=localhost port=2200 town=Town10HD_Opt sync=True dt=0.050s weather=night_rain_fog fixed_goal_index=-1
[WARN] planner auto-route unavailable from spawn 12 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=63.53% dL=7.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=15 weather=night_rain_fog spawn_idx=12 goal_idx=None route_len=216.3m spawn=(-113.6,-14.2,-0.0) yaw=90.6 start_progress=0.00% start_dL=0.08
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=216.27m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  4.06km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.27m dL=0.03 ttc=31.29s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.06km/h thr=0.24 brk=0.00 str=-0.00 safe=0 progress=1.8% goal=212.35m dL=0.01 ttc=10.06s tl=Red credit=0 reason=
[STEP] step=0060 speed= 12.90km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=3.7% goal=208.17m dL=0.06 ttc=8.27s tl=Red credit=0 reason=
[STEP] step=0080 speed= 18.12km/h thr=0.26 brk=0.00 str=-0.10 safe=0 progress=5.8% goal=203.79m dL=0.00 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.28km/h thr=0.09 brk=0.00 str=-0.08 safe=0 progress=8.1% goal=198.74m dL=0.00 ttc=6.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.95km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=10.4% goal=193.79m dL=0.02 ttc=5.12s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.20km/h thr=0.34 brk=0.00 str=-0.16 safe=0 progress=12.7% goal=188.77m dL=0.06 ttc=4.90s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.13km/h thr=0.22 brk=0.00 str=-0.06 safe=0 progress=15.0% goal=183.74m dL=0.02 ttc=3.74s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.99km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=17.4% goal=178.73m dL=0.02 ttc=2.51s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.33km/h thr=0.34 brk=0.00 str=-0.04 safe=0 progress=19.7% goal=173.71m dL=0.01 ttc=10.44s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.52km/h thr=0.25 brk=0.00 str=-0.06 safe=0 progress=22.0% goal=168.63m dL=0.05 ttc=17.46s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.95km/h thr=0.23 brk=0.00 str=-0.00 safe=0 progress=24.4% goal=163.56m dL=0.03 ttc=17.26s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.11km/h thr=0.32 brk=0.00 str=-0.09 safe=0 progress=26.7% goal=158.52m dL=0.06 ttc=19.40s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.88km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=29.1% goal=153.44m dL=0.04 ttc=18.57s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.98km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=31.5% goal=148.23m dL=0.01 ttc=17.67s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.10km/h thr=0.32 brk=0.00 str=+0.09 safe=0 progress=33.8% goal=143.19m dL=0.01 ttc=16.82s tl=None credit=0 reason=
[STEP] step=0340 speed= 19.82km/h thr=0.31 brk=0.00 str=-0.05 safe=0 progress=36.2% goal=138.00m dL=0.02 ttc=11.48s tl=None credit=0 reason=
[STEP] step=0360 speed= 20.32km/h thr=0.43 brk=0.00 str=+0.09 safe=0 progress=38.8% goal=132.46m dL=0.03 ttc=14.20s tl=None credit=0 reason=
[STEP] step=0380 speed= 19.55km/h thr=0.40 brk=0.00 str=-0.10 safe=0 progress=41.3% goal=126.91m dL=0.03 ttc=12.89s tl=None credit=0 reason=
[STEP] step=0400 speed= 18.00km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=43.7% goal=121.67m dL=0.04 ttc=8.39s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.55km/h thr=0.16 brk=0.00 str=-0.04 safe=0 progress=46.0% goal=116.87m dL=0.09 ttc=13.84s tl=None credit=0 reason=
[STEP] step=0440 speed= 17.04km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=48.1% goal=112.26m dL=0.09 ttc=13.58s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.75km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=50.2% goal=107.59m dL=0.09 ttc=13.60s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.45km/h thr=0.09 brk=0.00 str=-0.04 safe=0 progress=52.4% goal=103.01m dL=0.06 ttc=14.46s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.90km/h thr=0.32 brk=0.00 str=-0.03 safe=0 progress=54.5% goal=98.50m dL=0.08 ttc=7.37s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.11km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=56.6% goal=93.80m dL=0.12 ttc=6.69s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.22km/h thr=0.26 brk=0.00 str=+0.05 safe=0 progress=58.6% goal=89.47m dL=0.05 ttc=5.65s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.06km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=60.7% goal=85.05m dL=0.12 ttc=4.41s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.76km/h thr=0.20 brk=0.00 str=-0.16 safe=0 progress=62.7% goal=80.67m dL=0.05 ttc=3.29s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.55km/h thr=0.28 brk=0.00 str=-0.19 safe=0 progress=64.7% goal=76.33m dL=0.06 ttc=2.22s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.64km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=66.7% goal=71.99m dL=0.08 ttc=1.36s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.34km/h thr=0.31 brk=0.00 str=-0.00 safe=0 progress=68.6% goal=67.83m dL=0.04 ttc=8.49s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.30km/h thr=0.35 brk=0.00 str=-0.07 safe=0 progress=70.6% goal=63.59m dL=0.01 ttc=7.94s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.70km/h thr=0.15 brk=0.00 str=+0.10 safe=0 progress=72.6% goal=59.30m dL=0.00 ttc=4.80s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.41km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=74.6% goal=54.96m dL=0.03 ttc=2.69s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.63km/h thr=0.29 brk=0.00 str=-0.07 safe=0 progress=76.5% goal=50.73m dL=0.04 ttc=1.49s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.06km/h thr=0.29 brk=0.00 str=-0.12 safe=0 progress=78.6% goal=46.38m dL=0.02 ttc=1.42s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.12km/h thr=0.14 brk=0.00 str=-0.13 safe=0 progress=80.7% goal=41.73m dL=0.04 ttc=6.03s tl=None credit=0 reason=
[STEP] step=0780 speed= 17.97km/h thr=0.27 brk=0.00 str=+0.06 safe=0 progress=82.9% goal=36.89m dL=0.10 ttc=4.80s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.85km/h thr=0.22 brk=0.00 str=+0.06 safe=0 progress=85.3% goal=31.87m dL=0.06 ttc=2.87s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.22km/h thr=0.38 brk=0.00 str=+0.05 safe=0 progress=87.6% goal=26.88m dL=0.08 ttc=2.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.13km/h thr=0.37 brk=0.00 str=-0.04 safe=0 progress=89.9% goal=21.80m dL=0.02 ttc=52.31s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.06km/h thr=0.21 brk=0.00 str=+0.14 safe=0 progress=92.3% goal=16.70m dL=0.06 ttc=64.14s tl=None credit=0 reason=
[STEP] step=0875 speed= 18.15km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=94.0% goal=12.92m dL=0.06 ttc=60.17s tl=None credit=0 reason=goal
[EP] ep=1 steps=875 reward=-207.77 success=1 progress=94.0% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31245 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 152 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=99.44m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=10 weather=night_rain_fog spawn_idx=152 goal_idx=None route_len=216.2m spawn=(57.5,-67.9,-0.0) yaw=180.0 start_progress=0.00% start_dL=0.07
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.06 safe=0 progress=0.0% goal=216.18m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.27km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.18m dL=0.04 ttc=50.14s tl=None credit=0 reason=
[STEP] step=0040 speed= 17.97km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=212.34m dL=0.00 ttc=42.81s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.00km/h thr=0.22 brk=0.00 str=+0.05 safe=0 progress=4.1% goal=207.27m dL=0.07 ttc=22.55s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.10km/h thr=0.34 brk=0.00 str=-0.16 safe=0 progress=6.4% goal=202.26m dL=0.04 ttc=18.18s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.00km/h thr=0.40 brk=0.00 str=-0.04 safe=0 progress=8.8% goal=197.23m dL=0.02 ttc=15.71s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.95km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=11.1% goal=192.20m dL=0.06 ttc=12.79s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.14km/h thr=0.37 brk=0.00 str=+0.08 safe=0 progress=13.4% goal=187.19m dL=0.00 ttc=10.78s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.77km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=15.8% goal=182.11m dL=0.03 ttc=9.63s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.17km/h thr=0.34 brk=0.00 str=+0.02 safe=0 progress=18.1% goal=176.97m dL=0.00 ttc=8.28s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.16km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=20.5% goal=171.91m dL=0.02 ttc=7.28s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.14km/h thr=0.27 brk=0.00 str=-0.08 safe=0 progress=22.8% goal=166.86m dL=0.03 ttc=6.26s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.68km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=25.2% goal=161.75m dL=0.06 ttc=5.46s tl=None credit=0 reason=
[STEP] step=0260 speed= 19.10km/h thr=0.35 brk=0.00 str=-0.06 safe=0 progress=27.6% goal=156.53m dL=0.01 ttc=4.58s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.83km/h thr=0.22 brk=0.00 str=+0.06 safe=0 progress=30.1% goal=151.12m dL=0.02 ttc=11.74s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.20km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=32.5% goal=146.01m dL=0.00 ttc=9.34s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.41km/h thr=0.32 brk=0.00 str=+0.00 safe=0 progress=34.8% goal=140.90m dL=0.05 ttc=7.38s tl=None credit=0 reason=
[STEP] step=0340 speed=  9.78km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=37.1% goal=136.02m dL=0.05 ttc=7.13s tl=Red credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.11 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=3.66s tl=Red credit=18 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.14 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=7.11s tl=Red credit=38 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.09 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=6.11s tl=Red credit=58 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=5.12s tl=Red credit=78 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.16 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=4.12s tl=Red credit=98 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.07 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=3.13s tl=Red credit=118 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.11 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=3.42s tl=Red credit=138 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.12 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=2.71s tl=Red credit=158 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.16 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=2.37s tl=Red credit=178 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.09 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=30.05s tl=Red credit=198 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.12 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=24.30s tl=Red credit=218 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.15 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=20.27s tl=Red credit=238 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.12 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=17.31s tl=Red credit=258 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.09 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=15.06s tl=Red credit=278 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.16 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=13.18s tl=Red credit=298 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.08 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=11.73s tl=Red credit=318 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.13 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=10.66s tl=Red credit=338 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=9.66s tl=Red credit=358 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.10 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=8.66s tl=Red credit=378 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=7.67s tl=Red credit=398 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.11 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=6.67s tl=Red credit=418 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.12 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=5.67s tl=Red credit=438 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.08 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=4.67s tl=Red credit=458 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=4.66s tl=Red credit=478 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.16 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=10.19s tl=Red credit=498 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.14 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=7.55s tl=Red credit=518 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=37.2% goal=135.81m dL=0.04 ttc=999.00s tl=Red credit=538 reason=
[STEP] step=0900 speed=  1.02km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=37.2% goal=135.80m dL=0.04 ttc=34.71s tl=Green credit=524 reason=
[STEP] step=0920 speed=  9.82km/h thr=0.51 brk=0.00 str=+0.08 safe=0 progress=37.9% goal=134.28m dL=0.00 ttc=23.69s tl=Green credit=504 reason=
[STEP] step=0940 speed= 18.10km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=39.8% goal=130.22m dL=0.00 ttc=13.96s tl=Green credit=484 reason=
[STEP] step=0960 speed= 18.51km/h thr=0.34 brk=0.00 str=-0.06 safe=0 progress=42.1% goal=125.14m dL=0.04 ttc=10.93s tl=None credit=464 reason=
[STEP] step=0980 speed= 18.29km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=44.5% goal=120.07m dL=0.04 ttc=10.52s tl=None credit=444 reason=
[STEP] step=1000 speed= 18.09km/h thr=0.39 brk=0.00 str=+0.10 safe=0 progress=46.8% goal=115.07m dL=0.01 ttc=8.69s tl=None credit=424 reason=
[STEP] step=1020 speed= 18.03km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=49.1% goal=110.07m dL=0.03 ttc=7.80s tl=None credit=404 reason=
[STEP] step=1040 speed= 17.94km/h thr=0.26 brk=0.00 str=-0.06 safe=0 progress=51.4% goal=105.02m dL=0.07 ttc=6.64s tl=None credit=384 reason=
[STEP] step=1060 speed= 18.35km/h thr=0.40 brk=0.00 str=-0.03 safe=0 progress=53.7% goal=99.99m dL=0.13 ttc=5.06s tl=None credit=364 reason=
[STEP] step=1080 speed= 18.15km/h thr=0.30 brk=0.00 str=+0.08 safe=0 progress=56.1% goal=94.95m dL=0.01 ttc=3.70s tl=None credit=344 reason=
[STEP] step=1100 speed= 17.43km/h thr=0.00 brk=0.06 str=-0.15 safe=0 progress=58.4% goal=89.95m dL=0.11 ttc=2.59s tl=None credit=324 reason=
[STEP] step=1120 speed= 14.70km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=60.4% goal=85.56m dL=0.02 ttc=1.90s tl=None credit=304 reason=
[STEP] step=1140 speed= 15.20km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=62.3% goal=81.41m dL=0.04 ttc=1.35s tl=None credit=284 reason=
[STEP] step=1160 speed= 15.16km/h thr=0.22 brk=0.00 str=-0.08 safe=0 progress=64.3% goal=77.23m dL=0.03 ttc=15.46s tl=None credit=264 reason=
[STEP] step=1180 speed= 15.44km/h thr=0.23 brk=0.00 str=-0.04 safe=0 progress=66.2% goal=73.05m dL=0.03 ttc=13.81s tl=None credit=244 reason=
[STEP] step=1200 speed= 14.56km/h thr=0.26 brk=0.00 str=-0.21 safe=0 progress=68.1% goal=68.92m dL=0.08 ttc=8.83s tl=None credit=224 reason=
[STEP] step=1220 speed= 15.26km/h thr=0.35 brk=0.00 str=-0.11 safe=0 progress=70.1% goal=64.72m dL=0.05 ttc=7.61s tl=None credit=204 reason=
[STEP] step=1240 speed= 15.65km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=72.1% goal=60.36m dL=0.02 ttc=13.99s tl=None credit=184 reason=
[STEP] step=1260 speed= 15.61km/h thr=0.19 brk=0.00 str=-0.05 safe=0 progress=74.1% goal=55.99m dL=0.02 ttc=32.03s tl=None credit=164 reason=
[TRAIN] step=100 critic=0.0751 actor=-0.3244 alpha=0.1941 sigma=0.8642 beta0=1.00
[STEP] step=1280 speed= 15.33km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=76.1% goal=51.70m dL=0.05 ttc=12.05s tl=None credit=144 reason=
[STEP] step=1300 speed= 15.55km/h thr=0.28 brk=0.00 str=-0.14 safe=0 progress=78.1% goal=47.35m dL=0.05 ttc=15.11s tl=None credit=124 reason=
[STEP] step=1320 speed= 15.68km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=80.1% goal=43.04m dL=0.05 ttc=15.71s tl=None credit=104 reason=
[STEP] step=1340 speed= 15.75km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=82.1% goal=38.65m dL=0.05 ttc=8.64s tl=None credit=84 reason=
[STEP] step=1360 speed= 15.60km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=84.2% goal=34.26m dL=0.06 ttc=8.29s tl=None credit=64 reason=
[TRAIN] step=200 critic=0.0643 actor=-0.3049 alpha=0.1884 sigma=0.8595 beta0=1.00
[STEP] step=1380 speed= 15.99km/h thr=0.32 brk=0.00 str=+0.05 safe=0 progress=86.2% goal=29.84m dL=0.03 ttc=7.66s tl=None credit=44 reason=
[STEP] step=1400 speed= 15.11km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=88.2% goal=25.47m dL=0.03 ttc=6.07s tl=None credit=24 reason=
[STEP] step=1420 speed= 13.77km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=90.1% goal=21.50m dL=0.07 ttc=4.63s tl=None credit=4 reason=
[STEP] step=1440 speed= 16.09km/h thr=0.30 brk=0.00 str=-0.06 safe=0 progress=92.0% goal=17.38m dL=0.04 ttc=4.31s tl=None credit=0 reason=
[STEP] step=1460 speed= 16.87km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=94.1% goal=12.80m dL=0.01 ttc=3.77s tl=None credit=0 reason=goal
[EP] ep=2 steps=1460 reward=-36.75 success=1 progress=94.1% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31257 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 36 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=88.27m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=10 weather=night_rain_fog spawn_idx=36 goal_idx=None route_len=197.0m spawn=(67.7,69.8,-0.0) yaw=0.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.07 safe=0 progress=0.0% goal=196.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=300 critic=0.0829 actor=-0.3617 alpha=0.1828 sigma=0.8475 beta0=1.00
[STEP] step=0020 speed=  2.90km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=196.95m dL=0.00 ttc=47.03s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.10km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=2.0% goal=193.12m dL=0.00 ttc=8.16s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.75km/h thr=0.41 brk=0.00 str=+0.04 safe=0 progress=4.6% goal=187.98m dL=0.04 ttc=9.77s tl=None credit=0 reason=
[STEP] step=0080 speed= 19.52km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=7.2% goal=182.72m dL=0.04 ttc=29.36s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.93km/h thr=0.00 brk=0.29 str=+0.03 safe=0 progress=9.9% goal=177.56m dL=0.38 ttc=29.70s tl=None credit=0 reason=
[TRAIN] step=400 critic=0.1020 actor=-0.4096 alpha=0.1774 sigma=0.8352 beta0=1.00
[STEP] step=0120 speed=  9.25km/h thr=0.17 brk=0.00 str=+0.42 safe=0 progress=11.6% goal=174.18m dL=0.70 ttc=19.64s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.03km/h thr=0.06 brk=0.00 str=+0.17 safe=0 progress=12.7% goal=171.95m dL=0.29 ttc=18.84s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.88km/h thr=0.12 brk=0.00 str=+0.23 safe=0 progress=13.8% goal=169.78m dL=0.11 ttc=15.89s tl=None credit=0 reason=
[STEP] step=0180 speed=  6.89km/h thr=0.07 brk=0.00 str=+0.45 safe=0 progress=14.9% goal=167.71m dL=0.06 ttc=15.66s tl=None credit=0 reason=
[STEP] step=0200 speed=  6.33km/h thr=0.16 brk=0.00 str=+0.49 safe=0 progress=15.7% goal=165.96m dL=0.03 ttc=14.91s tl=None credit=0 reason=
[TRAIN] step=500 critic=0.1111 actor=-0.3690 alpha=0.1722 sigma=0.8357 beta0=1.00
[STEP] step=0220 speed=  8.01km/h thr=0.29 brk=0.00 str=+0.35 safe=0 progress=16.7% goal=164.07m dL=0.12 ttc=14.88s tl=None credit=0 reason=
[STEP] step=0240 speed= 12.51km/h thr=0.49 brk=0.00 str=+0.19 safe=0 progress=18.1% goal=161.32m dL=0.31 ttc=16.41s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.48km/h thr=0.25 brk=0.00 str=+0.15 safe=0 progress=20.4% goal=156.86m dL=0.07 ttc=21.53s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.02km/h thr=0.29 brk=0.00 str=+0.12 safe=0 progress=22.9% goal=151.93m dL=0.04 ttc=28.57s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.25km/h thr=0.20 brk=0.00 str=+0.13 safe=0 progress=25.3% goal=147.10m dL=0.04 ttc=26.25s tl=None credit=0 reason=
[TRAIN] step=600 critic=0.0981 actor=-0.3604 alpha=0.1671 sigma=0.8293 beta0=1.00
[STEP] step=0320 speed= 15.05km/h thr=0.18 brk=0.00 str=+0.12 safe=0 progress=27.5% goal=142.81m dL=0.00 ttc=15.75s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.36km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=29.6% goal=138.57m dL=0.04 ttc=13.64s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.77km/h thr=0.16 brk=0.00 str=-0.00 safe=0 progress=31.8% goal=134.32m dL=0.05 ttc=12.26s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.46km/h thr=0.22 brk=0.00 str=+0.11 safe=0 progress=34.0% goal=130.01m dL=0.04 ttc=10.68s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.10km/h thr=0.10 brk=0.00 str=+0.03 safe=0 progress=36.1% goal=125.83m dL=0.06 ttc=9.65s tl=None credit=0 reason=
[TRAIN] step=700 critic=0.0841 actor=-0.3558 alpha=0.1622 sigma=0.8088 beta0=1.00
[STEP] step=0420 speed= 14.73km/h thr=0.23 brk=0.00 str=+0.12 safe=0 progress=38.1% goal=121.91m dL=0.02 ttc=8.38s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.25km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=40.1% goal=117.92m dL=0.04 ttc=7.31s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.31km/h thr=0.22 brk=0.00 str=+0.06 safe=0 progress=42.1% goal=113.97m dL=0.02 ttc=6.14s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.31km/h thr=0.31 brk=0.00 str=+0.02 safe=0 progress=44.2% goal=109.99m dL=0.04 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.39km/h thr=0.20 brk=0.00 str=+0.12 safe=0 progress=46.2% goal=105.97m dL=0.00 ttc=3.96s tl=None credit=0 reason=
[TRAIN] step=800 critic=0.0807 actor=-0.4742 alpha=0.1574 sigma=0.7926 beta0=1.00
[STEP] step=0520 speed= 14.19km/h thr=0.10 brk=0.00 str=-0.00 safe=0 progress=48.2% goal=101.96m dL=0.03 ttc=2.96s tl=None credit=0 reason=
[STEP] step=0540 speed= 16.21km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=50.3% goal=97.88m dL=0.04 ttc=1.89s tl=None credit=0 reason=
[STEP] step=0560 speed= 17.34km/h thr=0.31 brk=0.00 str=+0.10 safe=0 progress=52.7% goal=93.23m dL=0.01 ttc=1.07s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.34km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=55.2% goal=88.27m dL=0.01 ttc=14.85s tl=None credit=0 reason=
[STEP] step=0600 speed= 18.16km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=57.8% goal=83.20m dL=0.01 ttc=10.60s tl=None credit=0 reason=
[TRAIN] step=900 critic=0.1022 actor=-0.3493 alpha=0.1528 sigma=0.7829 beta0=1.00
[STEP] step=0620 speed= 18.25km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=60.3% goal=78.13m dL=0.02 ttc=8.92s tl=None credit=0 reason=
[STEP] step=0640 speed= 18.17km/h thr=0.25 brk=0.00 str=+0.11 safe=0 progress=62.9% goal=73.08m dL=0.01 ttc=8.70s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.03km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=65.4% goal=68.08m dL=0.07 ttc=8.88s tl=None credit=0 reason=
[STEP] step=0680 speed= 19.26km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=68.0% goal=62.94m dL=0.05 ttc=8.99s tl=None credit=0 reason=
[STEP] step=0700 speed= 18.85km/h thr=0.33 brk=0.00 str=-0.04 safe=0 progress=70.7% goal=57.63m dL=0.02 ttc=7.13s tl=None credit=0 reason=
[TRAIN] step=1000 critic=0.1187 actor=-0.3572 alpha=0.1483 sigma=0.7845 beta0=1.00
[STEP] step=0720 speed= 18.24km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=73.4% goal=52.42m dL=0.04 ttc=5.92s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.57km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=76.0% goal=47.35m dL=0.00 ttc=5.07s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.03km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=78.5% goal=42.30m dL=0.14 ttc=3.96s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.04km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=81.1% goal=37.24m dL=0.04 ttc=3.04s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.38km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=83.6% goal=32.23m dL=0.10 ttc=2.21s tl=None credit=0 reason=
[TRAIN] step=1100 critic=0.0904 actor=-0.4534 alpha=0.1439 sigma=0.7746 beta0=1.00
[STEP] step=0820 speed= 18.15km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=86.2% goal=27.21m dL=0.00 ttc=1.55s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.00km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=88.7% goal=22.19m dL=0.01 ttc=3.72s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.22km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=91.3% goal=17.18m dL=0.07 ttc=2.78s tl=None credit=0 reason=
[STEP] step=0877 speed= 18.21km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=93.4% goal=12.91m dL=0.04 ttc=2.03s tl=None credit=0 reason=goal
[EP] ep=3 steps=877 reward=-173.85 success=1 progress=93.4% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31269 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 32 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=120.95m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=15 weather=night_rain_fog spawn_idx=32 goal_idx=None route_len=199.0m spawn=(98.8,82.9,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=198.98m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.08km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=198.95m dL=0.00 ttc=97.03s tl=None credit=0 reason=
[TRAIN] step=1200 critic=0.0997 actor=-0.3935 alpha=0.1397 sigma=0.7668 beta0=1.00
[STEP] step=0040 speed= 17.87km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=1.9% goal=195.22m dL=0.01 ttc=28.88s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.55km/h thr=0.16 brk=0.00 str=+0.09 safe=0 progress=4.4% goal=190.21m dL=0.07 ttc=40.20s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.67km/h thr=0.22 brk=0.00 str=+0.12 safe=0 progress=6.7% goal=185.73m dL=0.00 ttc=26.22s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.14km/h thr=0.23 brk=0.00 str=-0.11 safe=0 progress=8.8% goal=181.48m dL=0.03 ttc=25.30s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.54km/h thr=0.22 brk=0.00 str=+0.11 safe=0 progress=10.9% goal=177.22m dL=0.00 ttc=23.24s tl=None credit=0 reason=
[TRAIN] step=1300 critic=0.2018 actor=-0.2821 alpha=0.1356 sigma=0.7738 beta0=1.00
[STEP] step=0140 speed= 15.39km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=13.1% goal=172.92m dL=0.01 ttc=23.38s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.86km/h thr=0.15 brk=0.00 str=+0.08 safe=0 progress=15.2% goal=168.78m dL=0.09 ttc=21.89s tl=None credit=0 reason=
[STEP] step=0180 speed= 14.76km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=17.2% goal=164.71m dL=0.05 ttc=23.48s tl=None credit=0 reason=
[STEP] step=0200 speed= 14.30km/h thr=0.15 brk=0.00 str=+0.02 safe=0 progress=19.3% goal=160.65m dL=0.01 ttc=22.61s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.30km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=21.2% goal=156.75m dL=0.04 ttc=22.80s tl=None credit=0 reason=
[TRAIN] step=1400 critic=0.1396 actor=-0.3291 alpha=0.1316 sigma=0.7595 beta0=1.00
[STEP] step=0240 speed= 13.76km/h thr=0.06 brk=0.00 str=+0.17 safe=0 progress=23.1% goal=152.94m dL=0.05 ttc=21.26s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.09km/h thr=0.26 brk=0.00 str=+0.17 safe=0 progress=25.0% goal=149.27m dL=0.02 ttc=24.68s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.87km/h thr=0.23 brk=0.00 str=+0.17 safe=0 progress=26.9% goal=145.38m dL=0.04 ttc=17.98s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.31km/h thr=0.13 brk=0.00 str=-0.04 safe=0 progress=28.9% goal=141.45m dL=0.04 ttc=16.66s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.83km/h thr=0.49 brk=0.00 str=+0.16 safe=0 progress=30.9% goal=137.43m dL=0.04 ttc=16.29s tl=None credit=0 reason=
[TRAIN] step=1500 critic=0.1186 actor=-0.2296 alpha=0.1277 sigma=0.7490 beta0=1.00
[STEP] step=0340 speed= 18.13km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=33.4% goal=132.55m dL=0.18 ttc=17.15s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.40km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=35.9% goal=127.52m dL=0.07 ttc=18.54s tl=None credit=0 reason=
[STEP] step=0380 speed= 19.10km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=38.5% goal=122.38m dL=0.06 ttc=22.43s tl=None credit=0 reason=
[STEP] step=0400 speed= 19.25km/h thr=0.30 brk=0.00 str=-0.18 safe=0 progress=41.2% goal=117.03m dL=0.10 ttc=22.96s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.37km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=43.8% goal=111.86m dL=0.02 ttc=32.40s tl=None credit=0 reason=
[TRAIN] step=1600 critic=0.1032 actor=-0.3151 alpha=0.1240 sigma=0.7506 beta0=1.00
[STEP] step=0440 speed= 17.97km/h thr=0.28 brk=0.00 str=+0.06 safe=0 progress=46.3% goal=106.82m dL=0.06 ttc=32.16s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.17km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=48.9% goal=101.76m dL=0.02 ttc=25.54s tl=None credit=0 reason=
[STEP] step=0480 speed= 18.01km/h thr=0.38 brk=0.00 str=-0.12 safe=0 progress=51.4% goal=96.70m dL=0.04 ttc=18.49s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.15km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=53.9% goal=91.66m dL=0.02 ttc=16.15s tl=None credit=0 reason=
[STEP] step=0520 speed= 18.45km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=56.5% goal=86.59m dL=0.13 ttc=17.49s tl=None credit=0 reason=
[TRAIN] step=1700 critic=0.1569 actor=-0.4123 alpha=0.1204 sigma=0.7508 beta0=1.00
[STEP] step=0540 speed= 17.93km/h thr=0.35 brk=0.00 str=+0.05 safe=0 progress=59.0% goal=81.55m dL=0.08 ttc=18.27s tl=None credit=0 reason=
[STEP] step=0560 speed= 19.18km/h thr=0.41 brk=0.00 str=-0.08 safe=0 progress=61.7% goal=76.26m dL=0.03 ttc=20.18s tl=None credit=0 reason=
[STEP] step=0580 speed= 19.18km/h thr=0.25 brk=0.00 str=-0.11 safe=0 progress=64.4% goal=70.83m dL=0.06 ttc=32.31s tl=None credit=0 reason=
[STEP] step=0600 speed= 20.36km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=67.2% goal=65.30m dL=0.08 ttc=28.29s tl=None credit=0 reason=
[STEP] step=0620 speed= 18.01km/h thr=0.23 brk=0.00 str=-0.08 safe=0 progress=69.9% goal=59.90m dL=0.01 ttc=31.92s tl=None credit=0 reason=
[TRAIN] step=1800 critic=0.2044 actor=-0.3324 alpha=0.1168 sigma=0.7441 beta0=1.00
[STEP] step=0640 speed= 18.38km/h thr=0.32 brk=0.00 str=-0.18 safe=0 progress=72.4% goal=54.87m dL=0.06 ttc=24.16s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.32km/h thr=0.43 brk=0.00 str=+0.05 safe=0 progress=75.0% goal=49.80m dL=0.01 ttc=22.05s tl=None credit=0 reason=
[STEP] step=0680 speed= 18.06km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=77.5% goal=44.74m dL=0.02 ttc=17.77s tl=Green credit=0 reason=
[STEP] step=0700 speed= 18.37km/h thr=0.27 brk=0.00 str=-0.12 safe=0 progress=80.0% goal=39.71m dL=0.02 ttc=11.57s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.05km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=82.5% goal=34.73m dL=0.02 ttc=11.24s tl=None credit=0 reason=
[TRAIN] step=1900 critic=0.1496 actor=-0.2232 alpha=0.1134 sigma=0.7469 beta0=1.00
[STEP] step=0740 speed= 18.22km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=85.1% goal=29.69m dL=0.00 ttc=11.23s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.32km/h thr=0.37 brk=0.00 str=+0.10 safe=0 progress=87.6% goal=24.65m dL=0.01 ttc=13.27s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.09km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=90.2% goal=19.60m dL=0.00 ttc=12.56s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.12km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=92.7% goal=14.59m dL=0.04 ttc=10.18s tl=None credit=0 reason=
[STEP] step=0806 speed= 18.39km/h thr=0.27 brk=0.00 str=-0.06 safe=0 progress=93.4% goal=13.07m dL=0.03 ttc=10.89s tl=None credit=0 reason=goal
[EP] ep=4 steps=806 reward=-135.77 success=1 progress=93.4% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31286 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 3 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=41.93% dL=3.50m
[RESET] town=Town10HD_Opt npc=16 weather=night_rain_fog spawn_idx=3 goal_idx=None route_len=202.5m spawn=(-84.9,16.4,-0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=41.9% goal=117.58m dL=3.50 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  6.63km/h thr=0.45 brk=0.00 str=+0.77 safe=0 progress=42.0% goal=117.39m dL=3.42 ttc=14.61s tl=None credit=0 reason=
[TRAIN] step=2000 critic=0.1753 actor=-0.4677 alpha=0.1101 sigma=0.7487 beta0=1.00
[STEP] step=0040 speed=  8.75km/h thr=0.07 brk=0.00 str=+0.62 safe=0 progress=42.9% goal=115.62m dL=1.95 ttc=9.99s tl=None credit=0 reason=
[STEP] step=0060 speed=  7.26km/h thr=0.22 brk=0.00 str=-0.72 safe=0 progress=43.7% goal=113.91m dL=0.65 ttc=13.77s tl=None credit=0 reason=
[STEP] step=0080 speed= 12.66km/h thr=0.22 brk=0.00 str=-0.26 safe=0 progress=45.0% goal=111.32m dL=0.24 ttc=7.92s tl=None credit=0 reason=
[STEP] step=0100 speed= 11.95km/h thr=0.13 brk=0.00 str=-0.21 safe=0 progress=46.7% goal=107.85m dL=0.04 ttc=11.07s tl=None credit=0 reason=
[STEP] step=0120 speed=  9.57km/h thr=0.14 brk=0.00 str=+0.19 safe=0 progress=48.2% goal=104.93m dL=0.09 ttc=9.63s tl=None credit=0 reason=
[TRAIN] step=2100 critic=0.1892 actor=-0.4164 alpha=0.1069 sigma=0.7416 beta0=1.00
[STEP] step=0140 speed=  8.29km/h thr=0.11 brk=0.00 str=+0.22 safe=0 progress=49.4% goal=102.39m dL=0.08 ttc=9.22s tl=None credit=0 reason=
[STEP] step=0160 speed=  8.20km/h thr=0.09 brk=0.00 str=-0.04 safe=0 progress=50.6% goal=100.10m dL=0.10 ttc=10.48s tl=None credit=0 reason=
[STEP] step=0180 speed=  8.16km/h thr=0.14 brk=0.00 str=+0.21 safe=0 progress=51.7% goal=97.89m dL=0.05 ttc=7.63s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.71km/h thr=0.08 brk=0.00 str=+0.39 safe=0 progress=52.7% goal=95.71m dL=0.03 ttc=5.91s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.53km/h thr=0.15 brk=0.00 str=+0.29 safe=0 progress=53.8% goal=93.46m dL=0.10 ttc=4.18s tl=None credit=0 reason=
[TRAIN] step=2200 critic=0.1350 actor=-0.3532 alpha=0.1037 sigma=0.7210 beta0=1.00
[STEP] step=0240 speed= 11.82km/h thr=0.42 brk=0.00 str=+0.10 safe=0 progress=55.2% goal=90.71m dL=0.23 ttc=2.38s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.94km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=57.3% goal=86.38m dL=0.07 ttc=3.91s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.00km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=59.8% goal=81.34m dL=0.06 ttc=3.48s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.80km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=62.3% goal=76.29m dL=0.04 ttc=2.42s tl=None credit=0 reason=
[STEP] step=0320 speed= 19.62km/h thr=0.31 brk=0.00 str=-0.06 safe=0 progress=64.9% goal=71.02m dL=0.02 ttc=1.49s tl=None credit=0 reason=
[TRAIN] step=2300 critic=0.1555 actor=-0.4361 alpha=0.1007 sigma=0.7292 beta0=1.00
[STEP] step=0340 speed= 16.55km/h thr=0.10 brk=0.00 str=+0.04 safe=0 progress=67.5% goal=65.79m dL=0.10 ttc=2.39s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.53km/h thr=0.33 brk=0.00 str=+0.01 safe=0 progress=69.6% goal=61.51m dL=0.03 ttc=68.52s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.00km/h thr=0.34 brk=0.00 str=+0.07 safe=0 progress=71.7% goal=57.28m dL=0.06 ttc=57.61s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.36km/h thr=0.25 brk=0.00 str=+0.07 safe=0 progress=73.8% goal=53.02m dL=0.05 ttc=49.15s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.12km/h thr=0.23 brk=0.00 str=+0.14 safe=0 progress=75.9% goal=48.74m dL=0.01 ttc=47.19s tl=None credit=0 reason=
[TRAIN] step=2400 critic=0.1857 actor=-0.4398 alpha=0.0977 sigma=0.7263 beta0=1.00
[STEP] step=0440 speed= 14.89km/h thr=0.15 brk=0.00 str=-0.01 safe=0 progress=78.0% goal=44.50m dL=0.01 ttc=45.58s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.58km/h thr=0.27 brk=0.00 str=+0.05 safe=0 progress=80.0% goal=40.41m dL=0.01 ttc=40.02s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.55km/h thr=0.31 brk=0.00 str=+0.11 safe=0 progress=82.0% goal=36.35m dL=0.01 ttc=35.91s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.15km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=84.0% goal=32.32m dL=0.00 ttc=33.24s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.42km/h thr=0.08 brk=0.00 str=+0.04 safe=0 progress=86.0% goal=28.32m dL=0.01 ttc=31.68s tl=None credit=0 reason=
[TRAIN] step=2500 critic=0.1397 actor=-0.3940 alpha=0.0949 sigma=0.7122 beta0=1.00
[STEP] step=0540 speed= 12.67km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=87.8% goal=24.78m dL=0.10 ttc=31.80s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.67km/h thr=0.22 brk=0.00 str=+0.20 safe=0 progress=89.4% goal=21.41m dL=0.08 ttc=30.04s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.20km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=91.1% goal=18.06m dL=0.04 ttc=28.42s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.41km/h thr=0.25 brk=0.00 str=+0.05 safe=0 progress=92.7% goal=14.78m dL=0.04 ttc=25.81s tl=None credit=0 reason=
[STEP] step=0611 speed= 12.08km/h thr=0.12 brk=0.00 str=+0.15 safe=0 progress=93.6% goal=12.90m dL=0.02 ttc=25.46s tl=None credit=0 reason=goal
[EP] ep=5 steps=611 reward=-166.31 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31304 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 94 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=39.12% dL=15.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=11 weather=night_rain_fog spawn_idx=94 goal_idx=None route_len=205.2m spawn=(-79.3,28.0,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=205.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=2600 critic=0.2054 actor=-0.2590 alpha=0.0921 sigma=0.7172 beta0=1.00
[STEP] step=0020 speed=  3.86km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.19m dL=0.00 ttc=61.27s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.16km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=201.29m dL=0.00 ttc=12.29s tl=None credit=0 reason=
[STEP] step=0060 speed=  0.02km/h thr=0.00 brk=0.56 str=+0.01 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=1 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=21 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.10 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=41 reason=
[TRAIN] step=2700 critic=0.2417 actor=-0.7912 alpha=0.0894 sigma=0.7034 beta0=1.00
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=61 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=81 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.10 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=101 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.11 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=121 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=141 reason=
[TRAIN] step=2800 critic=0.2755 actor=-0.4846 alpha=0.0868 sigma=0.7127 beta0=1.00
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.09 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=161 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.05 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=181 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.02 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=201 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=221 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=241 reason=
[TRAIN] step=2900 critic=0.2100 actor=-0.7993 alpha=0.0842 sigma=0.7047 beta0=1.00
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=261 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.10 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=281 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=301 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.92 str=-0.14 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=321 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.89 str=-0.01 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=341 reason=
[TRAIN] step=3000 critic=0.2629 actor=-1.0111 alpha=0.0818 sigma=0.6956 beta0=1.00
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.95 str=-0.16 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=361 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=381 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.88 str=-0.22 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=401 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.13 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=421 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=441 reason=
[TRAIN] step=3100 critic=0.2703 actor=-1.4448 alpha=0.0794 sigma=0.6977 beta0=1.00
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.90 str=-0.14 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=461 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.05 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=481 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.88 str=-0.06 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=501 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.87 str=-0.06 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=521 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.16 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=541 reason=
[TRAIN] step=3200 critic=0.1560 actor=-1.7399 alpha=0.0770 sigma=0.6926 beta0=1.00
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.93 str=-0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=561 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.87 str=+0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=581 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.93 str=+0.01 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.08 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[TRAIN] step=3300 critic=0.3095 actor=-1.8706 alpha=0.0748 sigma=0.6979 beta0=1.00
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.01 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.13 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.13 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.98 str=-0.14 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.07 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[TRAIN] step=3400 critic=0.1333 actor=-1.7136 alpha=0.0726 sigma=0.6965 beta0=1.00
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.02 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.91 str=-0.05 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.97 str=-0.23 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.09 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.87 str=-0.11 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[TRAIN] step=3500 critic=0.2610 actor=-2.3034 alpha=0.0704 sigma=0.6784 beta0=1.00
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.04 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.91 str=-0.04 safe=0 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0960 speed=  0.18km/h thr=0.75 brk=0.00 str=-0.06 safe=1 progress=4.1% goal=196.82m dL=0.01 ttc=999.00s tl=Green credit=581 reason=
[STEP] step=0980 speed= 15.58km/h thr=0.53 brk=0.00 str=-0.01 safe=1 progress=5.0% goal=194.87m dL=0.01 ttc=12.95s tl=Green credit=561 reason=
[STEP] step=1000 speed= 18.07km/h thr=0.43 brk=0.00 str=-0.15 safe=0 progress=7.5% goal=189.94m dL=0.34 ttc=9.84s tl=None credit=541 reason=
[TRAIN] step=3600 critic=0.4654 actor=-1.8803 alpha=0.0684 sigma=0.7058 beta0=1.00
[STEP] step=1020 speed= 14.04km/h thr=0.00 brk=0.24 str=+0.25 safe=0 progress=9.8% goal=185.18m dL=0.78 ttc=12.54s tl=None credit=521 reason=
[STEP] step=1040 speed= 16.62km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=11.7% goal=181.31m dL=0.56 ttc=9.86s tl=None credit=501 reason=
[STEP] step=1060 speed= 15.89km/h thr=0.42 brk=0.00 str=+0.04 safe=0 progress=13.9% goal=176.72m dL=0.21 ttc=9.40s tl=None credit=481 reason=
[STEP] step=1080 speed= 16.21km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=16.2% goal=172.07m dL=0.36 ttc=8.65s tl=None credit=461 reason=
[STEP] step=1100 speed= 18.23km/h thr=0.37 brk=0.00 str=-0.20 safe=0 progress=18.5% goal=167.32m dL=0.20 ttc=6.01s tl=None credit=441 reason=
[TRAIN] step=3700 critic=0.3743 actor=-1.9094 alpha=0.0663 sigma=0.6963 beta0=1.00
[STEP] step=1120 speed= 15.19km/h thr=0.06 brk=0.00 str=+0.17 safe=0 progress=20.8% goal=162.50m dL=0.64 ttc=6.60s tl=None credit=421 reason=
[STEP] step=1140 speed= 17.54km/h thr=0.39 brk=0.00 str=-0.06 safe=0 progress=23.0% goal=158.12m dL=0.87 ttc=5.40s tl=None credit=401 reason=
[STEP] step=1160 speed= 17.22km/h thr=0.21 brk=0.00 str=+0.32 safe=0 progress=25.3% goal=153.21m dL=1.05 ttc=7.93s tl=None credit=381 reason=
[STEP] step=1180 speed= 16.52km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=27.5% goal=148.87m dL=0.27 ttc=9.78s tl=None credit=361 reason=
[STEP] step=1200 speed= 17.10km/h thr=0.25 brk=0.00 str=-0.30 safe=0 progress=29.8% goal=144.17m dL=0.33 ttc=8.00s tl=None credit=341 reason=
[TRAIN] step=3800 critic=0.2411 actor=-2.0068 alpha=0.0643 sigma=0.7052 beta0=1.00
[STEP] step=1220 speed= 17.15km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=32.1% goal=139.33m dL=0.10 ttc=6.98s tl=None credit=321 reason=
[STEP] step=1240 speed= 17.48km/h thr=0.22 brk=0.00 str=+0.12 safe=0 progress=34.5% goal=134.50m dL=0.02 ttc=6.01s tl=None credit=301 reason=
[STEP] step=1260 speed= 14.46km/h thr=0.18 brk=0.00 str=-0.16 safe=0 progress=36.8% goal=129.81m dL=0.04 ttc=5.91s tl=None credit=281 reason=
[STEP] step=1280 speed= 18.41km/h thr=0.55 brk=0.00 str=-0.18 safe=0 progress=38.9% goal=125.31m dL=0.02 ttc=3.79s tl=None credit=261 reason=
[STEP] step=1300 speed= 18.44km/h thr=0.31 brk=0.00 str=+0.04 safe=0 progress=41.4% goal=120.19m dL=0.20 ttc=3.00s tl=None credit=241 reason=
[TRAIN] step=3900 critic=0.7261 actor=-1.8998 alpha=0.0624 sigma=0.7236 beta0=1.00
[STEP] step=1320 speed= 13.00km/h thr=0.00 brk=0.24 str=+0.09 safe=0 progress=43.7% goal=115.62m dL=0.09 ttc=2.97s tl=None credit=221 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.13 safe=0 progress=44.7% goal=113.55m dL=0.03 ttc=999.00s tl=None credit=201 reason=
[STEP] step=1360 speed=  2.39km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=44.7% goal=113.50m dL=0.03 ttc=13.97s tl=None credit=181 reason=
[STEP] step=1380 speed= 17.52km/h thr=0.48 brk=0.00 str=-0.08 safe=0 progress=46.2% goal=110.45m dL=0.00 ttc=1.46s tl=None credit=161 reason=
[STEP] step=1400 speed= 18.20km/h thr=0.36 brk=0.00 str=+0.03 safe=0 progress=48.6% goal=105.44m dL=0.05 ttc=6.73s tl=None credit=141 reason=
[TRAIN] step=4000 critic=0.8116 actor=-2.1603 alpha=0.0606 sigma=0.6995 beta0=1.00
[STEP] step=1420 speed= 18.88km/h thr=0.46 brk=0.00 str=+0.01 safe=0 progress=51.1% goal=100.38m dL=0.16 ttc=5.65s tl=None credit=121 reason=
[STEP] step=1440 speed= 20.79km/h thr=0.17 brk=0.00 str=+0.02 safe=0 progress=53.8% goal=94.86m dL=0.08 ttc=5.61s tl=None credit=101 reason=
[STEP] step=1460 speed= 15.66km/h thr=0.24 brk=0.00 str=-0.24 safe=0 progress=56.2% goal=89.84m dL=0.14 ttc=6.14s tl=None credit=81 reason=
[STEP] step=1480 speed= 15.72km/h thr=0.00 brk=0.08 str=+0.38 safe=0 progress=58.4% goal=85.37m dL=0.40 ttc=19.00s tl=None credit=61 reason=
[STEP] step=1500 speed= 16.51km/h thr=0.64 brk=0.00 str=-0.06 safe=0 progress=60.3% goal=81.52m dL=0.01 ttc=16.74s tl=None credit=41 reason=
[TRAIN] step=4100 critic=0.2735 actor=-2.0487 alpha=0.0588 sigma=0.7055 beta0=1.00
[STEP] step=1520 speed= 21.93km/h thr=0.40 brk=0.00 str=+0.09 safe=0 progress=62.9% goal=76.16m dL=0.01 ttc=12.30s tl=None credit=21 reason=
[STEP] step=1540 speed= 17.05km/h thr=0.00 brk=0.32 str=+0.22 safe=0 progress=65.7% goal=70.46m dL=0.11 ttc=16.82s tl=None credit=1 reason=
[STEP] step=1560 speed= 15.26km/h thr=0.48 brk=0.00 str=-0.11 safe=0 progress=67.6% goal=66.43m dL=0.23 ttc=15.91s tl=None credit=0 reason=
[STEP] step=1580 speed= 18.75km/h thr=0.44 brk=0.00 str=+0.13 safe=0 progress=70.0% goal=61.54m dL=0.07 ttc=14.51s tl=None credit=0 reason=
[STEP] step=1600 speed= 20.18km/h thr=0.37 brk=0.00 str=+0.03 safe=0 progress=72.7% goal=56.06m dL=0.08 ttc=11.08s tl=None credit=0 reason=
[TRAIN] step=4200 critic=0.2578 actor=-2.1293 alpha=0.0570 sigma=0.6997 beta0=1.00
[STEP] step=1620 speed= 20.01km/h thr=0.26 brk=0.00 str=-0.06 safe=0 progress=75.3% goal=50.62m dL=0.08 ttc=14.87s tl=Red credit=0 reason=
[STEP] step=1640 speed=  2.23km/h thr=0.15 brk=0.00 str=+0.00 safe=0 progress=76.5% goal=48.17m dL=0.14 ttc=124.09s tl=Red credit=0 reason=
[STEP] step=1660 speed=  4.80km/h thr=0.15 brk=0.00 str=-0.01 safe=0 progress=77.0% goal=47.21m dL=0.09 ttc=55.35s tl=Red credit=0 reason=
[STEP] step=1680 speed=  7.46km/h thr=0.27 brk=0.00 str=+0.16 safe=0 progress=77.8% goal=45.57m dL=0.00 ttc=46.24s tl=Red credit=0 reason=
[STEP] step=1700 speed= 13.37km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=79.3% goal=42.58m dL=0.05 ttc=21.02s tl=None credit=0 reason=
[TRAIN] step=4300 critic=0.4046 actor=-1.8442 alpha=0.0553 sigma=0.7223 beta0=1.00
[STEP] step=1720 speed= 14.03km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=81.1% goal=38.75m dL=0.27 ttc=45.39s tl=None credit=0 reason=
[STEP] step=1740 speed=  9.75km/h thr=0.00 brk=0.08 str=+0.11 safe=0 progress=82.8% goal=35.36m dL=0.06 ttc=93.83s tl=None credit=0 reason=
[STEP] step=1760 speed=  9.47km/h thr=0.29 brk=0.00 str=+0.26 safe=0 progress=84.0% goal=32.75m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed=  8.28km/h thr=0.10 brk=0.00 str=+0.21 safe=0 progress=85.2% goal=30.29m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed=  8.73km/h thr=0.00 brk=0.08 str=+0.37 safe=0 progress=86.4% goal=27.83m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=4400 critic=0.1980 actor=-1.5201 alpha=0.0537 sigma=0.7241 beta0=1.00
[STEP] step=1820 speed=  7.93km/h thr=0.14 brk=0.00 str=+0.22 safe=0 progress=87.5% goal=25.60m dL=0.00 ttc=892.99s tl=None credit=0 reason=
[STEP] step=1840 speed=  0.26km/h thr=0.24 brk=0.00 str=+0.52 safe=0 progress=88.0% goal=24.63m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed=  9.19km/h thr=0.28 brk=0.00 str=+0.08 safe=0 progress=88.6% goal=23.42m dL=0.02 ttc=593.89s tl=None credit=0 reason=
[STEP] step=1880 speed=  7.93km/h thr=0.14 brk=0.00 str=+0.49 safe=0 progress=89.8% goal=20.96m dL=0.04 ttc=110.20s tl=None credit=0 reason=
[STEP] step=1900 speed= 10.67km/h thr=0.23 brk=0.00 str=+0.17 safe=0 progress=91.0% goal=18.49m dL=0.21 ttc=76.81s tl=None credit=0 reason=
[TRAIN] step=4500 critic=0.2352 actor=-1.7442 alpha=0.0521 sigma=0.7367 beta0=1.00
[STEP] step=1920 speed= 12.73km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=92.6% goal=15.22m dL=0.14 ttc=57.12s tl=None credit=0 reason=
[STEP] step=1933 speed= 13.24km/h thr=0.18 brk=0.00 str=-0.15 safe=0 progress=93.7% goal=12.85m dL=0.03 ttc=64.10s tl=None credit=0 reason=goal
[EP] ep=6 steps=1933 reward=195.16 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31317 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 139 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=33.37m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=13 weather=night_rain_fog spawn_idx=139 goal_idx=None route_len=203.9m spawn=(-48.7,-32.0,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=203.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=203.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.25km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=200.48m dL=0.00 ttc=32.71s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.27km/h thr=0.21 brk=0.00 str=-0.07 safe=0 progress=4.1% goal=195.47m dL=0.08 ttc=33.69s tl=None credit=0 reason=
[STEP] step=0080 speed= 11.48km/h thr=0.30 brk=0.00 str=+0.16 safe=0 progress=6.1% goal=191.51m dL=0.09 ttc=49.30s tl=None credit=0 reason=
[TRAIN] step=4600 critic=0.2786 actor=-2.3036 alpha=0.0505 sigma=0.7222 beta0=1.00
[STEP] step=0100 speed= 17.31km/h thr=0.45 brk=0.00 str=+0.01 safe=0 progress=8.0% goal=187.56m dL=0.12 ttc=31.90s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.27km/h thr=0.33 brk=0.00 str=+0.14 safe=0 progress=10.4% goal=182.73m dL=0.10 ttc=30.90s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.06km/h thr=0.00 brk=0.31 str=+0.19 safe=0 progress=12.4% goal=178.63m dL=0.05 ttc=51.69s tl=Red credit=0 reason=
[STEP] step=0160 speed=  0.46km/h thr=0.15 brk=0.00 str=-0.10 safe=0 progress=13.0% goal=177.31m dL=0.04 ttc=999.00s tl=Red credit=8 reason=
[STEP] step=0180 speed=  5.34km/h thr=0.27 brk=0.00 str=-0.08 safe=0 progress=13.4% goal=176.61m dL=0.05 ttc=95.87s tl=Red credit=0 reason=
[TRAIN] step=4700 critic=1.6495 actor=-1.6695 alpha=0.0490 sigma=0.7316 beta0=1.00
[STEP] step=0200 speed= 14.33km/h thr=0.48 brk=0.00 str=-0.08 safe=0 progress=14.6% goal=174.08m dL=0.06 ttc=35.24s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.62km/h thr=0.35 brk=0.00 str=+0.25 safe=0 progress=17.0% goal=169.22m dL=0.26 ttc=26.06s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.56km/h thr=0.24 brk=0.00 str=+0.10 safe=0 progress=19.4% goal=164.26m dL=0.19 ttc=28.25s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.02km/h thr=0.00 brk=0.16 str=-0.14 safe=0 progress=21.6% goal=159.83m dL=0.40 ttc=32.23s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.93km/h thr=0.39 brk=0.00 str=+0.21 safe=0 progress=23.5% goal=155.87m dL=0.10 ttc=25.78s tl=None credit=0 reason=
[TRAIN] step=4800 critic=0.4280 actor=-1.4966 alpha=0.0476 sigma=0.7290 beta0=1.00
[STEP] step=0300 speed= 15.72km/h thr=0.06 brk=0.00 str=-0.31 safe=0 progress=25.9% goal=151.10m dL=0.37 ttc=27.19s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.52km/h thr=0.40 brk=0.00 str=-0.11 safe=0 progress=28.1% goal=146.57m dL=0.07 ttc=23.17s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.32km/h thr=0.48 brk=0.00 str=+0.03 safe=0 progress=30.3% goal=142.04m dL=0.04 ttc=25.25s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.33km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=32.7% goal=137.22m dL=0.04 ttc=20.28s tl=None credit=0 reason=
[STEP] step=0380 speed= 21.66km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=35.5% goal=131.56m dL=0.53 ttc=16.32s tl=None credit=0 reason=
[TRAIN] step=4900 critic=0.4254 actor=-1.4569 alpha=0.0462 sigma=0.7388 beta0=1.00
[STEP] step=0400 speed= 15.74km/h thr=0.00 brk=0.13 str=+0.15 safe=0 progress=38.3% goal=125.88m dL=0.79 ttc=20.89s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.45km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=40.4% goal=121.45m dL=0.31 ttc=16.95s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.20km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=43.0% goal=116.23m dL=0.34 ttc=16.19s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=45.3% goal=111.42m dL=0.04 ttc=17.12s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.73km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=47.5% goal=107.00m dL=0.08 ttc=16.74s tl=None credit=0 reason=
[TRAIN] step=5000 critic=0.3120 actor=-1.6094 alpha=0.0448 sigma=0.7474 beta0=1.00
[STEP] step=0500 speed= 18.02km/h thr=0.42 brk=0.00 str=+0.17 safe=0 progress=49.8% goal=102.24m dL=0.09 ttc=13.58s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.46 safe=0 progress=51.4% goal=98.98m dL=0.33 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  5.72km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.6% goal=98.69m dL=0.33 ttc=40.57s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.12km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=53.4% goal=94.91m dL=0.14 ttc=12.15s tl=None credit=0 reason=
[STEP] step=0580 speed=  2.61km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=55.6% goal=90.48m dL=0.15 ttc=77.69s tl=None credit=0 reason=
[TRAIN] step=5100 critic=0.3164 actor=-1.6739 alpha=0.0435 sigma=0.7449 beta0=1.00
[STEP] step=0600 speed= 11.51km/h thr=0.42 brk=0.00 str=+0.13 safe=0 progress=56.5% goal=88.74m dL=0.08 ttc=17.06s tl=None credit=0 reason=
[STEP] step=0620 speed= 17.70km/h thr=0.20 brk=0.00 str=+0.16 safe=0 progress=58.5% goal=84.50m dL=0.07 ttc=10.19s tl=None credit=0 reason=
[STEP] step=0640 speed= 17.04km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=60.7% goal=80.06m dL=0.17 ttc=10.12s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.26km/h thr=0.06 brk=0.00 str=+0.18 safe=0 progress=63.1% goal=75.31m dL=0.17 ttc=9.08s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.23km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=65.3% goal=70.75m dL=0.29 ttc=8.09s tl=None credit=0 reason=
[TRAIN] step=5200 critic=0.7155 actor=-1.0994 alpha=0.0422 sigma=0.7399 beta0=1.00
[STEP] step=0700 speed= 16.83km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=67.6% goal=66.04m dL=0.14 ttc=6.95s tl=Yellow credit=0 reason=
[STEP] step=0720 speed= 11.81km/h thr=0.27 brk=0.00 str=+0.09 safe=0 progress=69.4% goal=62.31m dL=0.16 ttc=8.68s tl=Yellow credit=0 reason=
[STEP] step=0740 speed= 11.18km/h thr=0.11 brk=0.00 str=+0.05 safe=0 progress=71.1% goal=58.97m dL=0.09 ttc=8.24s tl=None credit=0 reason=
[STEP] step=0760 speed= 12.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=72.6% goal=55.77m dL=0.19 ttc=6.96s tl=None credit=0 reason=
[STEP] step=0780 speed=  7.23km/h thr=0.18 brk=0.00 str=+0.37 safe=0 progress=74.0% goal=53.07m dL=0.22 ttc=9.57s tl=None credit=0 reason=
[TRAIN] step=5300 critic=0.1857 actor=-1.5311 alpha=0.0410 sigma=0.7535 beta0=1.00
[STEP] step=0800 speed= 11.82km/h thr=0.23 brk=0.00 str=+0.12 safe=0 progress=75.2% goal=50.50m dL=0.14 ttc=5.07s tl=None credit=0 reason=
[STEP] step=0820 speed=  9.52km/h thr=0.00 brk=0.12 str=+0.37 safe=0 progress=76.7% goal=47.44m dL=0.28 ttc=5.30s tl=None credit=0 reason=
[STEP] step=0840 speed= 10.67km/h thr=0.22 brk=0.00 str=+0.15 safe=0 progress=77.9% goal=45.02m dL=0.01 ttc=4.28s tl=None credit=0 reason=
[STEP] step=0860 speed= 11.33km/h thr=0.13 brk=0.00 str=+0.18 safe=0 progress=79.3% goal=42.11m dL=0.21 ttc=3.46s tl=None credit=0 reason=
[STEP] step=0880 speed=  7.98km/h thr=0.00 brk=0.13 str=+0.47 safe=0 progress=80.7% goal=39.41m dL=0.34 ttc=8.57s tl=None credit=0 reason=
[TRAIN] step=5400 critic=0.2784 actor=-1.1345 alpha=0.0398 sigma=0.7642 beta0=1.00
[STEP] step=0900 speed= 11.49km/h thr=0.23 brk=0.00 str=+0.10 safe=0 progress=81.8% goal=37.10m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  8.32km/h thr=0.09 brk=0.00 str=-0.17 safe=0 progress=83.2% goal=34.23m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  9.36km/h thr=0.31 brk=0.00 str=+0.44 safe=0 progress=84.3% goal=31.92m dL=0.02 ttc=224.15s tl=None credit=0 reason=
[STEP] step=0960 speed= 11.13km/h thr=0.19 brk=0.00 str=+0.09 safe=0 progress=85.8% goal=28.95m dL=0.06 ttc=255.12s tl=None credit=0 reason=
[STEP] step=0980 speed= 10.41km/h thr=0.29 brk=0.00 str=+0.22 safe=0 progress=87.2% goal=26.12m dL=0.35 ttc=130.46s tl=None credit=0 reason=
[TRAIN] step=5500 critic=0.3712 actor=-1.0725 alpha=0.0386 sigma=0.7639 beta0=1.00
[STEP] step=1000 speed= 11.46km/h thr=0.14 brk=0.00 str=+0.32 safe=0 progress=88.7% goal=23.03m dL=0.11 ttc=75.75s tl=None credit=0 reason=
[STEP] step=1020 speed= 12.68km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=90.3% goal=19.81m dL=0.33 ttc=75.18s tl=None credit=0 reason=
[STEP] step=1040 speed= 11.83km/h thr=0.00 brk=0.39 str=-0.20 safe=0 progress=92.1% goal=16.06m dL=0.24 ttc=140.60s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.01km/h thr=0.27 brk=0.00 str=+0.17 safe=0 progress=93.3% goal=13.66m dL=0.15 ttc=105.34s tl=None credit=0 reason=
[STEP] step=1065 speed=  8.83km/h thr=0.27 brk=0.00 str=+0.11 safe=0 progress=93.6% goal=13.07m dL=0.18 ttc=95.42s tl=None credit=0 reason=goal
[EP] ep=7 steps=1065 reward=-216.60 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31332 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 141 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=31.46m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=16 weather=night_rain_fog spawn_idx=141 goal_idx=None route_len=216.2m spawn=(-45.2,-36.5,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.05 safe=0 progress=0.0% goal=216.21m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  2.19km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.19m dL=0.00 ttc=41.65s tl=None credit=0 reason=
[TRAIN] step=5600 critic=0.2749 actor=-0.7526 alpha=0.0375 sigma=0.7465 beta0=1.00
[STEP] step=0040 speed= 17.56km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=212.56m dL=0.00 ttc=10.72s tl=Green credit=0 reason=
[STEP] step=0060 speed= 18.51km/h thr=0.12 brk=0.00 str=+0.19 safe=0 progress=4.1% goal=207.44m dL=0.13 ttc=5.74s tl=Green credit=0 reason=
[STEP] step=0080 speed= 17.62km/h thr=0.14 brk=0.00 str=-0.19 safe=0 progress=6.3% goal=202.52m dL=0.57 ttc=5.25s tl=None credit=0 reason=
[STEP] step=0100 speed= 10.36km/h thr=0.00 brk=0.16 str=-0.14 safe=0 progress=8.0% goal=198.89m dL=0.63 ttc=6.04s tl=None credit=0 reason=
[STEP] step=0120 speed= 10.89km/h thr=0.33 brk=0.00 str=-0.07 safe=0 progress=9.1% goal=196.43m dL=0.23 ttc=7.07s tl=None credit=0 reason=
[TRAIN] step=5700 critic=1.1974 actor=-1.4333 alpha=0.0364 sigma=0.7607 beta0=1.00
[STEP] step=0140 speed= 10.73km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=10.6% goal=193.25m dL=0.05 ttc=7.92s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.82km/h thr=0.49 brk=0.00 str=-0.21 safe=0 progress=11.7% goal=190.99m dL=0.01 ttc=32.32s tl=None credit=0 reason=
[STEP] step=0180 speed=  9.08km/h thr=0.00 brk=0.16 str=-0.14 safe=0 progress=12.9% goal=188.26m dL=0.13 ttc=36.66s tl=None credit=0 reason=
[STEP] step=0200 speed=  8.66km/h thr=0.48 brk=0.00 str=-0.38 safe=0 progress=13.9% goal=186.22m dL=0.08 ttc=33.85s tl=None credit=0 reason=
[STEP] step=0220 speed= 11.53km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=15.2% goal=183.28m dL=0.01 ttc=36.20s tl=None credit=0 reason=
[TRAIN] step=5800 critic=2.0475 actor=-1.2594 alpha=0.0353 sigma=0.7648 beta0=1.00
[STEP] step=0240 speed= 13.13km/h thr=0.52 brk=0.00 str=+0.06 safe=0 progress=16.7% goal=180.06m dL=0.30 ttc=25.95s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.40km/h thr=0.32 brk=0.00 str=+0.01 safe=0 progress=18.9% goal=175.37m dL=0.18 ttc=21.35s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.98km/h thr=0.18 brk=0.00 str=-0.08 safe=0 progress=21.0% goal=170.81m dL=0.01 ttc=18.79s tl=None credit=0 reason=
[STEP] step=0300 speed= 14.45km/h thr=0.40 brk=0.00 str=-0.16 safe=0 progress=22.8% goal=167.01m dL=0.16 ttc=16.80s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.40km/h thr=0.06 brk=0.00 str=-0.03 safe=0 progress=24.7% goal=162.81m dL=0.19 ttc=14.73s tl=None credit=0 reason=
[TRAIN] step=5900 critic=0.3009 actor=-1.0133 alpha=0.0343 sigma=0.7619 beta0=1.00
[STEP] step=0340 speed= 14.09km/h thr=0.23 brk=0.00 str=-0.18 safe=0 progress=26.4% goal=159.09m dL=0.02 ttc=13.93s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.46km/h thr=0.04 brk=0.00 str=+0.08 safe=0 progress=28.2% goal=155.21m dL=0.12 ttc=15.19s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.47km/h thr=0.31 brk=0.00 str=+0.07 safe=0 progress=30.0% goal=151.38m dL=0.08 ttc=11.83s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.06km/h thr=0.42 brk=0.00 str=-0.16 safe=0 progress=31.8% goal=147.40m dL=0.02 ttc=9.20s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.48km/h thr=0.16 brk=0.00 str=+0.06 safe=0 progress=33.8% goal=143.19m dL=0.10 ttc=10.75s tl=None credit=0 reason=
[TRAIN] step=6000 critic=0.3097 actor=-0.8658 alpha=0.0333 sigma=0.7713 beta0=1.00
[STEP] step=0440 speed= 11.17km/h thr=0.18 brk=0.00 str=-0.14 safe=0 progress=35.4% goal=139.68m dL=0.47 ttc=7.71s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.72km/h thr=0.14 brk=0.00 str=-0.29 safe=0 progress=37.1% goal=135.90m dL=0.36 ttc=9.34s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.88km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=39.0% goal=131.79m dL=0.06 ttc=7.95s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.32km/h thr=0.16 brk=0.00 str=+0.15 safe=0 progress=40.9% goal=127.80m dL=0.01 ttc=7.14s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.10km/h thr=0.40 brk=0.00 str=-0.19 safe=0 progress=42.7% goal=123.90m dL=0.23 ttc=6.08s tl=None credit=0 reason=
[TRAIN] step=6100 critic=0.2046 actor=-0.7755 alpha=0.0323 sigma=0.7777 beta0=1.00
[STEP] step=0540 speed= 17.48km/h thr=0.17 brk=0.00 str=+0.05 safe=0 progress=44.9% goal=119.24m dL=0.13 ttc=5.87s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.83km/h thr=0.00 brk=0.31 str=-0.14 safe=0 progress=46.9% goal=114.80m dL=0.23 ttc=3.62s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.01km/h thr=0.00 brk=0.16 str=-0.13 safe=0 progress=48.1% goal=112.29m dL=0.19 ttc=1.35s tl=None credit=0 reason=
[STEP] step=0600 speed=  3.21km/h thr=0.48 brk=0.00 str=-0.13 safe=0 progress=48.1% goal=112.12m dL=0.18 ttc=0.92s tl=None credit=0 reason=
[STEP] step=0620 speed= 11.44km/h thr=0.25 brk=0.00 str=-0.09 safe=0 progress=49.2% goal=109.91m dL=0.08 ttc=7.68s tl=None credit=0 reason=
[TRAIN] step=6200 critic=0.2576 actor=-0.8514 alpha=0.0313 sigma=0.7804 beta0=1.00
[STEP] step=0640 speed=  9.45km/h thr=0.54 brk=0.00 str=-0.15 safe=0 progress=50.4% goal=107.22m dL=0.04 ttc=13.74s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.26km/h thr=0.25 brk=0.00 str=+0.04 safe=0 progress=52.1% goal=103.46m dL=0.12 ttc=11.39s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.19km/h thr=0.25 brk=0.00 str=+0.12 safe=0 progress=54.2% goal=98.99m dL=0.18 ttc=10.19s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.67km/h thr=0.32 brk=0.00 str=-0.16 safe=0 progress=56.3% goal=94.49m dL=0.61 ttc=8.16s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.16km/h thr=0.37 brk=0.00 str=+0.07 safe=0 progress=58.4% goal=89.94m dL=0.70 ttc=7.46s tl=Green credit=0 reason=
[TRAIN] step=6300 critic=0.7562 actor=-0.5736 alpha=0.0304 sigma=0.7699 beta0=1.00
[STEP] step=0740 speed= 16.59km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=60.6% goal=85.20m dL=0.27 ttc=5.77s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.97km/h thr=0.66 brk=0.00 str=+0.05 safe=0 progress=62.6% goal=80.77m dL=0.15 ttc=5.64s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.72km/h thr=0.41 brk=0.00 str=-0.09 safe=0 progress=65.0% goal=75.62m dL=0.20 ttc=5.15s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.93km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=67.4% goal=70.58m dL=0.42 ttc=6.22s tl=None credit=0 reason=
[STEP] step=0820 speed=  8.28km/h thr=0.00 brk=0.15 str=-0.38 safe=0 progress=68.9% goal=67.24m dL=0.49 ttc=5.52s tl=None credit=0 reason=
[TRAIN] step=6400 critic=0.3625 actor=-0.7662 alpha=0.0295 sigma=0.7713 beta0=1.00
[STEP] step=0840 speed= 11.21km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=70.0% goal=64.92m dL=0.09 ttc=5.03s tl=None credit=0 reason=
[STEP] step=0860 speed=  8.71km/h thr=0.00 brk=0.08 str=-0.27 safe=0 progress=71.4% goal=61.88m dL=0.15 ttc=5.11s tl=None credit=0 reason=
[STEP] step=0880 speed=  2.23km/h thr=0.58 brk=0.00 str=-0.58 safe=0 progress=71.7% goal=61.11m dL=0.17 ttc=6.65s tl=None credit=0 reason=
[STEP] step=0900 speed= 10.83km/h thr=0.15 brk=0.00 str=+0.02 safe=0 progress=72.7% goal=58.97m dL=0.07 ttc=4.90s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.30km/h thr=0.22 brk=0.00 str=-0.32 safe=0 progress=74.0% goal=56.19m dL=0.15 ttc=9.88s tl=None credit=0 reason=
[TRAIN] step=6500 critic=0.2531 actor=0.0442 alpha=0.0287 sigma=0.7802 beta0=1.00
[STEP] step=0940 speed=  7.83km/h thr=0.00 brk=0.12 str=-0.19 safe=0 progress=75.3% goal=53.51m dL=0.16 ttc=4.10s tl=None credit=0 reason=
[STEP] step=0960 speed=  3.37km/h thr=0.58 brk=0.00 str=-0.32 safe=0 progress=75.5% goal=52.96m dL=0.13 ttc=3.72s tl=None credit=0 reason=
[STEP] step=0980 speed= 11.60km/h thr=0.10 brk=0.00 str=-0.25 safe=0 progress=76.6% goal=50.58m dL=0.03 ttc=2.08s tl=None credit=0 reason=
[STEP] step=1000 speed= 13.63km/h thr=0.48 brk=0.00 str=-0.03 safe=0 progress=78.0% goal=47.48m dL=0.26 ttc=6.48s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.19km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=80.2% goal=42.84m dL=0.28 ttc=4.40s tl=None credit=0 reason=
[TRAIN] step=6600 critic=0.3545 actor=-0.4259 alpha=0.0278 sigma=0.7765 beta0=1.00
[STEP] step=1040 speed= 16.19km/h thr=0.00 brk=0.24 str=-0.11 safe=0 progress=82.5% goal=37.90m dL=0.43 ttc=3.80s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.80km/h thr=0.30 brk=0.00 str=-0.10 safe=0 progress=84.0% goal=34.68m dL=0.33 ttc=5.88s tl=None credit=0 reason=
[STEP] step=1080 speed= 11.79km/h thr=0.00 brk=0.08 str=-0.14 safe=0 progress=85.4% goal=31.65m dL=0.14 ttc=3.47s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.14 safe=0 progress=86.4% goal=29.37m dL=0.01 ttc=3.30s tl=None credit=1 reason=
[STEP] step=1120 speed=  4.42km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=86.7% goal=28.80m dL=0.02 ttc=7.49s tl=None credit=0 reason=
[TRAIN] step=6700 critic=0.2402 actor=-0.2995 alpha=0.0270 sigma=0.7831 beta0=1.00
[STEP] step=1140 speed=  0.95km/h thr=0.36 brk=0.00 str=+0.13 safe=0 progress=87.1% goal=27.92m dL=0.01 ttc=9.01s tl=None credit=8 reason=
[STEP] step=1160 speed=  2.24km/h thr=0.10 brk=0.00 str=-0.12 safe=0 progress=87.3% goal=27.52m dL=0.01 ttc=12.95s tl=None credit=0 reason=
[STEP] step=1180 speed=  2.39km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=87.4% goal=27.15m dL=0.00 ttc=12.14s tl=None credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=87.5% goal=26.93m dL=0.00 ttc=15.44s tl=None credit=4 reason=
[STEP] step=1220 speed=  0.20km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=87.6% goal=26.77m dL=0.00 ttc=18.54s tl=None credit=14 reason=
[TRAIN] step=6800 critic=0.2531 actor=-0.0269 alpha=0.0262 sigma=0.7983 beta0=1.00
[STEP] step=1240 speed=  0.12km/h thr=0.12 brk=0.00 str=-0.01 safe=0 progress=87.7% goal=26.58m dL=0.00 ttc=28.11s tl=None credit=18 reason=
[STEP] step=1260 speed=  1.91km/h thr=0.14 brk=0.00 str=-0.11 safe=0 progress=87.8% goal=26.31m dL=0.00 ttc=13.75s tl=None credit=14 reason=
[STEP] step=1280 speed=  0.48km/h thr=0.17 brk=0.00 str=+0.13 safe=0 progress=87.8% goal=26.27m dL=0.00 ttc=26.89s tl=None credit=34 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=87.9% goal=26.23m dL=0.00 ttc=27.29s tl=None credit=54 reason=
[STEP] step=1320 speed=  0.03km/h thr=0.06 brk=0.00 str=+0.10 safe=0 progress=87.9% goal=26.15m dL=0.00 ttc=27.33s tl=None credit=72 reason=
[TRAIN] step=6900 critic=0.2554 actor=-0.1243 alpha=0.0254 sigma=0.7925 beta0=1.00
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=25.13s tl=None credit=92 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.09 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=27.74s tl=None credit=112 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=28.61s tl=None credit=132 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.06 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=33.52s tl=None credit=152 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=36.23s tl=None credit=172 reason=
[TRAIN] step=7000 critic=0.2927 actor=-0.0693 alpha=0.0247 sigma=0.7848 beta0=1.00
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.02 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=27.47s tl=None credit=192 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=21.72s tl=None credit=212 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.10 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=18.26s tl=None credit=232 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=15.79s tl=None credit=252 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.01 safe=0 progress=87.9% goal=26.12m dL=0.00 ttc=13.60s tl=None credit=272 reason=
[TRAIN] step=7100 critic=2.4276 actor=-0.8106 alpha=0.0240 sigma=0.7852 beta0=1.00
[STEP] step=1540 speed=  3.24km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=88.0% goal=25.88m dL=0.00 ttc=12.90s tl=None credit=278 reason=
[STEP] step=1560 speed= 11.27km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=89.0% goal=23.81m dL=0.01 ttc=20.81s tl=None credit=258 reason=
[STEP] step=1580 speed= 11.54km/h thr=0.29 brk=0.00 str=-0.15 safe=0 progress=90.5% goal=20.64m dL=0.01 ttc=13.92s tl=Green credit=238 reason=
[STEP] step=1600 speed= 12.19km/h thr=0.17 brk=0.00 str=+0.26 safe=0 progress=92.0% goal=17.36m dL=0.08 ttc=14.64s tl=Green credit=218 reason=
[STEP] step=1620 speed=  7.58km/h thr=0.00 brk=0.24 str=-0.06 safe=0 progress=93.3% goal=14.43m dL=0.04 ttc=7.80s tl=None credit=198 reason=
[TRAIN] step=7200 critic=0.3672 actor=-0.2829 alpha=0.0233 sigma=0.7779 beta0=1.00
[STEP] step=1640 speed=  0.14km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=93.5% goal=14.16m dL=0.03 ttc=5.34s tl=None credit=178 reason=
[STEP] step=1657 speed=  9.72km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=94.0% goal=12.94m dL=0.01 ttc=10.73s tl=None credit=161 reason=goal
[EP] ep=8 steps=1657 reward=-321.44 success=1 progress=94.0% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31350 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 10 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=39.93m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=9 weather=night_rain_fog spawn_idx=10 goal_idx=None route_len=199.8m spawn=(-24.3,-57.7,-0.0) yaw=0.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=199.77m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.51km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=199.76m dL=0.00 ttc=44.88s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.17km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=196.02m dL=0.00 ttc=11.32s tl=None credit=0 reason=
[STEP] step=0060 speed= 21.98km/h thr=0.43 brk=0.00 str=+0.04 safe=0 progress=4.6% goal=190.63m dL=0.28 ttc=10.63s tl=None credit=0 reason=
[TRAIN] step=7300 critic=0.3591 actor=-0.4010 alpha=0.0226 sigma=0.7905 beta0=1.00
[STEP] step=0080 speed= 23.27km/h thr=0.29 brk=0.00 str=+0.08 safe=0 progress=7.8% goal=184.11m dL=0.03 ttc=9.74s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.30km/h thr=0.22 brk=0.00 str=-0.15 safe=0 progress=10.8% goal=178.20m dL=0.76 ttc=11.74s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.41km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=13.0% goal=173.71m dL=1.05 ttc=14.25s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.34km/h thr=0.30 brk=0.00 str=-0.17 safe=0 progress=14.7% goal=170.36m dL=1.10 ttc=22.87s tl=None credit=0 reason=
[STEP] step=0160 speed= 12.30km/h thr=0.40 brk=0.00 str=+0.08 safe=0 progress=16.5% goal=166.80m dL=0.69 ttc=30.97s tl=None credit=0 reason=
[TRAIN] step=7400 critic=0.4021 actor=0.4717 alpha=0.0219 sigma=0.7972 beta0=1.00
[STEP] step=0180 speed= 18.01km/h thr=0.48 brk=0.00 str=+0.11 safe=0 progress=18.7% goal=162.50m dL=0.25 ttc=46.56s tl=None credit=0 reason=
[STEP] step=0200 speed= 21.30km/h thr=0.34 brk=0.00 str=+0.17 safe=0 progress=21.4% goal=157.00m dL=0.05 ttc=194.64s tl=None credit=0 reason=
[STEP] step=0220 speed= 21.47km/h thr=0.19 brk=0.00 str=-0.07 safe=0 progress=24.4% goal=150.96m dL=0.84 ttc=118.86s tl=None credit=0 reason=
[STEP] step=0240 speed=  1.52km/h thr=0.42 brk=0.00 str=-0.71 safe=0 progress=25.7% goal=148.34m dL=1.22 ttc=365.25s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.04km/h thr=0.45 brk=0.00 str=-0.32 safe=0 progress=26.6% goal=146.65m dL=0.36 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=7500 critic=0.5693 actor=0.0629 alpha=0.0213 sigma=0.7993 beta0=1.00
[STEP] step=0280 speed= 12.59km/h thr=0.00 brk=0.08 str=+0.29 safe=0 progress=28.5% goal=142.80m dL=0.81 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 11.86km/h thr=0.41 brk=0.00 str=+0.18 safe=0 progress=30.1% goal=139.61m dL=0.80 ttc=365.54s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.22km/h thr=0.28 brk=0.00 str=+0.27 safe=0 progress=32.3% goal=135.27m dL=0.53 ttc=182.33s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.29km/h thr=0.42 brk=0.00 str=+0.03 safe=0 progress=34.4% goal=131.06m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 19.17km/h thr=0.39 brk=0.00 str=-0.06 safe=0 progress=36.9% goal=126.02m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=7600 critic=0.3083 actor=0.4814 alpha=0.0207 sigma=0.8016 beta0=1.00
[STEP] step=0380 speed= 21.34km/h thr=0.40 brk=0.00 str=+0.13 safe=0 progress=39.7% goal=120.45m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 21.81km/h thr=0.37 brk=0.00 str=-0.17 safe=0 progress=42.8% goal=114.32m dL=0.63 ttc=271.62s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.72km/h thr=0.26 brk=0.00 str=-0.13 safe=0 progress=45.6% goal=108.61m dL=0.34 ttc=452.59s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.67km/h thr=0.00 brk=0.10 str=+0.16 safe=0 progress=48.0% goal=103.79m dL=0.01 ttc=83.49s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.92km/h thr=0.21 brk=0.00 str=-0.11 safe=0 progress=49.9% goal=100.06m dL=0.25 ttc=88.04s tl=None credit=0 reason=
[TRAIN] step=7700 critic=0.2184 actor=0.4665 alpha=0.0201 sigma=0.7960 beta0=1.00
[STEP] step=0480 speed= 13.10km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=51.8% goal=96.28m dL=0.15 ttc=91.23s tl=None credit=0 reason=
[STEP] step=0500 speed= 12.36km/h thr=0.48 brk=0.00 str=-0.06 safe=0 progress=53.5% goal=92.94m dL=0.25 ttc=93.14s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.34km/h thr=0.00 brk=0.08 str=+0.23 safe=0 progress=55.4% goal=89.08m dL=0.15 ttc=141.98s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.67km/h thr=0.41 brk=0.00 str=+0.17 safe=0 progress=57.2% goal=85.56m dL=0.07 ttc=389.98s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.07km/h thr=0.12 brk=0.00 str=-0.20 safe=0 progress=59.4% goal=81.12m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=7800 critic=0.3339 actor=0.6586 alpha=0.0195 sigma=0.7970 beta0=1.00
[STEP] step=0580 speed=  8.62km/h thr=0.18 brk=0.00 str=+0.18 safe=0 progress=61.0% goal=77.89m dL=0.10 ttc=105.09s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.48km/h thr=0.36 brk=0.00 str=+0.15 safe=0 progress=62.5% goal=74.84m dL=0.01 ttc=24.78s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.76km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=64.5% goal=70.89m dL=0.08 ttc=23.44s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.83km/h thr=0.23 brk=0.00 str=+0.16 safe=0 progress=66.4% goal=67.14m dL=0.01 ttc=22.11s tl=None credit=0 reason=
[STEP] step=0660 speed= 17.16km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=68.5% goal=62.95m dL=0.04 ttc=21.54s tl=None credit=0 reason=
[TRAIN] step=7900 critic=2.7608 actor=0.4862 alpha=0.0189 sigma=0.7922 beta0=1.00
[STEP] step=0680 speed= 16.28km/h thr=0.17 brk=0.00 str=+0.19 safe=0 progress=70.8% goal=58.30m dL=0.06 ttc=19.89s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.42km/h thr=0.48 brk=0.00 str=+0.02 safe=0 progress=72.9% goal=54.12m dL=0.06 ttc=24.26s tl=None credit=0 reason=
[CAL] step=10000 fitted=1 center=0.3147 scale=0.3461 beta0=1.00
[OK] Saved checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[EVAL step=10000] skipping cross-town eval (Town10HD_Opt→Town02).
[STEP] step=0720 speed= 19.22km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=75.4% goal=49.09m dL=0.34 ttc=27.04s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.23km/h thr=0.00 brk=0.08 str=-0.20 safe=0 progress=78.0% goal=43.90m dL=0.10 ttc=35.72s tl=Red credit=0 reason=
[STEP] step=0760 speed= 11.69km/h thr=0.15 brk=0.00 str=-0.05 safe=0 progress=80.0% goal=39.99m dL=0.19 ttc=46.39s tl=Red credit=0 reason=
[TRAIN] step=8000 critic=0.4281 actor=0.4076 alpha=0.0183 sigma=0.5775 beta0=1.00
[STEP] step=0780 speed= 15.15km/h thr=0.42 brk=0.00 str=+0.09 safe=0 progress=81.7% goal=36.51m dL=0.04 ttc=49.15s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.07km/h thr=0.15 brk=0.00 str=-0.13 safe=0 progress=84.1% goal=31.70m dL=0.17 ttc=55.20s tl=None credit=0 reason=
[STEP] step=0820 speed= 13.88km/h thr=0.06 brk=0.00 str=-0.03 safe=0 progress=86.4% goal=27.20m dL=0.22 ttc=36.64s tl=None credit=0 reason=
[STEP] step=0840 speed=  2.38km/h thr=0.00 brk=0.37 str=-0.08 safe=0 progress=87.8% goal=24.41m dL=0.26 ttc=47.86s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.19km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=87.8% goal=24.41m dL=0.26 ttc=52.60s tl=None credit=0 reason=
[TRAIN] step=8100 critic=0.5072 actor=0.7918 alpha=0.0178 sigma=0.5886 beta0=1.00
[STEP] step=0880 speed= 12.96km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=88.8% goal=22.44m dL=0.13 ttc=32.84s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.14km/h thr=0.21 brk=0.00 str=+0.03 safe=0 progress=91.0% goal=17.99m dL=0.31 ttc=31.85s tl=None credit=0 reason=
[STEP] step=0920 speed= 12.91km/h thr=0.00 brk=0.16 str=-0.01 safe=0 progress=93.2% goal=13.57m dL=0.13 ttc=31.81s tl=None credit=0 reason=
[STEP] step=0924 speed= 11.42km/h thr=0.00 brk=0.16 str=-0.01 safe=0 progress=93.5% goal=12.90m dL=0.06 ttc=31.35s tl=None credit=0 reason=goal
[EP] ep=9 steps=924 reward=-175.54 success=1 progress=93.5% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31361 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 5 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=64.98% dL=0.00m
[RESET] town=Town10HD_Opt npc=11 weather=night_rain_fog spawn_idx=5 goal_idx=None route_len=202.5m spawn=(-106.5,-17.1,-0.0) yaw=-89.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=65.0% goal=70.90m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=65.0% goal=70.90m dL=0.00 ttc=58.80s tl=None credit=0 reason=
[TRAIN] step=8200 critic=0.4707 actor=0.6350 alpha=0.0173 sigma=0.5650 beta0=1.00
[STEP] step=0040 speed= 17.21km/h thr=0.42 brk=0.00 str=+0.06 safe=1 progress=66.7% goal=67.46m dL=0.01 ttc=31.70s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.07km/h thr=0.00 brk=0.16 str=+0.16 safe=0 progress=69.1% goal=62.56m dL=0.16 ttc=17.61s tl=None credit=0 reason=
[STEP] step=0080 speed= 14.39km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=71.1% goal=58.59m dL=0.04 ttc=16.64s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.37km/h thr=0.36 brk=0.00 str=+0.06 safe=0 progress=73.2% goal=54.35m dL=0.06 ttc=17.02s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.39km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=75.4% goal=49.84m dL=0.08 ttc=17.76s tl=None credit=0 reason=
[TRAIN] step=8300 critic=0.4605 actor=0.1399 alpha=0.0167 sigma=0.5952 beta0=1.00
[STEP] step=0140 speed= 11.23km/h thr=0.54 brk=0.00 str=+0.02 safe=0 progress=77.0% goal=46.52m dL=0.04 ttc=15.90s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.86km/h thr=0.11 brk=0.00 str=+0.04 safe=0 progress=78.9% goal=42.63m dL=0.17 ttc=16.03s tl=None credit=0 reason=
[STEP] step=0180 speed=  6.97km/h thr=0.00 brk=0.10 str=+0.25 safe=0 progress=80.4% goal=39.65m dL=0.01 ttc=12.72s tl=None credit=0 reason=
[STEP] step=0200 speed= 11.93km/h thr=0.54 brk=0.00 str=-0.08 safe=0 progress=81.6% goal=37.33m dL=0.07 ttc=15.01s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.80km/h thr=0.14 brk=0.00 str=+0.01 safe=0 progress=83.7% goal=33.03m dL=0.19 ttc=12.50s tl=None credit=0 reason=
[TRAIN] step=8400 critic=0.4494 actor=0.6190 alpha=0.0162 sigma=0.5962 beta0=1.00
[STEP] step=0240 speed= 13.16km/h thr=0.00 brk=0.08 str=+0.09 safe=0 progress=85.8% goal=28.84m dL=0.03 ttc=11.66s tl=None credit=0 reason=
[STEP] step=0260 speed= 10.88km/h thr=0.25 brk=0.00 str=+0.08 safe=0 progress=87.3% goal=25.70m dL=0.01 ttc=11.26s tl=None credit=0 reason=
[STEP] step=0280 speed= 11.19km/h thr=0.45 brk=0.00 str=+0.11 safe=0 progress=88.8% goal=22.65m dL=0.07 ttc=9.94s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.65km/h thr=0.00 brk=0.14 str=+0.12 safe=0 progress=90.3% goal=19.70m dL=0.17 ttc=9.66s tl=None credit=0 reason=
[STEP] step=0320 speed= 12.81km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=91.5% goal=17.13m dL=0.00 ttc=7.69s tl=None credit=0 reason=
[TRAIN] step=8500 critic=0.3944 actor=0.6820 alpha=0.0158 sigma=0.5850 beta0=1.00
[STEP] step=0340 speed=  9.50km/h thr=0.00 brk=0.08 str=-0.10 safe=0 progress=93.2% goal=13.84m dL=0.01 ttc=7.27s tl=None credit=0 reason=
[STEP] step=0347 speed=  7.96km/h thr=0.06 brk=0.00 str=+0.11 safe=0 progress=93.6% goal=13.00m dL=0.04 ttc=7.73s tl=None credit=0 reason=goal
[EP] ep=10 steps=347 reward=-54.26 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31374 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 89 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=25.88% dL=27.04m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=11 weather=night_rain_fog spawn_idx=89 goal_idx=None route_len=199.6m spawn=(-52.4,-14.0,-0.0) yaw=90.0 start_progress=0.00% start_dL=0.04
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=0.0% goal=199.64m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=0.0% goal=199.64m dL=0.04 ttc=63.20s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=198.06m dL=0.01 ttc=10.54s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.71km/h thr=0.00 brk=0.32 str=+0.01 safe=0 progress=3.2% goal=193.23m dL=0.03 ttc=6.08s tl=Red credit=0 reason=
[STEP] step=0080 speed=  2.41km/h thr=0.00 brk=0.30 str=-0.26 safe=0 progress=4.7% goal=190.31m dL=0.13 ttc=13.13s tl=None credit=0 reason=
[TRAIN] step=8600 critic=0.7523 actor=1.2283 alpha=0.0153 sigma=0.6187 beta0=1.00
[STEP] step=0100 speed=  0.30km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.7% goal=190.30m dL=0.13 ttc=12.32s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.08km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=5.8% goal=188.14m dL=0.05 ttc=8.99s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.68km/h thr=0.00 brk=0.24 str=-0.07 safe=0 progress=8.1% goal=183.52m dL=0.08 ttc=9.67s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.05 safe=0 progress=9.3% goal=181.17m dL=0.16 ttc=9.12s tl=None credit=0 reason=
[STEP] step=0180 speed=  1.68km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=9.3% goal=181.14m dL=0.16 ttc=8.05s tl=None credit=0 reason=
[TRAIN] step=8700 critic=6.7661 actor=0.1169 alpha=0.0148 sigma=0.6278 beta0=1.00
[STEP] step=0200 speed= 17.23km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=10.7% goal=178.31m dL=0.06 ttc=6.68s tl=None credit=0 reason=
[STEP] step=0220 speed= 21.13km/h thr=0.27 brk=0.00 str=-0.13 safe=0 progress=13.3% goal=173.02m dL=0.13 ttc=5.99s tl=None credit=0 reason=
[STEP] step=0240 speed= 20.61km/h thr=0.22 brk=0.00 str=+0.17 safe=0 progress=16.2% goal=167.26m dL=0.06 ttc=7.30s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.28 safe=0 progress=17.4% goal=164.88m dL=0.31 ttc=6.64s tl=None credit=0 reason=
[STEP] step=0280 speed=  7.50km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=17.6% goal=164.41m dL=0.31 ttc=6.97s tl=None credit=0 reason=
[TRAIN] step=8800 critic=1.3918 actor=-0.0772 alpha=0.0144 sigma=0.6052 beta0=1.00
[STEP] step=0300 speed= 18.06km/h thr=0.48 brk=0.00 str=+0.10 safe=0 progress=19.7% goal=160.29m dL=0.22 ttc=9.82s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.16km/h thr=0.18 brk=0.00 str=-0.15 safe=0 progress=22.3% goal=155.11m dL=0.58 ttc=7.66s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.34km/h thr=0.51 brk=0.00 str=-0.07 safe=0 progress=24.8% goal=150.10m dL=0.23 ttc=6.06s tl=None credit=0 reason=
[STEP] step=0360 speed= 21.46km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=27.6% goal=144.49m dL=0.28 ttc=5.24s tl=None credit=0 reason=
[STEP] step=0380 speed= 22.52km/h thr=0.14 brk=0.00 str=+0.16 safe=0 progress=30.7% goal=138.37m dL=0.32 ttc=3.66s tl=None credit=0 reason=
[TRAIN] step=8900 critic=0.6191 actor=0.3059 alpha=0.0140 sigma=0.6141 beta0=1.00
[STEP] step=0400 speed= 17.33km/h thr=0.00 brk=0.24 str=+0.14 safe=0 progress=33.5% goal=132.86m dL=0.50 ttc=3.51s tl=None credit=0 reason=
[STEP] step=0420 speed=  8.81km/h thr=0.00 brk=0.26 str=-0.15 safe=0 progress=35.2% goal=129.33m dL=0.01 ttc=14.20s tl=None credit=0 reason=
[STEP] step=0440 speed= 10.36km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=36.3% goal=127.15m dL=0.13 ttc=13.65s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.31km/h thr=0.36 brk=0.00 str=-0.18 safe=0 progress=38.3% goal=123.22m dL=0.32 ttc=12.94s tl=None credit=0 reason=
[STEP] step=0480 speed= 18.31km/h thr=0.45 brk=0.00 str=+0.17 safe=0 progress=40.8% goal=118.23m dL=0.06 ttc=12.97s tl=None credit=0 reason=
[TRAIN] step=9000 critic=1.1496 actor=0.7653 alpha=0.0136 sigma=0.6189 beta0=1.00
[STEP] step=0500 speed= 18.10km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=43.3% goal=113.22m dL=0.25 ttc=13.83s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.08km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=45.5% goal=108.79m dL=1.20 ttc=18.48s tl=None credit=0 reason=
[STEP] step=0540 speed=  9.22km/h thr=0.26 brk=0.00 str=+0.59 safe=0 progress=46.9% goal=106.00m dL=1.56 ttc=20.67s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.76km/h thr=0.27 brk=0.00 str=+0.20 safe=0 progress=48.3% goal=103.17m dL=0.70 ttc=19.05s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.13km/h thr=0.48 brk=0.00 str=-0.23 safe=0 progress=50.0% goal=99.83m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=9100 critic=0.5072 actor=0.8331 alpha=0.0132 sigma=0.6277 beta0=1.00
[STEP] step=0600 speed= 16.71km/h thr=0.12 brk=0.00 str=-0.20 safe=0 progress=52.1% goal=95.58m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 17.56km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=54.3% goal=91.15m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.02km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=56.7% goal=86.47m dL=0.01 ttc=184.85s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.12km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=59.1% goal=81.57m dL=0.22 ttc=134.17s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.03km/h thr=0.12 brk=0.00 str=+0.17 safe=0 progress=61.6% goal=76.72m dL=0.07 ttc=88.79s tl=Green credit=0 reason=
[TRAIN] step=9200 critic=0.6797 actor=0.4974 alpha=0.0128 sigma=0.6191 beta0=1.00
[STEP] step=0700 speed= 17.22km/h thr=0.15 brk=0.00 str=-0.05 safe=0 progress=63.8% goal=72.19m dL=0.03 ttc=34.55s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.82km/h thr=0.00 brk=0.25 str=+0.30 safe=0 progress=65.8% goal=68.36m dL=0.22 ttc=28.11s tl=None credit=0 reason=
[STEP] step=0740 speed=  8.93km/h thr=0.21 brk=0.00 str=+0.00 safe=0 progress=66.8% goal=66.18m dL=0.00 ttc=20.18s tl=None credit=0 reason=
[STEP] step=0760 speed=  8.36km/h thr=0.14 brk=0.00 str=+0.17 safe=0 progress=68.1% goal=63.71m dL=0.04 ttc=16.71s tl=None credit=0 reason=
[STEP] step=0780 speed=  9.01km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=69.3% goal=61.26m dL=0.12 ttc=15.24s tl=None credit=0 reason=
[TRAIN] step=9300 critic=0.6566 actor=0.2304 alpha=0.0124 sigma=0.6262 beta0=1.00
[STEP] step=0800 speed=  8.00km/h thr=0.00 brk=0.20 str=+0.19 safe=0 progress=70.5% goal=58.84m dL=0.02 ttc=14.40s tl=None credit=0 reason=
[STEP] step=0820 speed=  8.91km/h thr=0.38 brk=0.00 str=+0.18 safe=0 progress=71.6% goal=56.66m dL=0.09 ttc=14.36s tl=None credit=0 reason=
[STEP] step=0840 speed= 10.58km/h thr=0.00 brk=0.16 str=+0.16 safe=0 progress=73.1% goal=53.71m dL=0.01 ttc=14.43s tl=None credit=0 reason=
[STEP] step=0860 speed=  8.01km/h thr=0.41 brk=0.00 str=+0.24 safe=0 progress=74.3% goal=51.39m dL=0.02 ttc=12.52s tl=None credit=0 reason=
[STEP] step=0880 speed=  9.66km/h thr=0.06 brk=0.00 str=+0.18 safe=0 progress=75.6% goal=48.64m dL=0.13 ttc=12.40s tl=None credit=0 reason=
[TRAIN] step=9400 critic=0.5093 actor=0.2999 alpha=0.0120 sigma=0.5961 beta0=1.00
[STEP] step=0900 speed= 11.57km/h thr=0.29 brk=0.00 str=-0.07 safe=0 progress=76.9% goal=46.05m dL=0.01 ttc=12.39s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.43km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=78.6% goal=42.65m dL=0.11 ttc=15.52s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.49km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=80.7% goal=38.58m dL=0.08 ttc=17.84s tl=None credit=0 reason=
[STEP] step=0960 speed= 15.56km/h thr=0.33 brk=0.00 str=+0.05 safe=0 progress=82.6% goal=34.70m dL=0.07 ttc=28.14s tl=None credit=0 reason=
[STEP] step=0980 speed= 15.20km/h thr=0.19 brk=0.00 str=+0.08 safe=0 progress=84.8% goal=30.30m dL=0.04 ttc=35.93s tl=None credit=0 reason=
[TRAIN] step=9500 critic=0.6680 actor=1.2970 alpha=0.0117 sigma=0.6242 beta0=1.00
[STEP] step=1000 speed=  9.47km/h thr=0.30 brk=0.00 str=-0.21 safe=0 progress=86.5% goal=26.97m dL=0.31 ttc=14.38s tl=None credit=0 reason=
[STEP] step=1020 speed= 12.94km/h thr=0.18 brk=0.00 str=-0.15 safe=0 progress=88.2% goal=23.63m dL=0.03 ttc=11.70s tl=None credit=0 reason=
[STEP] step=1040 speed= 10.20km/h thr=0.30 brk=0.00 str=+0.34 safe=0 progress=89.8% goal=20.39m dL=0.12 ttc=9.88s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.95km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=91.2% goal=17.52m dL=0.09 ttc=9.84s tl=None credit=0 reason=
[STEP] step=1080 speed= 11.03km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=92.4% goal=15.17m dL=0.10 ttc=9.66s tl=None credit=0 reason=
[STEP] step=1092 speed= 13.39km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=93.5% goal=13.08m dL=0.05 ttc=10.15s tl=None credit=0 reason=goal
[TRAIN] step=9600 critic=0.7942 actor=0.7287 alpha=0.0113 sigma=0.6175 beta0=1.00
[EP] ep=11 steps=1092 reward=-167.36 success=1 progress=93.5% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31387 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 123 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=50.74m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=14 weather=night_rain_fog spawn_idx=123 goal_idx=None route_len=205.3m spawn=(-13.3,-61.1,-0.0) yaw=0.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=205.25m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.25m dL=0.00 ttc=49.53s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.67km/h thr=0.50 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=203.63m dL=0.00 ttc=219.63s tl=None credit=0 reason=
[STEP] step=0060 speed= 19.72km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=3.3% goal=198.53m dL=0.17 ttc=312.98s tl=None credit=0 reason=
[STEP] step=0080 speed= 14.16km/h thr=0.00 brk=0.38 str=+0.04 safe=0 progress=5.7% goal=193.49m dL=0.29 ttc=41.73s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.22 safe=0 progress=6.7% goal=191.53m dL=0.42 ttc=19.87s tl=None credit=0 reason=
[TRAIN] step=9700 critic=0.7144 actor=0.4885 alpha=0.0110 sigma=0.6260 beta0=1.00
[STEP] step=0120 speed=  4.05km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=6.8% goal=191.38m dL=0.41 ttc=50.75s tl=None credit=0 reason=
[STEP] step=0140 speed= 17.88km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=8.4% goal=187.96m dL=0.14 ttc=39.36s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.06km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=10.8% goal=182.99m dL=0.21 ttc=34.70s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.75km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=13.0% goal=178.48m dL=0.56 ttc=38.60s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.42km/h thr=0.42 brk=0.00 str=-0.07 safe=0 progress=15.4% goal=173.66m dL=0.21 ttc=51.48s tl=None credit=0 reason=
[TRAIN] step=9800 critic=1.0963 actor=1.0910 alpha=0.0107 sigma=0.6192 beta0=1.00
[STEP] step=0220 speed= 17.75km/h thr=0.36 brk=0.00 str=-0.13 safe=0 progress=17.8% goal=168.73m dL=0.08 ttc=39.89s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.11km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=20.3% goal=163.67m dL=0.11 ttc=28.75s tl=None credit=0 reason=
[STEP] step=0260 speed= 22.49km/h thr=0.35 brk=0.00 str=+0.09 safe=0 progress=23.0% goal=158.06m dL=0.15 ttc=24.08s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.71km/h thr=0.00 brk=0.16 str=-0.07 safe=0 progress=25.9% goal=152.18m dL=0.30 ttc=22.61s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.43km/h thr=0.46 brk=0.00 str=+0.05 safe=0 progress=28.0% goal=147.79m dL=0.02 ttc=21.22s tl=None credit=0 reason=
[TRAIN] step=9900 critic=1.5861 actor=0.9261 alpha=0.0104 sigma=0.6346 beta0=1.00
[STEP] step=0320 speed= 14.06km/h thr=0.30 brk=0.00 str=-0.08 safe=0 progress=30.2% goal=143.24m dL=0.12 ttc=19.98s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.93km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=32.5% goal=138.52m dL=0.09 ttc=16.79s tl=None credit=0 reason=
[STEP] step=0360 speed= 21.93km/h thr=0.38 brk=0.00 str=+0.00 safe=0 progress=35.3% goal=132.84m dL=0.07 ttc=14.92s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.91km/h thr=0.00 brk=0.08 str=+0.09 safe=0 progress=38.1% goal=127.12m dL=0.25 ttc=15.83s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.01km/h thr=0.39 brk=0.00 str=-0.12 safe=0 progress=40.0% goal=123.11m dL=0.04 ttc=16.31s tl=None credit=0 reason=
[TRAIN] step=10000 critic=0.6903 actor=1.4467 alpha=0.0101 sigma=0.6391 beta0=1.00
[STEP] step=0420 speed= 14.96km/h thr=0.15 brk=0.00 str=+0.09 safe=0 progress=42.0% goal=119.00m dL=0.14 ttc=14.45s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.96km/h thr=0.07 brk=0.00 str=+0.15 safe=0 progress=44.0% goal=114.94m dL=0.03 ttc=13.44s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.08km/h thr=0.28 brk=0.00 str=+0.17 safe=0 progress=45.8% goal=111.24m dL=0.09 ttc=11.45s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.69km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=47.7% goal=107.25m dL=0.06 ttc=12.23s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.31km/h thr=0.42 brk=0.00 str=+0.34 safe=0 progress=49.6% goal=103.47m dL=0.03 ttc=13.88s tl=None credit=0 reason=
[TRAIN] step=10100 critic=0.6666 actor=1.3033 alpha=0.0100 sigma=0.6339 beta0=1.00
[STEP] step=0520 speed= 17.03km/h thr=0.22 brk=0.00 str=-0.11 safe=0 progress=51.7% goal=99.06m dL=0.49 ttc=7.90s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.96km/h thr=0.14 brk=0.00 str=+0.24 safe=0 progress=54.0% goal=94.50m dL=0.20 ttc=5.56s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.02km/h thr=0.15 brk=0.00 str=+0.31 safe=0 progress=56.0% goal=90.38m dL=0.23 ttc=4.13s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.17km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=57.8% goal=86.55m dL=0.26 ttc=3.09s tl=None credit=0 reason=
[STEP] step=0600 speed= 11.27km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=59.6% goal=82.91m dL=0.18 ttc=2.30s tl=None credit=0 reason=
[TRAIN] step=10200 critic=1.1627 actor=1.2683 alpha=0.0100 sigma=0.6406 beta0=1.00
[STEP] step=0620 speed= 10.56km/h thr=0.23 brk=0.00 str=+0.26 safe=0 progress=61.0% goal=80.07m dL=0.34 ttc=1.35s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.89km/h thr=0.44 brk=0.00 str=+0.06 safe=0 progress=62.8% goal=76.39m dL=0.14 ttc=0.52s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.96km/h thr=0.28 brk=0.00 str=-0.13 safe=0 progress=65.1% goal=71.68m dL=0.02 ttc=3.88s tl=None credit=0 reason=
[STEP] step=0680 speed= 10.27km/h thr=0.00 brk=0.16 str=+0.30 safe=0 progress=66.9% goal=67.91m dL=0.48 ttc=4.62s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.04km/h thr=0.12 brk=0.00 str=+0.11 safe=0 progress=67.7% goal=66.20m dL=0.23 ttc=9.65s tl=None credit=5 reason=
[TRAIN] step=10300 critic=2.5525 actor=1.4602 alpha=0.0100 sigma=0.6353 beta0=1.00
[STEP] step=0720 speed=  2.74km/h thr=0.06 brk=0.00 str=-0.02 safe=0 progress=68.1% goal=65.46m dL=0.18 ttc=10.16s tl=None credit=0 reason=
[STEP] step=0740 speed= 10.76km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=68.9% goal=63.76m dL=0.15 ttc=14.76s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.01km/h thr=0.10 brk=0.00 str=-0.04 safe=0 progress=71.0% goal=59.45m dL=0.05 ttc=13.06s tl=None credit=0 reason=
[STEP] step=0780 speed= 17.14km/h thr=0.28 brk=0.00 str=+0.09 safe=0 progress=73.4% goal=54.64m dL=0.01 ttc=12.86s tl=Green credit=0 reason=
[STEP] step=0800 speed= 16.07km/h thr=0.28 brk=0.00 str=-0.24 safe=0 progress=75.7% goal=49.89m dL=0.29 ttc=12.50s tl=None credit=0 reason=
[TRAIN] step=10400 critic=0.9570 actor=0.7629 alpha=0.0100 sigma=0.6140 beta0=1.00
[STEP] step=0820 speed= 17.47km/h thr=0.26 brk=0.00 str=+0.13 safe=0 progress=77.9% goal=45.28m dL=0.01 ttc=10.65s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.09km/h thr=0.31 brk=0.00 str=+0.05 safe=0 progress=80.4% goal=40.30m dL=0.01 ttc=9.22s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.52km/h thr=0.35 brk=0.00 str=+0.23 safe=0 progress=82.8% goal=35.24m dL=0.16 ttc=8.09s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.12km/h thr=0.35 brk=0.00 str=+0.06 safe=0 progress=85.3% goal=30.19m dL=0.10 ttc=7.25s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.10 safe=0 progress=86.6% goal=27.56m dL=0.09 ttc=5.72s tl=None credit=0 reason=
[TRAIN] step=10500 critic=0.7032 actor=1.6871 alpha=0.0100 sigma=0.6254 beta0=1.00
[STEP] step=0920 speed=  5.13km/h thr=0.75 brk=0.00 str=+0.15 safe=1 progress=86.7% goal=27.34m dL=0.09 ttc=7.62s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.57km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=88.2% goal=24.15m dL=0.02 ttc=6.97s tl=None credit=0 reason=
[STEP] step=0960 speed= 14.62km/h thr=0.30 brk=0.00 str=-0.08 safe=0 progress=90.3% goal=19.91m dL=0.10 ttc=6.49s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.06km/h thr=0.06 brk=0.00 str=-0.13 safe=0 progress=92.2% goal=15.96m dL=0.02 ttc=6.08s tl=None credit=0 reason=
[STEP] step=1000 speed=  7.19km/h thr=0.12 brk=0.00 str=+0.08 safe=0 progress=93.5% goal=13.28m dL=0.13 ttc=9.85s tl=None credit=0 reason=
[TRAIN] step=10600 critic=4.1306 actor=1.5483 alpha=0.0100 sigma=0.6218 beta0=1.00
[STEP] step=1003 speed=  6.52km/h thr=0.00 brk=0.24 str=+0.08 safe=0 progress=93.7% goal=12.99m dL=0.13 ttc=10.73s tl=None credit=0 reason=goal
[EP] ep=12 steps=1003 reward=-163.06 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31403 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 145 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=49.06m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=20 weather=night_rain_fog spawn_idx=145 goal_idx=None route_len=216.2m spawn=(-15.4,-68.2,-0.0) yaw=-179.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.05 safe=0 progress=0.0% goal=216.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  2.31km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.22m dL=0.00 ttc=149.61s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.19km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=212.45m dL=0.00 ttc=22.52s tl=None credit=0 reason=
[STEP] step=0060 speed=  5.62km/h thr=0.00 brk=0.78 str=+0.06 safe=0 progress=3.8% goal=208.08m dL=0.04 ttc=36.29s tl=Red credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.00 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=20.86s tl=Red credit=20 reason=
[TRAIN] step=10700 critic=0.8450 actor=1.1419 alpha=0.0100 sigma=0.6237 beta0=1.00
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.11 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=22.53s tl=Red credit=40 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.04 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=21.46s tl=Red credit=60 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.10 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=19.66s tl=Red credit=80 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.04 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=18.48s tl=Red credit=100 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.06 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=17.10s tl=Red credit=120 reason=
[TRAIN] step=10800 critic=0.8197 actor=0.7858 alpha=0.0100 sigma=0.6288 beta0=1.00
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.02 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=15.84s tl=Red credit=140 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.05 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=15.99s tl=Red credit=160 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.15 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=17.43s tl=Red credit=180 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.11 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=19.73s tl=Red credit=200 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.92 str=-0.02 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=22.19s tl=Red credit=220 reason=
[TRAIN] step=10900 critic=1.1905 actor=0.9185 alpha=0.0100 sigma=0.6314 beta0=1.00
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=19.60s tl=Red credit=240 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=15.88s tl=Red credit=260 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.04 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=13.34s tl=Red credit=280 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.96 str=+0.13 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=11.44s tl=Red credit=300 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=9.98s tl=Red credit=320 reason=
[TRAIN] step=11000 critic=1.0292 actor=1.0535 alpha=0.0100 sigma=0.6153 beta0=1.00
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.05 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=8.94s tl=Red credit=340 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.18 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=7.94s tl=Red credit=360 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.94 str=+0.15 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=6.94s tl=Red credit=380 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.24 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=5.94s tl=Red credit=400 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.85 str=+0.06 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=4.94s tl=Red credit=420 reason=
[TRAIN] step=11100 critic=1.6045 actor=0.3918 alpha=0.0100 sigma=0.6338 beta0=1.00
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.11 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=3.94s tl=Red credit=440 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.96 str=+0.04 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=2.97s tl=Red credit=460 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.89 str=+0.04 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=2.44s tl=Red credit=480 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.07 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=5.48s tl=Red credit=500 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.14 safe=0 progress=3.8% goal=208.04m dL=0.04 ttc=3.53s tl=Green credit=506 reason=
[TRAIN] step=11200 critic=1.4689 actor=0.3214 alpha=0.0100 sigma=0.6042 beta0=1.00
[STEP] step=0600 speed=  4.80km/h thr=0.75 brk=0.00 str=+0.08 safe=1 progress=3.9% goal=207.83m dL=0.03 ttc=7.41s tl=Green credit=486 reason=
[STEP] step=0620 speed= 17.97km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=5.6% goal=204.20m dL=0.01 ttc=13.81s tl=Green credit=466 reason=
[STEP] step=0640 speed= 19.36km/h thr=0.52 brk=0.00 str=+0.10 safe=0 progress=7.9% goal=199.12m dL=0.10 ttc=14.33s tl=None credit=446 reason=
[STEP] step=0660 speed= 18.00km/h thr=0.16 brk=0.00 str=+0.01 safe=0 progress=10.4% goal=193.73m dL=0.22 ttc=11.97s tl=None credit=426 reason=
[STEP] step=0680 speed= 18.16km/h thr=0.27 brk=0.00 str=+0.12 safe=0 progress=12.7% goal=188.74m dL=0.17 ttc=14.53s tl=None credit=406 reason=
[TRAIN] step=11300 critic=0.9679 actor=0.3921 alpha=0.0100 sigma=0.6135 beta0=1.00
[STEP] step=0700 speed= 18.08km/h thr=0.14 brk=0.00 str=+0.23 safe=0 progress=15.0% goal=183.71m dL=0.09 ttc=19.78s tl=None credit=386 reason=
[STEP] step=0720 speed= 16.34km/h thr=0.18 brk=0.00 str=+0.09 safe=0 progress=17.2% goal=179.02m dL=0.23 ttc=10.95s tl=None credit=366 reason=
[STEP] step=0740 speed= 18.15km/h thr=0.40 brk=0.00 str=+0.06 safe=0 progress=19.4% goal=174.30m dL=0.15 ttc=18.05s tl=None credit=346 reason=
[STEP] step=0760 speed= 19.91km/h thr=0.23 brk=0.00 str=-0.26 safe=0 progress=21.8% goal=169.07m dL=0.02 ttc=21.34s tl=None credit=326 reason=
[STEP] step=0780 speed= 18.37km/h thr=0.27 brk=0.00 str=+0.16 safe=0 progress=24.2% goal=163.90m dL=0.04 ttc=13.49s tl=None credit=306 reason=
[TRAIN] step=11400 critic=0.9816 actor=0.9041 alpha=0.0100 sigma=0.5909 beta0=1.00
[STEP] step=0800 speed= 12.62km/h thr=0.24 brk=0.00 str=-0.23 safe=0 progress=26.1% goal=159.70m dL=0.33 ttc=7.60s tl=None credit=286 reason=
[STEP] step=0820 speed= 15.50km/h thr=0.00 brk=0.10 str=-0.14 safe=0 progress=28.0% goal=155.68m dL=0.32 ttc=8.62s tl=None credit=266 reason=
[STEP] step=0840 speed= 13.40km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=29.7% goal=152.04m dL=0.49 ttc=6.13s tl=None credit=246 reason=
[STEP] step=0860 speed= 14.79km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=31.6% goal=148.01m dL=0.45 ttc=5.32s tl=None credit=226 reason=
[STEP] step=0880 speed= 14.46km/h thr=0.35 brk=0.00 str=-0.27 safe=0 progress=33.4% goal=143.91m dL=0.55 ttc=4.13s tl=None credit=206 reason=
[TRAIN] step=11500 critic=0.8328 actor=0.8546 alpha=0.0100 sigma=0.6080 beta0=1.00
[STEP] step=0900 speed= 14.00km/h thr=0.31 brk=0.00 str=+0.08 safe=0 progress=35.3% goal=139.95m dL=0.55 ttc=3.46s tl=None credit=186 reason=
[STEP] step=0920 speed= 14.50km/h thr=0.35 brk=0.00 str=-0.10 safe=0 progress=37.1% goal=136.08m dL=0.58 ttc=2.33s tl=None credit=166 reason=
[STEP] step=0940 speed= 16.23km/h thr=0.44 brk=0.00 str=-0.16 safe=0 progress=39.0% goal=131.93m dL=0.12 ttc=1.46s tl=None credit=146 reason=
[STEP] step=0960 speed= 14.91km/h thr=0.12 brk=0.00 str=-0.19 safe=0 progress=41.1% goal=127.29m dL=0.06 ttc=4.76s tl=None credit=126 reason=
[STEP] step=0980 speed= 14.52km/h thr=0.35 brk=0.00 str=-0.10 safe=0 progress=43.0% goal=123.28m dL=0.16 ttc=8.38s tl=None credit=106 reason=
[TRAIN] step=11600 critic=0.9988 actor=0.2020 alpha=0.0100 sigma=0.5962 beta0=1.00
[STEP] step=1000 speed= 15.83km/h thr=0.23 brk=0.00 str=+0.05 safe=0 progress=44.9% goal=119.13m dL=0.17 ttc=10.20s tl=None credit=86 reason=
[STEP] step=1020 speed= 14.32km/h thr=0.30 brk=0.00 str=-0.14 safe=0 progress=46.8% goal=115.00m dL=0.11 ttc=11.40s tl=None credit=66 reason=
[STEP] step=1040 speed= 16.41km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=48.8% goal=110.68m dL=0.01 ttc=11.20s tl=None credit=46 reason=
[STEP] step=1060 speed= 16.38km/h thr=0.43 brk=0.00 str=-0.03 safe=0 progress=50.9% goal=106.27m dL=0.32 ttc=11.85s tl=None credit=26 reason=
[STEP] step=1080 speed= 16.03km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=53.0% goal=101.65m dL=0.95 ttc=7.63s tl=None credit=6 reason=
[TRAIN] step=11700 critic=1.2921 actor=0.5119 alpha=0.0100 sigma=0.5871 beta0=1.00
[STEP] step=1100 speed= 17.58km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=55.0% goal=97.24m dL=1.11 ttc=10.05s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.05km/h thr=0.24 brk=0.00 str=+0.13 safe=0 progress=57.2% goal=92.46m dL=0.26 ttc=3.19s tl=None credit=0 reason=
[STEP] step=1140 speed= 14.46km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=59.4% goal=87.70m dL=0.16 ttc=2.88s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.63km/h thr=0.54 brk=0.00 str=+0.04 safe=0 progress=61.6% goal=83.09m dL=0.05 ttc=1.62s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.38km/h thr=0.00 brk=0.24 str=+0.09 safe=0 progress=64.0% goal=77.90m dL=0.25 ttc=3.55s tl=Red credit=0 reason=
[TRAIN] step=11800 critic=0.9952 actor=0.9005 alpha=0.0100 sigma=0.5869 beta0=1.00
[STEP] step=1200 speed=  6.94km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=65.5% goal=74.61m dL=0.15 ttc=6.15s tl=Red credit=0 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.11 safe=0 progress=65.5% goal=74.53m dL=0.15 ttc=2.93s tl=Red credit=19 reason=
[STEP] step=1240 speed=  0.12km/h thr=0.06 brk=0.00 str=+0.11 safe=0 progress=65.5% goal=74.53m dL=0.15 ttc=6.66s tl=Red credit=39 reason=
[STEP] step=1260 speed=  3.00km/h thr=0.21 brk=0.00 str=+0.13 safe=0 progress=65.7% goal=74.24m dL=0.13 ttc=5.58s tl=Red credit=39 reason=
[STEP] step=1280 speed= 10.52km/h thr=0.54 brk=0.00 str=-0.08 safe=0 progress=66.5% goal=72.48m dL=0.18 ttc=6.59s tl=None credit=19 reason=
[TRAIN] step=11900 critic=0.9307 actor=0.4456 alpha=0.0100 sigma=0.5806 beta0=1.00
[STEP] step=1300 speed= 17.16km/h thr=0.24 brk=0.00 str=-0.18 safe=0 progress=68.4% goal=68.39m dL=0.07 ttc=4.42s tl=None credit=0 reason=
[STEP] step=1320 speed= 16.28km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=70.5% goal=63.70m dL=0.15 ttc=3.17s tl=None credit=0 reason=
[STEP] step=1340 speed= 17.96km/h thr=0.34 brk=0.00 str=+0.05 safe=0 progress=72.7% goal=59.06m dL=0.03 ttc=11.62s tl=None credit=0 reason=
[STEP] step=1360 speed= 14.90km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=74.8% goal=54.47m dL=0.32 ttc=12.60s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.18km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=77.0% goal=49.83m dL=0.11 ttc=9.74s tl=None credit=0 reason=
[TRAIN] step=12000 critic=0.8548 actor=0.9679 alpha=0.0100 sigma=0.5623 beta0=1.00
[STEP] step=1400 speed= 18.16km/h thr=0.32 brk=0.00 str=+0.13 safe=0 progress=79.3% goal=44.82m dL=0.16 ttc=7.99s tl=None credit=0 reason=
[STEP] step=1420 speed= 20.68km/h thr=0.23 brk=0.00 str=-0.09 safe=0 progress=81.8% goal=39.43m dL=0.11 ttc=6.12s tl=None credit=0 reason=
[STEP] step=1440 speed= 16.23km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=84.1% goal=34.38m dL=0.03 ttc=5.57s tl=None credit=0 reason=
[STEP] step=1460 speed= 18.27km/h thr=0.30 brk=0.00 str=-0.10 safe=0 progress=86.3% goal=29.59m dL=0.23 ttc=4.26s tl=None credit=0 reason=
[STEP] step=1480 speed= 18.71km/h thr=0.40 brk=0.00 str=+0.25 safe=0 progress=88.7% goal=24.51m dL=0.53 ttc=3.24s tl=None credit=0 reason=
[TRAIN] step=12100 critic=0.9701 actor=1.2432 alpha=0.0100 sigma=0.5990 beta0=1.00
[STEP] step=1500 speed= 17.47km/h thr=0.00 brk=0.15 str=-0.06 safe=0 progress=91.0% goal=19.36m dL=0.22 ttc=2.32s tl=None credit=0 reason=
[STEP] step=1520 speed= 14.56km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=93.1% goal=14.98m dL=0.41 ttc=1.63s tl=None credit=0 reason=
[STEP] step=1533 speed= 10.05km/h thr=0.00 brk=0.07 str=+0.03 safe=0 progress=94.1% goal=12.85m dL=0.14 ttc=1.50s tl=None credit=0 reason=goal
[EP] ep=13 steps=1533 reward=13.53 success=1 progress=94.1% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31425 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 96 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=37.19% dL=3.50m
[RESET] town=Town10HD_Opt npc=11 weather=night_rain_fog spawn_idx=96 goal_idx=None route_len=202.5m spawn=(-75.3,16.5,-0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=37.2% goal=127.17m dL=3.50 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.49 brk=0.00 str=+0.53 safe=0 progress=37.2% goal=127.17m dL=3.50 ttc=38.86s tl=None credit=0 reason=
[STEP] step=0040 speed=  0.03km/h thr=0.00 brk=0.16 str=+0.57 safe=0 progress=37.8% goal=125.97m dL=2.86 ttc=17.94s tl=None credit=0 reason=
[STEP] step=0060 speed=  5.58km/h thr=0.14 brk=0.00 str=+0.65 safe=0 progress=38.0% goal=125.51m dL=2.40 ttc=16.49s tl=None credit=0 reason=
[TRAIN] step=12200 critic=1.3722 actor=0.6449 alpha=0.0100 sigma=0.5870 beta0=1.00
[STEP] step=0080 speed=  5.51km/h thr=0.28 brk=0.00 str=-0.27 safe=0 progress=38.6% goal=124.41m dL=1.14 ttc=13.64s tl=None credit=0 reason=
[STEP] step=0100 speed=  8.97km/h thr=0.42 brk=0.00 str=-0.33 safe=0 progress=39.5% goal=122.48m dL=0.65 ttc=13.60s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.50km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=41.2% goal=119.11m dL=0.24 ttc=21.54s tl=Yellow credit=0 reason=
[STEP] step=0140 speed= 14.75km/h thr=0.00 brk=0.16 str=-0.09 safe=0 progress=43.3% goal=114.77m dL=0.05 ttc=27.86s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.81km/h thr=0.00 brk=0.24 str=+0.07 safe=0 progress=44.9% goal=111.64m dL=0.17 ttc=19.98s tl=None credit=0 reason=
[TRAIN] step=12300 critic=1.0411 actor=1.3808 alpha=0.0100 sigma=0.5851 beta0=1.00
[STEP] step=0180 speed= 12.26km/h thr=0.31 brk=0.00 str=-0.10 safe=0 progress=46.0% goal=109.27m dL=0.07 ttc=33.88s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.77km/h thr=0.00 brk=0.27 str=+0.32 safe=0 progress=47.5% goal=106.32m dL=0.21 ttc=25.04s tl=None credit=0 reason=
[STEP] step=0220 speed= 10.15km/h thr=0.27 brk=0.00 str=+0.10 safe=0 progress=48.6% goal=104.16m dL=0.03 ttc=25.29s tl=None credit=0 reason=
[STEP] step=0240 speed=  6.65km/h thr=0.00 brk=0.13 str=+0.19 safe=0 progress=49.8% goal=101.59m dL=0.18 ttc=21.94s tl=None credit=0 reason=
[STEP] step=0260 speed=  9.00km/h thr=0.16 brk=0.00 str=+0.19 safe=0 progress=50.8% goal=99.57m dL=0.10 ttc=18.85s tl=None credit=0 reason=
[TRAIN] step=12400 critic=1.2545 actor=1.4322 alpha=0.0100 sigma=0.5791 beta0=1.00
[STEP] step=0280 speed=  4.89km/h thr=0.00 brk=0.08 str=+0.55 safe=0 progress=51.9% goal=97.40m dL=0.14 ttc=17.64s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.96km/h thr=0.20 brk=0.00 str=+0.31 safe=0 progress=52.8% goal=95.61m dL=0.04 ttc=16.64s tl=None credit=0 reason=
[STEP] step=0320 speed=  8.25km/h thr=0.21 brk=0.00 str=+0.51 safe=0 progress=53.9% goal=93.37m dL=0.10 ttc=15.55s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.16km/h thr=0.48 brk=0.00 str=+0.09 safe=0 progress=55.3% goal=90.52m dL=0.17 ttc=15.69s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.15km/h thr=0.44 brk=0.00 str=+0.07 safe=0 progress=57.6% goal=85.95m dL=0.01 ttc=13.91s tl=None credit=0 reason=
[TRAIN] step=12500 critic=1.1055 actor=0.5921 alpha=0.0100 sigma=0.5526 beta0=1.00
[STEP] step=0380 speed= 18.12km/h thr=0.22 brk=0.00 str=-0.14 safe=0 progress=60.0% goal=80.90m dL=0.04 ttc=14.26s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.36km/h thr=0.00 brk=0.16 str=-0.05 safe=0 progress=62.4% goal=76.09m dL=0.14 ttc=40.46s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.93km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=64.3% goal=72.22m dL=0.04 ttc=48.23s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.45km/h thr=0.32 brk=0.00 str=-0.16 safe=0 progress=66.4% goal=68.10m dL=0.07 ttc=59.79s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.33km/h thr=0.35 brk=0.00 str=+0.12 safe=0 progress=68.5% goal=63.79m dL=0.11 ttc=33.33s tl=None credit=0 reason=
[TRAIN] step=12600 critic=1.2615 actor=1.7328 alpha=0.0100 sigma=0.6041 beta0=1.00
[STEP] step=0480 speed= 16.15km/h thr=0.16 brk=0.00 str=-0.08 safe=0 progress=70.8% goal=59.05m dL=0.28 ttc=25.72s tl=None credit=0 reason=
[STEP] step=0500 speed= 11.94km/h thr=0.30 brk=0.00 str=-0.09 safe=0 progress=72.7% goal=55.20m dL=0.13 ttc=22.25s tl=None credit=0 reason=
[STEP] step=0520 speed= 11.41km/h thr=0.06 brk=0.00 str=+0.23 safe=0 progress=74.4% goal=51.81m dL=0.49 ttc=17.47s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.67km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=76.0% goal=48.52m dL=0.56 ttc=14.72s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.35km/h thr=0.00 brk=0.16 str=+0.10 safe=0 progress=78.0% goal=44.60m dL=0.00 ttc=12.85s tl=None credit=0 reason=
[TRAIN] step=12700 critic=1.1471 actor=1.7867 alpha=0.0100 sigma=0.5960 beta0=1.00
[STEP] step=0580 speed= 12.86km/h thr=0.48 brk=0.00 str=-0.03 safe=0 progress=79.5% goal=41.46m dL=0.16 ttc=12.38s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.26km/h thr=0.10 brk=0.00 str=+0.00 safe=0 progress=81.6% goal=37.25m dL=0.01 ttc=10.91s tl=None credit=0 reason=
[STEP] step=0620 speed=  9.48km/h thr=0.12 brk=0.00 str=+0.23 safe=0 progress=83.3% goal=33.81m dL=0.20 ttc=5.94s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.46km/h thr=0.30 brk=0.00 str=+0.15 safe=0 progress=84.8% goal=30.71m dL=0.13 ttc=2.97s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.46km/h thr=0.21 brk=0.00 str=+0.19 safe=0 progress=86.8% goal=26.67m dL=0.12 ttc=1.98s tl=None credit=0 reason=
[TRAIN] step=12800 critic=1.3772 actor=0.4542 alpha=0.0100 sigma=0.5782 beta0=1.00
[STEP] step=0680 speed= 12.10km/h thr=0.02 brk=0.00 str=+0.08 safe=0 progress=88.7% goal=22.80m dL=0.07 ttc=1.21s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.24 str=+0.18 safe=0 progress=89.9% goal=20.44m dL=0.07 ttc=12.21s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.19km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=89.9% goal=20.44m dL=0.07 ttc=11.17s tl=None credit=0 reason=
[STEP] step=0740 speed= 12.77km/h thr=0.42 brk=0.00 str=+0.06 safe=1 progress=90.9% goal=18.49m dL=0.03 ttc=7.23s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.97km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=92.8% goal=14.59m dL=0.06 ttc=14.29s tl=None credit=0 reason=
[TRAIN] step=12900 critic=1.3806 actor=0.9591 alpha=0.0100 sigma=0.5888 beta0=1.00
[STEP] step=0769 speed= 14.77km/h thr=0.23 brk=0.00 str=+0.14 safe=0 progress=93.7% goal=12.80m dL=0.12 ttc=13.02s tl=None credit=0 reason=goal
[EP] ep=14 steps=769 reward=-171.39 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31438 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 42 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=132.36m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=18 weather=night_rain_fog spawn_idx=42 goal_idx=None route_len=210.8m spawn=(105.7,92.8,-0.0) yaw=-88.9 start_progress=0.00% start_dL=0.04
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=210.76m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=0.0% goal=210.76m dL=0.04 ttc=22.95s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.68km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.7% goal=209.19m dL=0.01 ttc=4.13s tl=None credit=0 reason=
[STEP] step=0060 speed= 20.11km/h thr=0.36 brk=0.00 str=-0.09 safe=0 progress=3.1% goal=204.13m dL=0.02 ttc=2.06s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.29km/h thr=0.00 brk=0.24 str=-0.13 safe=0 progress=5.9% goal=198.42m dL=0.03 ttc=0.95s tl=None credit=0 reason=
[TRAIN] step=13000 critic=1.1453 actor=1.4423 alpha=0.0100 sigma=0.5969 beta0=1.00
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.15 safe=0 progress=6.1% goal=197.89m dL=0.01 ttc=1.51s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.09km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=6.7% goal=196.55m dL=0.02 ttc=0.89s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.23km/h thr=0.06 brk=0.00 str=-0.07 safe=0 progress=8.9% goal=191.92m dL=0.00 ttc=1.54s tl=None credit=0 reason=
[STEP] step=0160 speed= 18.40km/h thr=0.56 brk=0.00 str=-0.03 safe=0 progress=11.1% goal=187.41m dL=0.00 ttc=4.10s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.97km/h thr=0.32 brk=0.00 str=-0.15 safe=0 progress=13.5% goal=182.29m dL=0.13 ttc=3.08s tl=None credit=0 reason=
[TRAIN] step=13100 critic=1.4912 actor=2.1463 alpha=0.0100 sigma=0.5858 beta0=1.00
[STEP] step=0200 speed= 17.50km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=15.9% goal=177.29m dL=0.12 ttc=2.18s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.38km/h thr=0.12 brk=0.00 str=-0.15 safe=0 progress=18.0% goal=172.72m dL=0.06 ttc=1.94s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.81km/h thr=0.19 brk=0.00 str=+0.22 safe=0 progress=20.2% goal=168.14m dL=0.28 ttc=3.19s tl=Red credit=0 reason=
[STEP] step=0260 speed= 10.43km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=22.1% goal=164.25m dL=0.04 ttc=8.62s tl=Red credit=0 reason=
[STEP] step=0280 speed= 14.40km/h thr=0.42 brk=0.00 str=+0.03 safe=0 progress=23.6% goal=161.06m dL=0.07 ttc=9.78s tl=None credit=0 reason=
[TRAIN] step=13200 critic=1.1726 actor=2.7776 alpha=0.0100 sigma=0.5991 beta0=1.00
[STEP] step=0300 speed= 16.22km/h thr=0.00 brk=0.23 str=-0.11 safe=0 progress=25.7% goal=156.50m dL=0.26 ttc=9.66s tl=None credit=0 reason=
[STEP] step=0320 speed=  9.09km/h thr=0.24 brk=0.00 str=-0.19 safe=0 progress=27.3% goal=153.17m dL=0.20 ttc=5.97s tl=None credit=0 reason=
[STEP] step=0340 speed= 12.57km/h thr=0.12 brk=0.00 str=+0.10 safe=0 progress=28.7% goal=150.22m dL=0.15 ttc=6.01s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.20km/h thr=0.19 brk=0.00 str=-0.13 safe=0 progress=30.2% goal=147.01m dL=0.18 ttc=5.18s tl=None credit=0 reason=
[STEP] step=0380 speed= 11.24km/h thr=0.27 brk=0.00 str=+0.10 safe=0 progress=31.6% goal=144.12m dL=0.04 ttc=4.74s tl=None credit=0 reason=
[TRAIN] step=13300 critic=1.3193 actor=1.6005 alpha=0.0100 sigma=0.5678 beta0=1.00
[STEP] step=0400 speed=  8.60km/h thr=0.18 brk=0.00 str=-0.15 safe=0 progress=32.9% goal=141.40m dL=0.06 ttc=3.06s tl=None credit=0 reason=
[STEP] step=0420 speed=  9.61km/h thr=0.18 brk=0.00 str=-0.08 safe=0 progress=34.1% goal=138.99m dL=0.10 ttc=5.57s tl=None credit=0 reason=
[STEP] step=0440 speed=  8.28km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=35.3% goal=136.43m dL=0.10 ttc=8.17s tl=None credit=0 reason=
[STEP] step=0460 speed=  9.10km/h thr=0.18 brk=0.00 str=-0.09 safe=0 progress=36.2% goal=134.38m dL=0.04 ttc=5.09s tl=None credit=0 reason=
[STEP] step=0480 speed=  7.77km/h thr=0.47 brk=0.00 str=-0.06 safe=0 progress=37.3% goal=132.21m dL=0.03 ttc=9.83s tl=None credit=0 reason=
[TRAIN] step=13400 critic=1.3094 actor=2.5674 alpha=0.0100 sigma=0.5872 beta0=1.00
[STEP] step=0500 speed=  8.12km/h thr=0.42 brk=0.00 str=-0.37 safe=0 progress=38.4% goal=129.86m dL=0.02 ttc=8.37s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.07km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=39.9% goal=126.62m dL=0.16 ttc=4.52s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.12km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=42.2% goal=121.79m dL=0.20 ttc=3.08s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.15km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=44.5% goal=116.95m dL=0.24 ttc=4.37s tl=None credit=0 reason=
[STEP] step=0580 speed= 17.52km/h thr=0.28 brk=0.00 str=+0.14 safe=0 progress=46.6% goal=112.54m dL=0.29 ttc=26.35s tl=None credit=0 reason=
[TRAIN] step=13500 critic=2.3190 actor=1.9400 alpha=0.0100 sigma=0.6008 beta0=1.00
[STEP] step=0600 speed= 19.40km/h thr=0.66 brk=0.00 str=-0.12 safe=0 progress=49.0% goal=107.49m dL=0.12 ttc=21.13s tl=None credit=0 reason=
[STEP] step=0620 speed= 24.92km/h thr=0.20 brk=0.00 str=-0.17 safe=0 progress=52.0% goal=101.06m dL=0.44 ttc=17.12s tl=None credit=0 reason=
[STEP] step=0640 speed= 18.23km/h thr=0.06 brk=0.00 str=+0.06 safe=0 progress=54.9% goal=94.98m dL=0.21 ttc=20.30s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.08km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=56.9% goal=90.81m dL=0.20 ttc=24.18s tl=None credit=0 reason=
[STEP] step=0680 speed= 18.37km/h thr=0.36 brk=0.00 str=+0.10 safe=0 progress=59.1% goal=86.29m dL=0.27 ttc=18.40s tl=None credit=0 reason=
[TRAIN] step=13600 critic=1.2173 actor=2.1643 alpha=0.0100 sigma=0.6081 beta0=1.00
[STEP] step=0700 speed= 15.37km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=61.3% goal=81.51m dL=0.05 ttc=24.53s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.36km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=63.4% goal=77.10m dL=0.09 ttc=12.66s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.09km/h thr=0.00 brk=0.24 str=-0.06 safe=0 progress=65.6% goal=72.45m dL=0.08 ttc=11.08s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.77km/h thr=0.47 brk=0.00 str=+0.12 safe=0 progress=67.5% goal=68.42m dL=0.10 ttc=11.86s tl=None credit=0 reason=
[STEP] step=0780 speed= 17.98km/h thr=0.13 brk=0.00 str=+0.00 safe=0 progress=69.9% goal=63.45m dL=0.11 ttc=10.73s tl=None credit=0 reason=
[TRAIN] step=13700 critic=1.1096 actor=2.4938 alpha=0.0100 sigma=0.5950 beta0=1.00
[STEP] step=0800 speed= 15.85km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=72.2% goal=58.68m dL=0.20 ttc=9.39s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.59km/h thr=0.00 brk=0.15 str=+0.13 safe=0 progress=74.3% goal=54.25m dL=0.08 ttc=8.56s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.19km/h thr=0.42 brk=0.00 str=+0.07 safe=0 progress=76.2% goal=50.14m dL=0.15 ttc=8.80s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.32km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=78.5% goal=45.25m dL=0.04 ttc=13.65s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.17km/h thr=0.40 brk=0.00 str=+0.06 safe=0 progress=80.9% goal=40.23m dL=0.19 ttc=12.80s tl=None credit=0 reason=
[TRAIN] step=13800 critic=1.5147 actor=1.2715 alpha=0.0100 sigma=0.5690 beta0=1.00
[STEP] step=0900 speed= 21.04km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=83.5% goal=34.73m dL=0.02 ttc=10.51s tl=None credit=0 reason=
[STEP] step=0920 speed= 23.94km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=86.5% goal=28.43m dL=0.15 ttc=9.30s tl=None credit=0 reason=
[STEP] step=0940 speed= 17.58km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=89.3% goal=22.48m dL=0.27 ttc=9.32s tl=None credit=0 reason=
[STEP] step=0960 speed= 13.74km/h thr=0.14 brk=0.00 str=+0.02 safe=0 progress=91.3% goal=18.33m dL=0.17 ttc=6.83s tl=None credit=0 reason=
[STEP] step=0980 speed= 11.04km/h thr=0.00 brk=0.16 str=+0.06 safe=0 progress=92.9% goal=14.92m dL=0.35 ttc=4.72s tl=Red credit=0 reason=
[TRAIN] step=13900 critic=0.9687 actor=1.7749 alpha=0.0100 sigma=0.5797 beta0=1.00
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.27 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=3.27s tl=Red credit=12 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.24 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=2.06s tl=Red credit=32 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.97 str=+0.22 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=7.53s tl=Red credit=52 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.23 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=7.78s tl=Red credit=72 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.20 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=6.99s tl=Red credit=92 reason=
[TRAIN] step=14000 critic=1.1943 actor=1.9163 alpha=0.0100 sigma=0.5733 beta0=1.00
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.32 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=8.39s tl=Red credit=112 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.98 str=+0.36 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=7.92s tl=Red credit=132 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.33 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=4.49s tl=Red credit=152 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.96 str=+0.22 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=6.12s tl=Red credit=172 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.94 str=+0.16 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=69.73s tl=Red credit=192 reason=
[TRAIN] step=14100 critic=1.1256 actor=2.0248 alpha=0.0100 sigma=0.5829 beta0=1.00
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.85 str=+0.23 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=45.89s tl=Red credit=212 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.24 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=34.72s tl=Red credit=232 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.17 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=37.88s tl=Red credit=252 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.99 str=+0.22 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=12.20s tl=Red credit=272 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.99 str=+0.33 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=9.19s tl=Red credit=292 reason=
[TRAIN] step=14200 critic=1.2576 actor=2.7605 alpha=0.0100 sigma=0.5765 beta0=1.00
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.23 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=7.33s tl=Red credit=312 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.19 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=5.31s tl=Red credit=332 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.26 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=3.80s tl=Red credit=352 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.94 str=+0.27 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=2.75s tl=Red credit=372 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.27 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=2.61s tl=Red credit=392 reason=
[TRAIN] step=14300 critic=1.5052 actor=1.9910 alpha=0.0100 sigma=0.5751 beta0=1.00
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.94 str=+0.44 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=9.10s tl=Red credit=412 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.37 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=10.07s tl=Red credit=432 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.31 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=9.76s tl=Red credit=452 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.20 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=9.66s tl=Red credit=472 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.97 str=+0.27 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=8.66s tl=Red credit=492 reason=
[TRAIN] step=14400 critic=1.3174 actor=2.7303 alpha=0.0100 sigma=0.5848 beta0=1.00
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.33 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=7.66s tl=Red credit=512 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.18 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=6.65s tl=Red credit=532 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.23 safe=0 progress=93.4% goal=13.93m dL=0.30 ttc=5.65s tl=Green credit=538 reason=
[STEP] step=1560 speed=  4.81km/h thr=0.64 brk=0.00 str=+0.18 safe=1 progress=93.5% goal=13.72m dL=0.28 ttc=5.60s tl=Green credit=518 reason=
[STEP] step=1568 speed=  9.04km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=93.9% goal=12.92m dL=0.21 ttc=6.37s tl=Green credit=510 reason=goal
[EP] ep=15 steps=1568 reward=-7.67 success=1 progress=93.9% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31458 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 146 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=45.40m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=12 weather=night_rain_fog spawn_idx=146 goal_idx=None route_len=213.5m spawn=(-18.8,-64.7,0.2) yaw=-179.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed= 13.73km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=213.48m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=213.48m dL=0.00 ttc=19.18s tl=None credit=0 reason=
[TRAIN] step=14500 critic=2.4577 actor=2.0162 alpha=0.0100 sigma=0.5774 beta0=1.00
[STEP] step=0040 speed= 15.01km/h thr=0.61 brk=0.00 str=-0.00 safe=1 progress=0.7% goal=212.08m dL=0.00 ttc=12.28s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.55km/h thr=0.00 brk=0.78 str=+0.10 safe=0 progress=2.7% goal=207.67m dL=0.00 ttc=10.51s tl=Red credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.58 str=+0.11 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=3.03s tl=Red credit=13 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.76 str=+0.28 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=2.40s tl=Red credit=33 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.16 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=3.35s tl=Red credit=53 reason=
[TRAIN] step=14600 critic=3.5753 actor=1.9251 alpha=0.0100 sigma=0.5878 beta0=1.00
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.23 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=9.10s tl=Red credit=73 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.73 str=+0.21 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=9.28s tl=Red credit=93 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.76 str=+0.26 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=13.98s tl=Red credit=113 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.70 str=+0.17 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=11.77s tl=Red credit=133 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.79 str=+0.19 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=9.94s tl=Red credit=153 reason=
[TRAIN] step=14700 critic=3.8618 actor=1.7782 alpha=0.0100 sigma=0.5981 beta0=1.00
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.29 safe=0 progress=3.1% goal=206.84m dL=0.03 ttc=9.37s tl=Green credit=165 reason=
[STEP] step=0260 speed=  2.40km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=3.1% goal=206.78m dL=0.03 ttc=8.33s tl=Green credit=145 reason=
[STEP] step=0280 speed= 17.46km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=4.6% goal=203.73m dL=0.00 ttc=4.59s tl=Green credit=125 reason=
[STEP] step=0300 speed= 19.08km/h thr=0.32 brk=0.00 str=+0.03 safe=0 progress=6.9% goal=198.68m dL=0.25 ttc=5.04s tl=None credit=105 reason=
[STEP] step=0320 speed= 16.80km/h thr=0.23 brk=0.00 str=-0.24 safe=0 progress=9.3% goal=193.70m dL=0.03 ttc=6.99s tl=None credit=85 reason=
[TRAIN] step=14800 critic=2.2933 actor=1.9650 alpha=0.0100 sigma=0.5566 beta0=1.00
[STEP] step=0340 speed= 18.16km/h thr=0.33 brk=0.00 str=-0.10 safe=0 progress=11.5% goal=188.85m dL=0.13 ttc=5.47s tl=None credit=65 reason=
[STEP] step=0360 speed= 18.03km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=13.9% goal=183.87m dL=0.68 ttc=4.52s tl=None credit=45 reason=
[STEP] step=0380 speed= 16.70km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=16.1% goal=179.09m dL=0.27 ttc=3.97s tl=None credit=25 reason=
[STEP] step=0400 speed= 17.21km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=18.3% goal=174.46m dL=0.43 ttc=3.11s tl=None credit=5 reason=
[STEP] step=0420 speed= 12.60km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=20.3% goal=170.13m dL=0.12 ttc=2.82s tl=None credit=0 reason=
[TRAIN] step=14900 critic=2.5887 actor=1.9672 alpha=0.0100 sigma=0.6045 beta0=1.00
[STEP] step=0440 speed= 15.51km/h thr=0.21 brk=0.00 str=+0.16 safe=0 progress=22.0% goal=166.46m dL=0.29 ttc=2.24s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.76km/h thr=0.30 brk=0.00 str=-0.17 safe=0 progress=23.9% goal=162.39m dL=0.18 ttc=2.39s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.14km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=26.0% goal=157.92m dL=0.11 ttc=21.17s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.26km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=28.1% goal=153.50m dL=0.11 ttc=14.70s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.09km/h thr=0.00 brk=0.18 str=-0.25 safe=0 progress=29.8% goal=149.87m dL=0.13 ttc=6.75s tl=None credit=0 reason=
[TRAIN] step=15000 critic=2.6132 actor=2.3007 alpha=0.0100 sigma=0.5834 beta0=1.00
[STEP] step=0540 speed= 12.52km/h thr=0.54 brk=0.00 str=+0.10 safe=0 progress=31.1% goal=147.18m dL=0.06 ttc=19.99s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.44km/h thr=0.12 brk=0.00 str=-0.13 safe=0 progress=33.0% goal=143.04m dL=0.05 ttc=16.37s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.58km/h thr=0.33 brk=0.00 str=-0.03 safe=0 progress=34.8% goal=139.26m dL=0.05 ttc=15.31s tl=None credit=0 reason=
[STEP] step=0600 speed= 14.40km/h thr=0.15 brk=0.00 str=-0.09 safe=0 progress=36.6% goal=135.32m dL=0.27 ttc=13.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.28km/h thr=0.11 brk=0.00 str=-0.19 safe=0 progress=38.1% goal=132.08m dL=0.07 ttc=4.75s tl=None credit=0 reason=
[TRAIN] step=15100 critic=2.3684 actor=2.1640 alpha=0.0100 sigma=0.5815 beta0=1.00
[STEP] step=0640 speed= 14.40km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=39.7% goal=128.74m dL=0.22 ttc=11.66s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.37km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=41.5% goal=124.81m dL=0.33 ttc=11.28s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.53km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=43.5% goal=120.54m dL=0.09 ttc=11.95s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.78km/h thr=0.24 brk=0.00 str=+0.06 safe=0 progress=45.6% goal=116.18m dL=0.21 ttc=11.11s tl=None credit=0 reason=
[STEP] step=0720 speed= 14.77km/h thr=0.30 brk=0.00 str=-0.06 safe=0 progress=47.5% goal=112.18m dL=0.47 ttc=9.89s tl=None credit=0 reason=
[TRAIN] step=15200 critic=1.3241 actor=2.9668 alpha=0.0100 sigma=0.5714 beta0=1.00
[STEP] step=0740 speed= 16.37km/h thr=0.28 brk=0.00 str=-0.14 safe=0 progress=49.5% goal=107.85m dL=0.27 ttc=10.51s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.49km/h thr=0.17 brk=0.00 str=-0.04 safe=0 progress=51.6% goal=103.31m dL=0.19 ttc=11.75s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.86km/h thr=0.30 brk=0.00 str=+0.14 safe=0 progress=53.8% goal=98.73m dL=0.50 ttc=16.50s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.19km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=56.0% goal=93.85m dL=0.02 ttc=14.43s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.34km/h thr=0.42 brk=0.00 str=-0.00 safe=0 progress=58.0% goal=89.62m dL=0.05 ttc=15.96s tl=None credit=0 reason=
[TRAIN] step=15300 critic=2.0729 actor=2.7644 alpha=0.0100 sigma=0.5663 beta0=1.00
[STEP] step=0840 speed= 18.49km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=60.3% goal=84.78m dL=0.20 ttc=12.30s tl=Red credit=0 reason=
[STEP] step=0860 speed= 11.13km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=62.3% goal=80.56m dL=0.18 ttc=9.51s tl=Red credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.03 safe=0 progress=63.0% goal=78.95m dL=0.16 ttc=3.42s tl=None credit=0 reason=
[STEP] step=0900 speed=  4.03km/h thr=0.75 brk=0.00 str=+0.14 safe=1 progress=63.1% goal=78.80m dL=0.15 ttc=7.75s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.25km/h thr=0.56 brk=0.00 str=-0.09 safe=0 progress=64.7% goal=75.35m dL=0.08 ttc=3.60s tl=None credit=0 reason=
[TRAIN] step=15400 critic=1.6870 actor=3.9187 alpha=0.0100 sigma=0.5745 beta0=1.00
[STEP] step=0940 speed= 17.41km/h thr=0.00 brk=0.25 str=+0.03 safe=0 progress=67.1% goal=70.34m dL=0.63 ttc=2.71s tl=None credit=0 reason=
[STEP] step=0960 speed= 11.16km/h thr=0.18 brk=0.00 str=+0.35 safe=0 progress=68.8% goal=66.58m dL=0.58 ttc=4.95s tl=None credit=0 reason=
[STEP] step=0980 speed=  8.81km/h thr=0.06 brk=0.00 str=-0.24 safe=0 progress=70.1% goal=63.75m dL=0.15 ttc=6.69s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.09km/h thr=0.30 brk=0.00 str=-0.30 safe=0 progress=70.5% goal=62.94m dL=0.16 ttc=6.49s tl=None credit=0 reason=
[STEP] step=1020 speed= 10.83km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=71.2% goal=61.48m dL=0.04 ttc=2.59s tl=None credit=0 reason=
[TRAIN] step=15500 critic=3.2688 actor=1.7886 alpha=0.0100 sigma=0.5679 beta0=1.00
[STEP] step=1040 speed= 11.01km/h thr=0.00 brk=0.08 str=-0.15 safe=0 progress=72.7% goal=58.32m dL=0.21 ttc=8.68s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.21km/h thr=0.33 brk=0.00 str=-0.54 safe=0 progress=73.8% goal=55.87m dL=0.15 ttc=13.10s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.01km/h thr=0.18 brk=0.00 str=-0.34 safe=0 progress=74.9% goal=53.54m dL=0.09 ttc=11.76s tl=None credit=0 reason=
[STEP] step=1100 speed=  8.67km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=75.9% goal=51.38m dL=0.06 ttc=10.02s tl=None credit=0 reason=
[STEP] step=1120 speed=  9.05km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=77.2% goal=48.76m dL=0.06 ttc=9.06s tl=None credit=0 reason=
[TRAIN] step=15600 critic=1.6820 actor=2.2181 alpha=0.0100 sigma=0.5560 beta0=1.00
[STEP] step=1140 speed=  9.94km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=78.3% goal=46.42m dL=0.01 ttc=8.41s tl=None credit=0 reason=
[STEP] step=1160 speed=  8.39km/h thr=0.27 brk=0.00 str=-0.19 safe=0 progress=79.5% goal=43.84m dL=0.15 ttc=7.93s tl=None credit=0 reason=
[STEP] step=1180 speed= 10.76km/h thr=0.47 brk=0.00 str=-0.46 safe=0 progress=80.6% goal=41.34m dL=0.10 ttc=8.37s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.09km/h thr=0.42 brk=0.00 str=+0.13 safe=0 progress=82.6% goal=37.16m dL=0.44 ttc=5.32s tl=None credit=0 reason=
[STEP] step=1220 speed= 17.95km/h thr=0.34 brk=0.00 str=-0.24 safe=0 progress=84.9% goal=32.16m dL=0.00 ttc=4.34s tl=None credit=0 reason=
[TRAIN] step=15700 critic=1.6264 actor=2.4233 alpha=0.0100 sigma=0.5543 beta0=1.00
[STEP] step=1240 speed= 18.61km/h thr=0.14 brk=0.00 str=+0.15 safe=0 progress=87.3% goal=27.03m dL=0.36 ttc=3.19s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.16km/h thr=0.15 brk=0.00 str=+0.23 safe=0 progress=89.7% goal=22.08m dL=0.24 ttc=2.71s tl=None credit=0 reason=
[STEP] step=1280 speed=  8.90km/h thr=0.00 brk=0.35 str=+0.14 safe=0 progress=91.4% goal=18.41m dL=0.22 ttc=3.58s tl=None credit=0 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.04 safe=0 progress=91.7% goal=17.65m dL=0.23 ttc=8.31s tl=None credit=0 reason=
[STEP] step=1320 speed= 10.04km/h thr=0.48 brk=0.00 str=+0.10 safe=1 progress=92.1% goal=16.81m dL=0.16 ttc=2.91s tl=None credit=0 reason=
[TRAIN] step=15800 critic=1.5981 actor=2.8333 alpha=0.0100 sigma=0.5505 beta0=1.00
[STEP] step=1340 speed= 10.02km/h thr=0.00 brk=0.64 str=+0.14 safe=0 progress=93.7% goal=13.42m dL=0.08 ttc=3.28s tl=Red credit=0 reason=
[STEP] step=1344 speed=  7.66km/h thr=0.00 brk=0.59 str=+0.04 safe=0 progress=93.9% goal=12.94m dL=0.05 ttc=4.47s tl=Red credit=0 reason=goal
[EP] ep=16 steps=1344 reward=-203.87 success=1 progress=93.9% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31472 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 154 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=109.59m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=15 weather=night_rain_fog spawn_idx=154 goal_idx=None route_len=210.7m spawn=(106.4,-12.7,-0.0) yaw=-89.9 start_progress=0.00% start_dL=0.01
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.03 safe=0 progress=0.0% goal=210.73m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.52km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=0.0% goal=210.73m dL=0.00 ttc=60.74s tl=None credit=0 reason=
[STEP] step=0040 speed= 17.79km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=1.7% goal=207.09m dL=0.00 ttc=28.57s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.15km/h thr=0.04 brk=0.00 str=+0.00 safe=0 progress=4.1% goal=202.15m dL=0.08 ttc=29.47s tl=None credit=0 reason=
[STEP] step=0080 speed= 13.69km/h thr=0.18 brk=0.00 str=-0.10 safe=0 progress=5.9% goal=198.23m dL=0.15 ttc=33.65s tl=None credit=0 reason=
[TRAIN] step=15900 critic=2.6949 actor=3.5112 alpha=0.0100 sigma=0.5751 beta0=1.00
[STEP] step=0100 speed= 13.94km/h thr=0.17 brk=0.00 str=+0.12 safe=0 progress=7.7% goal=194.46m dL=0.14 ttc=78.28s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.36km/h thr=0.42 brk=0.00 str=-0.16 safe=0 progress=9.5% goal=190.80m dL=0.08 ttc=81.07s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.69km/h thr=0.17 brk=0.00 str=-0.04 safe=0 progress=11.3% goal=186.86m dL=0.11 ttc=15.89s tl=None credit=0 reason=
[STEP] step=0160 speed= 13.81km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=13.1% goal=183.04m dL=0.07 ttc=12.59s tl=None credit=0 reason=
[STEP] step=0180 speed= 14.32km/h thr=0.32 brk=0.00 str=-0.07 safe=0 progress=15.0% goal=179.22m dL=0.11 ttc=11.78s tl=None credit=0 reason=
[TRAIN] step=16000 critic=1.8009 actor=2.5728 alpha=0.0100 sigma=0.5830 beta0=1.00
[STEP] step=0200 speed= 11.38km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=16.8% goal=175.34m dL=0.11 ttc=9.81s tl=None credit=0 reason=
[STEP] step=0220 speed=  1.84km/h thr=0.42 brk=0.00 str=-0.07 safe=0 progress=17.5% goal=173.78m dL=0.20 ttc=6.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 12.36km/h thr=0.44 brk=0.00 str=-0.29 safe=0 progress=18.4% goal=171.91m dL=0.01 ttc=7.40s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.20km/h thr=0.00 brk=0.08 str=-0.10 safe=0 progress=20.5% goal=167.62m dL=0.05 ttc=9.38s tl=None credit=0 reason=
[STEP] step=0280 speed= 10.98km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=22.1% goal=164.07m dL=0.04 ttc=6.50s tl=None credit=0 reason=
[TRAIN] step=16100 critic=1.7869 actor=3.2560 alpha=0.0100 sigma=0.5677 beta0=1.00
[STEP] step=0300 speed= 15.22km/h thr=0.28 brk=0.00 str=-0.29 safe=0 progress=24.0% goal=160.19m dL=0.25 ttc=6.92s tl=None credit=0 reason=
[STEP] step=0320 speed= 14.06km/h thr=0.16 brk=0.00 str=+0.06 safe=0 progress=26.0% goal=155.96m dL=0.02 ttc=5.66s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.40km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=27.8% goal=152.20m dL=0.25 ttc=4.37s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.42km/h thr=0.32 brk=0.00 str=-0.25 safe=0 progress=29.5% goal=148.50m dL=0.44 ttc=3.28s tl=None credit=0 reason=
[STEP] step=0380 speed= 16.61km/h thr=0.21 brk=0.00 str=+0.13 safe=0 progress=31.5% goal=144.34m dL=0.02 ttc=3.01s tl=None credit=0 reason=
[TRAIN] step=16200 critic=2.3595 actor=3.1674 alpha=0.0100 sigma=0.5723 beta0=1.00
[STEP] step=0400 speed= 16.20km/h thr=0.27 brk=0.00 str=-0.16 safe=0 progress=33.7% goal=139.82m dL=0.20 ttc=2.23s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.90km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=35.9% goal=135.09m dL=0.06 ttc=1.53s tl=None credit=0 reason=
[STEP] step=0440 speed= 17.49km/h thr=0.35 brk=0.00 str=+0.11 safe=0 progress=38.2% goal=130.25m dL=0.14 ttc=4.69s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.10km/h thr=0.44 brk=0.00 str=-0.00 safe=0 progress=40.5% goal=125.30m dL=0.09 ttc=3.64s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.98km/h thr=0.25 brk=0.00 str=+0.05 safe=0 progress=42.9% goal=120.25m dL=0.26 ttc=2.65s tl=None credit=0 reason=
[TRAIN] step=16300 critic=1.4739 actor=3.4249 alpha=0.0100 sigma=0.5526 beta0=1.00
[STEP] step=0500 speed= 16.22km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=45.2% goal=115.43m dL=0.04 ttc=1.75s tl=None credit=0 reason=
[STEP] step=0520 speed= 17.85km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=47.5% goal=110.62m dL=0.32 ttc=0.73s tl=None credit=0 reason=
[STEP] step=0540 speed= 17.86km/h thr=0.48 brk=0.00 str=+0.01 safe=0 progress=49.7% goal=105.94m dL=0.19 ttc=19.62s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.21km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=51.9% goal=101.29m dL=0.17 ttc=25.72s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.14km/h thr=0.42 brk=0.00 str=-0.06 safe=0 progress=54.1% goal=96.81m dL=0.20 ttc=24.25s tl=None credit=0 reason=
[TRAIN] step=16400 critic=1.4010 actor=3.3718 alpha=0.0100 sigma=0.5639 beta0=1.00
[STEP] step=0600 speed= 16.67km/h thr=0.12 brk=0.00 str=+0.22 safe=0 progress=56.4% goal=91.83m dL=0.47 ttc=24.38s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.56km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=58.5% goal=87.36m dL=0.22 ttc=21.98s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.42km/h thr=0.41 brk=0.00 str=-0.09 safe=0 progress=60.7% goal=82.90m dL=0.01 ttc=17.05s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.03km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=63.0% goal=77.95m dL=0.14 ttc=6.26s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.49km/h thr=0.25 brk=0.00 str=-0.07 safe=0 progress=65.3% goal=73.03m dL=0.06 ttc=5.36s tl=None credit=0 reason=
[TRAIN] step=16500 critic=1.9630 actor=3.8218 alpha=0.0100 sigma=0.5747 beta0=1.00
[STEP] step=0700 speed= 17.09km/h thr=0.48 brk=0.00 str=-0.12 safe=0 progress=67.6% goal=68.32m dL=0.19 ttc=19.17s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.02km/h thr=0.19 brk=0.00 str=+0.26 safe=0 progress=70.0% goal=63.31m dL=0.07 ttc=10.84s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.95km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=72.1% goal=58.73m dL=0.16 ttc=18.49s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.87km/h thr=0.30 brk=0.00 str=-0.10 safe=0 progress=74.5% goal=53.68m dL=0.08 ttc=18.52s tl=None credit=0 reason=
[STEP] step=0780 speed= 20.22km/h thr=0.50 brk=0.00 str=-0.05 safe=0 progress=77.0% goal=48.37m dL=0.13 ttc=11.50s tl=Green credit=0 reason=
[TRAIN] step=16600 critic=1.9641 actor=2.7034 alpha=0.0100 sigma=0.5859 beta0=1.00
[STEP] step=0800 speed= 24.35km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=80.0% goal=42.05m dL=0.18 ttc=9.57s tl=Green credit=0 reason=
[STEP] step=0820 speed= 22.28km/h thr=0.33 brk=0.00 str=+0.11 safe=0 progress=83.1% goal=35.59m dL=0.34 ttc=8.22s tl=None credit=0 reason=
[STEP] step=0840 speed= 19.46km/h thr=0.25 brk=0.00 str=-0.00 safe=0 progress=85.9% goal=29.74m dL=0.35 ttc=7.91s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.74km/h thr=0.25 brk=0.00 str=+0.14 safe=0 progress=88.3% goal=24.64m dL=0.08 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0880 speed= 10.50km/h thr=0.00 brk=0.40 str=-0.15 safe=0 progress=90.3% goal=20.52m dL=0.15 ttc=5.81s tl=None credit=0 reason=
[TRAIN] step=16700 critic=2.4930 actor=3.2437 alpha=0.0100 sigma=0.5698 beta0=1.00
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.15 safe=0 progress=90.8% goal=19.30m dL=0.09 ttc=6.38s tl=None credit=0 reason=
[STEP] step=0920 speed=  6.78km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=91.0% goal=18.93m dL=0.08 ttc=4.58s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.49km/h thr=0.54 brk=0.00 str=+0.10 safe=0 progress=92.7% goal=15.47m dL=0.05 ttc=2.77s tl=None credit=0 reason=
[STEP] step=0951 speed= 18.03km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=93.9% goal=12.76m dL=0.07 ttc=2.25s tl=None credit=0 reason=goal
[EP] ep=17 steps=951 reward=-175.95 success=1 progress=93.9% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31489 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 145 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=49.06m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=13 weather=night_rain_fog spawn_idx=145 goal_idx=None route_len=216.2m spawn=(-15.4,-68.2,-0.0) yaw=-179.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=216.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.01km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.23m dL=0.00 ttc=95.29s tl=None credit=0 reason=
[TRAIN] step=16800 critic=2.6386 actor=2.0809 alpha=0.0100 sigma=0.5944 beta0=1.00
[STEP] step=0040 speed= 18.29km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=212.60m dL=0.00 ttc=13.50s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.39km/h thr=0.00 brk=0.80 str=-0.03 safe=0 progress=3.9% goal=207.79m dL=0.01 ttc=11.35s tl=Red credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.00 safe=0 progress=4.5% goal=206.54m dL=0.02 ttc=16.31s tl=Red credit=11 reason=
[STEP] step=0100 speed=  0.47km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=4.5% goal=206.54m dL=0.02 ttc=13.33s tl=Red credit=31 reason=
[STEP] step=0120 speed=  6.40km/h thr=0.30 brk=0.00 str=-0.12 safe=0 progress=4.9% goal=205.54m dL=0.01 ttc=8.89s tl=Red credit=13 reason=
[TRAIN] step=16900 critic=2.7458 actor=2.9998 alpha=0.0100 sigma=0.5729 beta0=1.00
[STEP] step=0140 speed= 12.04km/h thr=0.40 brk=0.00 str=-0.02 safe=0 progress=6.2% goal=202.93m dL=0.05 ttc=6.32s tl=Red credit=0 reason=
[STEP] step=0160 speed= 15.94km/h thr=0.51 brk=0.00 str=+0.09 safe=0 progress=7.9% goal=199.21m dL=0.03 ttc=5.01s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.04km/h thr=0.23 brk=0.00 str=-0.00 safe=0 progress=10.2% goal=194.22m dL=0.18 ttc=3.97s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.04km/h thr=0.18 brk=0.00 str=+0.12 safe=0 progress=12.5% goal=189.27m dL=0.16 ttc=3.24s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.27km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=14.8% goal=184.23m dL=0.02 ttc=5.35s tl=None credit=0 reason=
[TRAIN] step=17000 critic=1.9143 actor=3.4799 alpha=0.0100 sigma=0.5594 beta0=1.00
[STEP] step=0240 speed= 17.05km/h thr=0.38 brk=0.00 str=-0.20 safe=0 progress=17.1% goal=179.35m dL=0.11 ttc=4.68s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.02 safe=0 progress=19.0% goal=175.11m dL=0.25 ttc=12.42s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=19.0% goal=175.11m dL=0.25 ttc=11.57s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.24km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=20.1% goal=172.74m dL=0.14 ttc=3.82s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.04km/h thr=0.19 brk=0.00 str=+0.31 safe=0 progress=22.4% goal=167.82m dL=0.14 ttc=3.18s tl=None credit=0 reason=
[TRAIN] step=17100 critic=3.0164 actor=3.5678 alpha=0.0100 sigma=0.5742 beta0=1.00
[STEP] step=0340 speed= 15.37km/h thr=0.06 brk=0.00 str=-0.21 safe=0 progress=24.6% goal=162.99m dL=0.23 ttc=4.21s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.65km/h thr=0.34 brk=0.00 str=+0.08 safe=0 progress=26.5% goal=159.02m dL=0.27 ttc=16.31s tl=None credit=0 reason=
[STEP] step=0380 speed= 14.76km/h thr=0.00 brk=0.16 str=-0.17 safe=0 progress=28.4% goal=154.79m dL=0.13 ttc=16.77s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.67km/h thr=0.36 brk=0.00 str=-0.11 safe=0 progress=30.0% goal=151.26m dL=0.12 ttc=19.77s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.87km/h thr=0.24 brk=0.00 str=-0.10 safe=0 progress=32.0% goal=146.96m dL=0.18 ttc=27.17s tl=None credit=0 reason=
[TRAIN] step=17200 critic=1.4924 actor=4.2151 alpha=0.0100 sigma=0.5564 beta0=1.00
[STEP] step=0440 speed= 14.27km/h thr=0.36 brk=0.00 str=-0.31 safe=0 progress=34.0% goal=142.78m dL=0.37 ttc=22.54s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.30km/h thr=0.24 brk=0.00 str=+0.25 safe=0 progress=35.8% goal=138.75m dL=0.15 ttc=22.76s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.18km/h thr=0.24 brk=0.00 str=-0.17 safe=0 progress=37.7% goal=134.79m dL=0.02 ttc=20.78s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.19km/h thr=0.24 brk=0.00 str=-0.23 safe=0 progress=39.6% goal=130.71m dL=0.01 ttc=17.90s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.45km/h thr=0.23 brk=0.00 str=-0.25 safe=0 progress=41.4% goal=126.77m dL=0.13 ttc=16.12s tl=None credit=0 reason=
[TRAIN] step=17300 critic=1.5976 actor=2.6945 alpha=0.0100 sigma=0.5630 beta0=1.00
[STEP] step=0540 speed= 14.37km/h thr=0.35 brk=0.00 str=+0.10 safe=0 progress=43.2% goal=122.78m dL=0.12 ttc=16.75s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.71km/h thr=0.14 brk=0.00 str=-0.10 safe=0 progress=45.2% goal=118.55m dL=0.18 ttc=20.62s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.65km/h thr=0.36 brk=0.00 str=+0.09 safe=0 progress=47.1% goal=114.37m dL=0.07 ttc=23.82s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.75km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=49.2% goal=109.93m dL=0.10 ttc=17.53s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.98km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=51.1% goal=105.72m dL=0.10 ttc=15.62s tl=None credit=0 reason=
[TRAIN] step=17400 critic=3.6266 actor=4.6674 alpha=0.0100 sigma=0.5882 beta0=1.00
[STEP] step=0640 speed= 16.25km/h thr=0.13 brk=0.00 str=-0.03 safe=0 progress=53.0% goal=101.61m dL=0.04 ttc=12.49s tl=None credit=0 reason=
[STEP] step=0660 speed= 17.21km/h thr=0.37 brk=0.00 str=-0.17 safe=0 progress=55.1% goal=97.07m dL=0.20 ttc=10.72s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.56km/h thr=0.16 brk=0.00 str=+0.01 safe=0 progress=57.3% goal=92.26m dL=0.10 ttc=9.77s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.42km/h thr=0.37 brk=0.00 str=-0.12 safe=0 progress=59.4% goal=87.75m dL=0.62 ttc=8.64s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.71km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=61.7% goal=82.90m dL=0.93 ttc=7.39s tl=None credit=0 reason=
[TRAIN] step=17500 critic=2.9682 actor=4.3766 alpha=0.0100 sigma=0.6186 beta0=1.00
[STEP] step=0740 speed= 15.68km/h thr=0.00 brk=0.24 str=-0.11 safe=0 progress=63.9% goal=78.12m dL=0.53 ttc=6.69s tl=Red credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.04 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=10.10s tl=Red credit=2 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.11 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=10.60s tl=Red credit=22 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=10.65s tl=Red credit=42 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.14 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=8.12s tl=Red credit=62 reason=
[TRAIN] step=17600 critic=1.3484 actor=3.6685 alpha=0.0100 sigma=0.5782 beta0=1.00
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.10 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=6.31s tl=Red credit=82 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.24 str=+0.04 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=4.88s tl=Red credit=102 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.03 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=3.72s tl=Red credit=122 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.06 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=2.84s tl=Red credit=142 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.25 str=+0.19 safe=0 progress=65.1% goal=75.54m dL=0.18 ttc=2.21s tl=Green credit=128 reason=
[TRAIN] step=17700 critic=1.7620 actor=3.4701 alpha=0.0100 sigma=0.5940 beta0=1.00
[STEP] step=0940 speed= 14.06km/h thr=0.75 brk=0.00 str=+0.07 safe=1 progress=65.8% goal=74.00m dL=0.15 ttc=4.98s tl=Green credit=108 reason=
[STEP] step=0960 speed= 17.53km/h thr=0.30 brk=0.00 str=+0.21 safe=0 progress=68.0% goal=69.25m dL=0.16 ttc=9.18s tl=None credit=88 reason=
[STEP] step=0980 speed= 18.20km/h thr=0.54 brk=0.00 str=-0.03 safe=0 progress=70.3% goal=64.26m dL=0.38 ttc=9.75s tl=None credit=68 reason=
[STEP] step=1000 speed= 19.40km/h thr=0.18 brk=0.00 str=+0.41 safe=0 progress=72.8% goal=58.76m dL=0.43 ttc=8.32s tl=None credit=48 reason=
[STEP] step=1020 speed= 10.18km/h thr=0.54 brk=0.00 str=+0.12 safe=0 progress=74.1% goal=55.99m dL=0.19 ttc=2.43s tl=None credit=28 reason=
[TRAIN] step=17800 critic=1.5537 actor=3.5002 alpha=0.0100 sigma=0.5720 beta0=1.00
[STEP] step=1040 speed= 16.89km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=75.9% goal=52.02m dL=0.08 ttc=1.56s tl=None credit=8 reason=
[STEP] step=1060 speed= 16.94km/h thr=0.60 brk=0.00 str=+0.12 safe=0 progress=78.0% goal=47.67m dL=0.08 ttc=7.31s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.31km/h thr=0.36 brk=0.00 str=+0.16 safe=0 progress=80.3% goal=42.65m dL=0.05 ttc=6.05s tl=None credit=0 reason=
[STEP] step=1100 speed= 19.90km/h thr=0.37 brk=0.00 str=-0.08 safe=0 progress=82.7% goal=37.39m dL=0.27 ttc=4.46s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.78km/h thr=0.13 brk=0.00 str=-0.00 safe=0 progress=85.3% goal=31.86m dL=0.58 ttc=4.79s tl=None credit=0 reason=
[TRAIN] step=17900 critic=1.6770 actor=3.3165 alpha=0.0100 sigma=0.5865 beta0=1.00
[STEP] step=1140 speed= 15.12km/h thr=0.00 brk=0.08 str=-0.32 safe=0 progress=87.4% goal=27.20m dL=0.86 ttc=4.68s tl=None credit=0 reason=
[STEP] step=1160 speed= 11.04km/h thr=0.32 brk=0.00 str=-0.07 safe=0 progress=89.0% goal=23.80m dL=0.30 ttc=5.85s tl=None credit=0 reason=
[STEP] step=1180 speed= 13.39km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=90.6% goal=20.41m dL=0.26 ttc=4.89s tl=None credit=0 reason=
[CAL] step=20000 fitted=1 center=0.3353 scale=0.3594 beta0=1.00
[OK] Saved checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[EVAL step=20000] skipping cross-town eval (Town10HD_Opt→Town02).
[STEP] step=1200 speed= 16.00km/h thr=0.13 brk=0.00 str=-0.01 safe=0 progress=92.5% goal=16.23m dL=0.07 ttc=3.53s tl=None credit=0 reason=
[STEP] step=1217 speed= 12.44km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=94.0% goal=12.99m dL=0.12 ttc=2.97s tl=None credit=0 reason=goal
[EP] ep=18 steps=1217 reward=-152.41 success=1 progress=94.0% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31504 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 144 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=77.55m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=12 weather=night_rain_fog spawn_idx=144 goal_idx=None route_len=205.2m spawn=(22.9,-60.9,-0.0) yaw=-0.0 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=0.0% goal=205.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=18000 critic=1.6512 actor=3.8679 alpha=0.0100 sigma=0.5558 beta0=1.00
[STEP] step=0020 speed=  1.51km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.23m dL=0.00 ttc=75.26s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.20km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=201.48m dL=0.00 ttc=12.11s tl=None credit=0 reason=
[STEP] step=0060 speed=  0.00km/h thr=0.00 brk=0.25 str=-0.14 safe=0 progress=3.4% goal=198.31m dL=0.06 ttc=24.84s tl=None credit=0 reason=
[STEP] step=0080 speed=  3.12km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.4% goal=198.22m dL=0.06 ttc=13.21s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.76km/h thr=0.42 brk=0.00 str=-0.16 safe=0 progress=5.0% goal=194.98m dL=0.00 ttc=6.41s tl=None credit=0 reason=
[TRAIN] step=18100 critic=2.7490 actor=4.6572 alpha=0.0100 sigma=0.5515 beta0=1.00
[STEP] step=0120 speed= 18.82km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=7.5% goal=189.74m dL=0.26 ttc=4.68s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.48 safe=0 progress=9.3% goal=186.12m dL=0.65 ttc=5.54s tl=None credit=0 reason=
[STEP] step=0160 speed=  2.36km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=9.3% goal=186.06m dL=0.65 ttc=3.92s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.53km/h thr=0.48 brk=0.00 str=+0.05 safe=0 progress=10.8% goal=183.04m dL=0.41 ttc=1.83s tl=None credit=0 reason=
[STEP] step=0200 speed= 18.94km/h thr=0.26 brk=0.00 str=+0.10 safe=0 progress=13.3% goal=177.91m dL=0.32 ttc=0.79s tl=None credit=0 reason=
[TRAIN] step=18200 critic=2.0064 actor=4.4628 alpha=0.0100 sigma=0.5574 beta0=1.00
[STEP] step=0220 speed= 13.44km/h thr=0.06 brk=0.00 str=-0.09 safe=0 progress=15.5% goal=173.34m dL=0.16 ttc=1.27s tl=None credit=0 reason=
[STEP] step=0240 speed= 15.12km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=17.5% goal=169.41m dL=0.34 ttc=44.77s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.64km/h thr=0.19 brk=0.00 str=+0.13 safe=0 progress=19.4% goal=165.43m dL=0.23 ttc=21.32s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.15km/h thr=0.13 brk=0.00 str=-0.05 safe=0 progress=21.3% goal=161.53m dL=0.10 ttc=14.84s tl=None credit=0 reason=
[STEP] step=0300 speed= 13.70km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=23.1% goal=157.77m dL=0.11 ttc=48.49s tl=None credit=0 reason=
[TRAIN] step=18300 critic=2.7537 actor=4.3982 alpha=0.0100 sigma=0.5651 beta0=1.00
[STEP] step=0320 speed= 14.45km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=25.0% goal=153.92m dL=0.05 ttc=34.40s tl=None credit=0 reason=
[STEP] step=0340 speed= 10.50km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=26.7% goal=150.35m dL=0.40 ttc=27.89s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.75km/h thr=0.43 brk=0.00 str=+0.27 safe=0 progress=28.3% goal=147.18m dL=0.33 ttc=19.04s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.05km/h thr=0.48 brk=0.00 str=-0.11 safe=0 progress=30.2% goal=143.31m dL=0.08 ttc=17.92s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.86km/h thr=0.22 brk=0.00 str=-0.12 safe=0 progress=32.2% goal=139.13m dL=0.26 ttc=14.90s tl=None credit=0 reason=
[TRAIN] step=18400 critic=1.5421 actor=4.4598 alpha=0.0100 sigma=0.5380 beta0=1.00
[STEP] step=0420 speed= 15.38km/h thr=0.17 brk=0.00 str=+0.14 safe=0 progress=34.3% goal=134.92m dL=0.51 ttc=12.59s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.96km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=36.1% goal=131.12m dL=0.45 ttc=11.45s tl=None credit=0 reason=
[STEP] step=0460 speed= 12.94km/h thr=0.12 brk=0.00 str=+0.12 safe=0 progress=38.1% goal=127.03m dL=0.66 ttc=10.69s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.54km/h thr=0.29 brk=0.00 str=+0.25 safe=0 progress=39.9% goal=123.26m dL=0.59 ttc=9.11s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.79km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=42.0% goal=119.03m dL=0.33 ttc=9.08s tl=None credit=0 reason=
[TRAIN] step=18500 critic=1.7089 actor=4.9074 alpha=0.0100 sigma=0.5514 beta0=1.00
[STEP] step=0520 speed=  8.88km/h thr=0.00 brk=0.11 str=-0.36 safe=0 progress=43.7% goal=115.64m dL=0.14 ttc=10.76s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.59km/h thr=0.48 brk=0.00 str=+0.24 safe=0 progress=45.0% goal=112.78m dL=0.13 ttc=11.87s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.95km/h thr=0.25 brk=0.00 str=+0.16 safe=0 progress=47.3% goal=108.21m dL=0.05 ttc=11.15s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.09km/h thr=0.22 brk=0.00 str=+0.19 safe=0 progress=49.6% goal=103.36m dL=0.36 ttc=8.81s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.16km/h thr=0.33 brk=0.00 str=-0.16 safe=0 progress=51.9% goal=98.78m dL=0.67 ttc=8.46s tl=None credit=0 reason=
[TRAIN] step=18600 critic=2.1297 actor=3.9683 alpha=0.0100 sigma=0.5416 beta0=1.00
[STEP] step=0620 speed= 17.98km/h thr=0.09 brk=0.00 str=+0.05 safe=0 progress=54.2% goal=93.91m dL=0.79 ttc=6.13s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.05km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=56.1% goal=90.01m dL=0.41 ttc=6.28s tl=Red credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.89 str=+0.09 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=5.46s tl=Red credit=17 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.80 str=-0.03 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=4.04s tl=Red credit=37 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.04 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=6.58s tl=Red credit=57 reason=
[TRAIN] step=18700 critic=1.4352 actor=5.1032 alpha=0.0100 sigma=0.5546 beta0=1.00
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.84 str=+0.03 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=24.00s tl=Red credit=77 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.07 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=27.20s tl=Red credit=97 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.01 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=30.86s tl=Red credit=117 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.99 str=+0.12 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=43.45s tl=Red credit=137 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.98 str=+0.07 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=49.40s tl=Red credit=157 reason=
[TRAIN] step=18800 critic=1.4240 actor=4.7229 alpha=0.0100 sigma=0.5704 beta0=1.00
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.85 str=+0.03 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=56.59s tl=Red credit=177 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.10 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=47.07s tl=Red credit=197 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.98 str=+0.04 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=29.91s tl=Red credit=217 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.89 str=+0.07 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=21.75s tl=Red credit=237 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.81 str=+0.07 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=17.34s tl=Red credit=257 reason=
[TRAIN] step=18900 critic=1.9354 actor=5.0481 alpha=0.0100 sigma=0.5684 beta0=1.00
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.85 str=-0.05 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=14.64s tl=Red credit=277 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.98 str=+0.10 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=12.69s tl=Red credit=297 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.88 str=-0.14 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=11.21s tl=Red credit=317 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.01 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=10.11s tl=Red credit=337 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=9.11s tl=Red credit=357 reason=
[TRAIN] step=19000 critic=2.5967 actor=4.2182 alpha=0.0100 sigma=0.5613 beta0=1.00
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.95 str=-0.02 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=9.03s tl=Red credit=377 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.02 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=9.58s tl=Red credit=397 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.08 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=10.20s tl=Red credit=417 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.98 str=+0.05 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=11.45s tl=Red credit=437 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.89 str=-0.09 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=10.85s tl=Red credit=457 reason=
[TRAIN] step=19100 critic=1.1625 actor=5.1785 alpha=0.0100 sigma=0.5516 beta0=1.00
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.97 str=+0.02 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=10.37s tl=Red credit=477 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.81 str=+0.04 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=8.64s tl=Red credit=497 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.97 str=+0.12 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=4.60s tl=Red credit=517 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.27 safe=0 progress=56.3% goal=89.65m dL=0.36 ttc=3.53s tl=Green credit=511 reason=
[STEP] step=1200 speed= 10.25km/h thr=0.75 brk=0.00 str=+0.12 safe=1 progress=56.7% goal=88.81m dL=0.29 ttc=4.32s tl=Green credit=491 reason=
[TRAIN] step=19200 critic=1.8036 actor=4.4094 alpha=0.0100 sigma=0.5486 beta0=1.00
[STEP] step=1220 speed= 18.41km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=58.9% goal=84.30m dL=0.04 ttc=5.88s tl=None credit=471 reason=
[STEP] step=1240 speed= 18.08km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=61.4% goal=79.31m dL=0.34 ttc=4.71s tl=None credit=451 reason=
[STEP] step=1260 speed= 16.84km/h thr=0.17 brk=0.00 str=+0.21 safe=0 progress=63.7% goal=74.47m dL=0.69 ttc=8.70s tl=None credit=431 reason=
[STEP] step=1280 speed= 12.15km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=65.6% goal=70.52m dL=1.26 ttc=8.58s tl=None credit=411 reason=
[STEP] step=1300 speed= 12.00km/h thr=0.24 brk=0.00 str=-0.18 safe=0 progress=67.4% goal=67.01m dL=1.53 ttc=7.68s tl=None credit=391 reason=
[TRAIN] step=19300 critic=1.8673 actor=5.4890 alpha=0.0100 sigma=0.5748 beta0=1.00
[STEP] step=1320 speed=  8.49km/h thr=0.36 brk=0.00 str=-0.55 safe=0 progress=68.7% goal=64.24m dL=1.26 ttc=7.78s tl=None credit=371 reason=
[STEP] step=1340 speed= 11.53km/h thr=0.12 brk=0.00 str=+0.28 safe=0 progress=70.1% goal=61.34m dL=0.11 ttc=6.15s tl=None credit=351 reason=
[STEP] step=1360 speed= 17.02km/h thr=0.60 brk=0.00 str=+0.02 safe=0 progress=71.8% goal=57.87m dL=0.19 ttc=6.24s tl=None credit=331 reason=
[STEP] step=1380 speed= 16.03km/h thr=0.00 brk=0.16 str=-0.13 safe=0 progress=74.2% goal=52.94m dL=0.34 ttc=34.32s tl=None credit=311 reason=
[STEP] step=1400 speed= 17.80km/h thr=0.39 brk=0.00 str=+0.07 safe=0 progress=76.3% goal=48.61m dL=0.23 ttc=10.39s tl=None credit=291 reason=
[TRAIN] step=19400 critic=1.8918 actor=5.1624 alpha=0.0100 sigma=0.5637 beta0=1.00
[STEP] step=1420 speed= 18.27km/h thr=0.27 brk=0.00 str=+0.04 safe=0 progress=78.8% goal=43.58m dL=0.11 ttc=5.82s tl=None credit=271 reason=
[STEP] step=1440 speed=  0.69km/h thr=0.36 brk=0.00 str=-0.40 safe=0 progress=79.7% goal=41.56m dL=0.34 ttc=1.69s tl=None credit=251 reason=
[STEP] step=1460 speed=  9.33km/h thr=0.48 brk=0.00 str=-0.10 safe=0 progress=80.4% goal=40.19m dL=0.23 ttc=1.23s tl=None credit=231 reason=
[STEP] step=1480 speed= 18.25km/h thr=0.39 brk=0.00 str=-0.17 safe=0 progress=82.4% goal=36.14m dL=0.24 ttc=2.13s tl=None credit=211 reason=
[STEP] step=1500 speed= 18.06km/h thr=0.08 brk=0.00 str=+0.23 safe=0 progress=84.8% goal=31.09m dL=0.03 ttc=66.77s tl=None credit=191 reason=
[TRAIN] step=19500 critic=1.4840 actor=3.3610 alpha=0.0100 sigma=0.5513 beta0=1.00
[STEP] step=1520 speed= 12.44km/h thr=0.00 brk=0.19 str=-0.01 safe=0 progress=87.0% goal=26.77m dL=0.03 ttc=64.03s tl=None credit=171 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.08 safe=0 progress=88.0% goal=24.61m dL=0.12 ttc=64.75s tl=None credit=151 reason=
[STEP] step=1560 speed=  1.54km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=88.0% goal=24.58m dL=0.12 ttc=45.96s tl=None credit=131 reason=
[STEP] step=1580 speed= 14.02km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=89.2% goal=22.07m dL=0.04 ttc=30.01s tl=None credit=111 reason=
[STEP] step=1600 speed= 12.83km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=91.2% goal=18.02m dL=0.19 ttc=18.65s tl=None credit=91 reason=
[TRAIN] step=19600 critic=1.4963 actor=5.0950 alpha=0.0100 sigma=0.5777 beta0=1.00
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.24 str=+0.05 safe=0 progress=92.4% goal=15.62m dL=0.25 ttc=14.31s tl=None credit=71 reason=
[STEP] step=1640 speed=  0.15km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=92.4% goal=15.62m dL=0.25 ttc=13.64s tl=None credit=51 reason=
[STEP] step=1660 speed= 13.26km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=93.4% goal=13.47m dL=0.12 ttc=14.36s tl=None credit=31 reason=
[STEP] step=1663 speed= 14.22km/h thr=0.36 brk=0.00 str=+0.06 safe=0 progress=93.7% goal=12.90m dL=0.10 ttc=14.22s tl=None credit=28 reason=goal
[EP] ep=19 steps=1663 reward=20.56 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31518 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 93 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=12.57% dL=11.50m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=17 weather=night_rain_fog spawn_idx=93 goal_idx=None route_len=212.4m spawn=(-25.5,24.6,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=212.40m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.53km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=212.39m dL=0.00 ttc=19.73s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.21km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=208.63m dL=0.00 ttc=4.21s tl=None credit=0 reason=
[TRAIN] step=19700 critic=1.7128 actor=5.9817 alpha=0.0100 sigma=0.5721 beta0=1.00
[STEP] step=0060 speed= 18.31km/h thr=0.24 brk=0.00 str=+0.32 safe=0 progress=4.2% goal=203.54m dL=0.19 ttc=2.65s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.02km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=6.5% goal=198.57m dL=0.16 ttc=1.58s tl=None credit=0 reason=
[STEP] step=0100 speed= 20.28km/h thr=0.37 brk=0.00 str=+0.18 safe=0 progress=8.9% goal=193.39m dL=0.20 ttc=1.35s tl=None credit=0 reason=
[STEP] step=0120 speed= 24.66km/h thr=0.25 brk=0.00 str=-0.07 safe=0 progress=11.8% goal=187.29m dL=0.12 ttc=16.71s tl=None credit=0 reason=
[STEP] step=0140 speed= 22.36km/h thr=0.61 brk=0.00 str=+0.00 safe=0 progress=14.8% goal=180.94m dL=0.22 ttc=16.81s tl=None credit=0 reason=
[TRAIN] step=19800 critic=1.8579 actor=4.6290 alpha=0.0100 sigma=0.5525 beta0=1.00
[STEP] step=0160 speed= 25.89km/h thr=0.17 brk=0.00 str=-0.09 safe=0 progress=18.1% goal=173.93m dL=0.15 ttc=14.25s tl=None credit=0 reason=
[STEP] step=0180 speed= 24.15km/h thr=0.41 brk=0.00 str=+0.09 safe=0 progress=21.3% goal=167.19m dL=0.21 ttc=14.03s tl=None credit=0 reason=
[STEP] step=0200 speed= 20.58km/h thr=0.12 brk=0.00 str=-0.27 safe=0 progress=24.3% goal=160.79m dL=0.42 ttc=15.40s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.54km/h thr=0.18 brk=0.00 str=+0.19 safe=0 progress=26.7% goal=155.71m dL=0.36 ttc=16.44s tl=None credit=0 reason=
[STEP] step=0240 speed= 18.09km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=29.0% goal=150.76m dL=0.22 ttc=16.65s tl=None credit=0 reason=
[TRAIN] step=19900 critic=1.4982 actor=5.0900 alpha=0.0100 sigma=0.5601 beta0=1.00
[STEP] step=0260 speed= 18.07km/h thr=0.39 brk=0.00 str=-0.03 safe=0 progress=31.4% goal=145.79m dL=0.25 ttc=14.81s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.14km/h thr=0.24 brk=0.00 str=+0.13 safe=0 progress=33.7% goal=140.77m dL=0.20 ttc=10.36s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.25km/h thr=0.36 brk=0.00 str=-0.11 safe=0 progress=36.1% goal=135.75m dL=0.00 ttc=6.28s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.82km/h thr=0.36 brk=0.00 str=+0.18 safe=0 progress=38.3% goal=130.96m dL=0.33 ttc=7.91s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.78km/h thr=0.20 brk=0.00 str=-0.12 safe=0 progress=40.6% goal=126.18m dL=0.19 ttc=7.65s tl=None credit=0 reason=
[TRAIN] step=20000 critic=1.5923 actor=5.5069 alpha=0.0100 sigma=0.5564 beta0=1.00
[STEP] step=0360 speed= 15.02km/h thr=0.30 brk=0.00 str=+0.14 safe=0 progress=42.8% goal=121.51m dL=0.47 ttc=9.14s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.65km/h thr=0.18 brk=0.00 str=-0.34 safe=0 progress=45.0% goal=116.82m dL=0.59 ttc=7.87s tl=None credit=0 reason=
[STEP] step=0400 speed= 18.08km/h thr=0.25 brk=0.00 str=-0.12 safe=0 progress=47.3% goal=111.85m dL=0.26 ttc=7.26s tl=Red credit=0 reason=
[STEP] step=0420 speed=  9.75km/h thr=0.00 brk=0.22 str=+0.18 safe=0 progress=49.2% goal=107.86m dL=0.00 ttc=6.35s tl=Red credit=0 reason=
[STEP] step=0440 speed= 13.02km/h thr=0.36 brk=0.00 str=+0.11 safe=0 progress=50.5% goal=105.11m dL=0.11 ttc=3.25s tl=None credit=0 reason=
[TRAIN] step=20100 critic=2.3988 actor=5.4135 alpha=0.0100 sigma=0.5634 beta0=1.00
[STEP] step=0460 speed= 15.65km/h thr=0.31 brk=0.00 str=-0.07 safe=0 progress=52.4% goal=101.07m dL=0.13 ttc=1.79s tl=None credit=0 reason=
[STEP] step=0480 speed= 12.21km/h thr=0.00 brk=0.07 str=-0.02 safe=0 progress=54.4% goal=96.95m dL=0.36 ttc=1.67s tl=None credit=0 reason=
[STEP] step=0500 speed=  8.80km/h thr=0.36 brk=0.00 str=-0.43 safe=0 progress=55.6% goal=94.31m dL=0.30 ttc=5.80s tl=None credit=0 reason=
[STEP] step=0520 speed=  8.08km/h thr=0.06 brk=0.00 str=-0.28 safe=0 progress=56.8% goal=91.71m dL=0.15 ttc=4.78s tl=None credit=0 reason=
[STEP] step=0540 speed=  8.68km/h thr=0.00 brk=0.16 str=-0.39 safe=0 progress=57.9% goal=89.47m dL=0.15 ttc=2.17s tl=None credit=0 reason=
[TRAIN] step=20200 critic=1.4833 actor=4.8709 alpha=0.0100 sigma=0.5691 beta0=1.00
[STEP] step=0560 speed=  8.19km/h thr=0.10 brk=0.00 str=-0.32 safe=0 progress=58.9% goal=87.21m dL=0.11 ttc=3.67s tl=None credit=0 reason=
[STEP] step=0580 speed=  7.39km/h thr=0.00 brk=0.14 str=-0.23 safe=0 progress=60.0% goal=84.95m dL=0.08 ttc=2.48s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.57km/h thr=0.42 brk=0.00 str=-0.35 safe=0 progress=60.2% goal=84.47m dL=0.09 ttc=41.97s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.49km/h thr=0.30 brk=0.00 str=-0.21 safe=0 progress=61.0% goal=82.82m dL=0.11 ttc=4.41s tl=None credit=0 reason=
[STEP] step=0640 speed= 10.42km/h thr=0.15 brk=0.00 str=-0.20 safe=0 progress=62.4% goal=79.86m dL=0.06 ttc=2.45s tl=None credit=0 reason=
[TRAIN] step=20300 critic=1.2386 actor=5.8844 alpha=0.0100 sigma=0.5447 beta0=1.00
[STEP] step=0660 speed= 11.83km/h thr=0.06 brk=0.00 str=-0.10 safe=0 progress=63.9% goal=76.66m dL=0.04 ttc=34.28s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.85km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=65.2% goal=73.85m dL=0.02 ttc=23.74s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.94km/h thr=0.60 brk=0.00 str=-0.10 safe=0 progress=66.7% goal=70.65m dL=0.07 ttc=27.75s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.96km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=69.0% goal=65.77m dL=0.04 ttc=29.73s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.83km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=70.9% goal=61.79m dL=0.02 ttc=16.33s tl=None credit=0 reason=
[TRAIN] step=20400 critic=1.6637 actor=4.4489 alpha=0.0100 sigma=0.5569 beta0=1.00
[STEP] step=0760 speed=  9.38km/h thr=0.54 brk=0.00 str=-0.02 safe=0 progress=71.9% goal=59.62m dL=0.04 ttc=14.58s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.68km/h thr=0.38 brk=0.00 str=-0.03 safe=0 progress=73.7% goal=55.90m dL=0.07 ttc=13.38s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.27km/h thr=0.41 brk=0.00 str=+0.26 safe=0 progress=76.0% goal=50.93m dL=0.10 ttc=14.35s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.97km/h thr=0.18 brk=0.00 str=-0.16 safe=0 progress=78.4% goal=45.95m dL=0.11 ttc=28.16s tl=None credit=0 reason=
[STEP] step=0840 speed=  9.01km/h thr=0.00 brk=0.17 str=+0.10 safe=0 progress=80.1% goal=42.26m dL=0.10 ttc=15.83s tl=None credit=0 reason=
[TRAIN] step=20500 critic=1.5891 actor=5.0608 alpha=0.0100 sigma=0.5519 beta0=1.00
[STEP] step=0860 speed=  8.33km/h thr=0.42 brk=0.00 str=-0.22 safe=0 progress=81.0% goal=40.26m dL=0.05 ttc=28.20s tl=None credit=0 reason=
[STEP] step=0880 speed= 15.59km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=82.7% goal=36.76m dL=0.10 ttc=134.96s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.67km/h thr=0.00 brk=0.34 str=-0.11 safe=0 progress=84.3% goal=33.25m dL=0.37 ttc=37.32s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.22 safe=0 progress=84.7% goal=32.51m dL=0.40 ttc=8.16s tl=None credit=0 reason=
[STEP] step=0940 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=85.1% goal=31.67m dL=0.38 ttc=9.38s tl=None credit=0 reason=
[TRAIN] step=20600 critic=2.2964 actor=5.7883 alpha=0.0100 sigma=0.5616 beta0=1.00
[STEP] step=0960 speed= 16.51km/h thr=0.19 brk=0.00 str=-0.08 safe=0 progress=87.0% goal=27.52m dL=0.06 ttc=11.63s tl=None credit=0 reason=
[STEP] step=0980 speed= 11.56km/h thr=0.18 brk=0.00 str=+0.15 safe=0 progress=88.9% goal=23.67m dL=0.16 ttc=8.27s tl=None credit=0 reason=
[STEP] step=1000 speed= 11.96km/h thr=0.19 brk=0.00 str=-0.07 safe=0 progress=90.4% goal=20.44m dL=0.04 ttc=7.44s tl=None credit=0 reason=
[STEP] step=1020 speed=  8.27km/h thr=0.48 brk=0.00 str=-0.12 safe=0 progress=91.6% goal=17.87m dL=0.17 ttc=5.48s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.00km/h thr=0.14 brk=0.00 str=+0.04 safe=0 progress=93.2% goal=14.51m dL=0.11 ttc=6.41s tl=None credit=0 reason=
[STEP] step=1049 speed= 11.91km/h thr=0.00 brk=0.40 str=+0.16 safe=0 progress=93.9% goal=12.88m dL=0.06 ttc=5.66s tl=None credit=0 reason=goal
[EP] ep=20 steps=1049 reward=-200.10 success=1 progress=93.9% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31537 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 11 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=61.38% dL=3.50m
[RESET] town=Town10HD_Opt npc=12 weather=night_rain_fog spawn_idx=11 goal_idx=None route_len=202.5m spawn=(-110.1,-9.8,-0.0) yaw=90.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=61.4% goal=78.20m dL=3.50 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=20700 critic=1.7145 actor=5.4644 alpha=0.0100 sigma=0.5524 beta0=1.00
[STEP] step=0020 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.59 safe=0 progress=61.4% goal=78.20m dL=3.50 ttc=58.50s tl=None credit=0 reason=
[STEP] step=0040 speed=  0.00km/h thr=0.45 brk=0.00 str=-0.61 safe=0 progress=61.4% goal=78.20m dL=3.50 ttc=22.70s tl=None credit=0 reason=
[STEP] step=0060 speed=  8.13km/h thr=0.00 brk=0.10 str=-0.73 safe=0 progress=60.7% goal=79.56m dL=2.57 ttc=15.31s tl=None credit=0 reason=
[STEP] step=0080 speed=  1.84km/h thr=0.42 brk=0.00 str=-0.70 safe=0 progress=60.5% goal=79.97m dL=2.11 ttc=16.87s tl=None credit=0 reason=
[STEP] step=0100 speed=  7.25km/h thr=0.22 brk=0.00 str=-0.80 safe=0 progress=60.3% goal=80.39m dL=0.99 ttc=13.50s tl=None credit=0 reason=
[TRAIN] step=20800 critic=2.7179 actor=3.3756 alpha=0.0100 sigma=0.5564 beta0=1.00
[STEP] step=0120 speed=  5.12km/h thr=0.36 brk=0.00 str=-0.88 safe=0 progress=60.4% goal=80.10m dL=0.50 ttc=13.76s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.13km/h thr=0.24 brk=0.00 str=-0.89 safe=0 progress=61.1% goal=78.83m dL=1.87 ttc=13.60s tl=None credit=0 reason=
[STEP] step=0160 speed=  5.42km/h thr=0.06 brk=0.00 str=-0.82 safe=0 progress=62.1% goal=76.80m dL=2.22 ttc=14.80s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.91 safe=0 progress=62.1% goal=76.66m dL=2.18 ttc=13.25s tl=None credit=0 reason=
[STEP] step=0200 speed=  5.12km/h thr=0.25 brk=0.00 str=-0.66 safe=0 progress=62.3% goal=76.25m dL=2.07 ttc=16.26s tl=None credit=0 reason=
[TRAIN] step=20900 critic=2.5901 actor=5.2579 alpha=0.0100 sigma=0.5581 beta0=1.00
[STEP] step=0220 speed= 10.72km/h thr=0.24 brk=0.00 str=-0.46 safe=0 progress=63.2% goal=74.48m dL=1.07 ttc=21.58s tl=None credit=0 reason=
[STEP] step=0240 speed=  9.29km/h thr=0.24 brk=0.00 str=+0.53 safe=0 progress=64.5% goal=71.91m dL=0.10 ttc=16.54s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.63km/h thr=0.36 brk=0.00 str=+0.09 safe=0 progress=66.1% goal=68.73m dL=0.16 ttc=12.41s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.84km/h thr=0.30 brk=0.00 str=+0.09 safe=0 progress=68.2% goal=64.42m dL=0.01 ttc=8.36s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.01km/h thr=0.30 brk=0.00 str=+0.23 safe=0 progress=70.3% goal=60.05m dL=0.08 ttc=6.78s tl=None credit=0 reason=
[TRAIN] step=21000 critic=4.1487 actor=5.5709 alpha=0.0100 sigma=0.5397 beta0=1.00
[STEP] step=0320 speed= 16.51km/h thr=0.23 brk=0.00 str=+0.07 safe=0 progress=72.6% goal=55.48m dL=0.03 ttc=5.94s tl=None credit=0 reason=
[STEP] step=0340 speed= 10.33km/h thr=0.00 brk=0.29 str=+0.31 safe=0 progress=74.5% goal=51.59m dL=0.07 ttc=5.50s tl=None credit=0 reason=
[STEP] step=0360 speed=  7.46km/h thr=0.54 brk=0.00 str=+0.01 safe=0 progress=75.5% goal=49.57m dL=0.03 ttc=5.01s tl=None credit=0 reason=
[STEP] step=0380 speed= 14.70km/h thr=0.12 brk=0.00 str=-0.34 safe=0 progress=77.2% goal=46.17m dL=0.29 ttc=3.03s tl=None credit=0 reason=
[STEP] step=0400 speed=  8.80km/h thr=0.00 brk=0.17 str=+0.23 safe=0 progress=78.8% goal=42.84m dL=0.17 ttc=2.24s tl=None credit=0 reason=
[TRAIN] step=21100 critic=1.7139 actor=6.1285 alpha=0.0100 sigma=0.5685 beta0=1.00
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.15 safe=0 progress=79.2% goal=42.18m dL=0.16 ttc=1.84s tl=None credit=0 reason=
[STEP] step=0440 speed= 10.35km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=79.6% goal=41.34m dL=0.14 ttc=0.63s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.19km/h thr=0.21 brk=0.00 str=+0.25 safe=0 progress=81.6% goal=37.21m dL=0.13 ttc=7.40s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.18km/h thr=0.17 brk=0.00 str=-0.02 safe=0 progress=83.9% goal=32.56m dL=0.16 ttc=4.92s tl=None credit=0 reason=
[STEP] step=0500 speed= 10.01km/h thr=0.00 brk=0.16 str=+0.10 safe=0 progress=85.7% goal=28.91m dL=0.07 ttc=3.92s tl=None credit=0 reason=
[TRAIN] step=21200 critic=1.4906 actor=5.9304 alpha=0.0100 sigma=0.5622 beta0=1.00
[STEP] step=0520 speed=  8.40km/h thr=0.42 brk=0.00 str=+0.16 safe=0 progress=86.8% goal=26.76m dL=0.05 ttc=3.03s tl=None credit=0 reason=
[STEP] step=0540 speed= 11.12km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=88.3% goal=23.72m dL=0.16 ttc=1.94s tl=None credit=0 reason=
[STEP] step=0560 speed= 10.11km/h thr=0.00 brk=0.16 str=+0.11 safe=0 progress=89.8% goal=20.73m dL=0.13 ttc=1.17s tl=None credit=0 reason=
[STEP] step=0580 speed=  9.94km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=90.9% goal=18.44m dL=0.05 ttc=27.35s tl=None credit=0 reason=
[STEP] step=0600 speed= 11.88km/h thr=0.21 brk=0.00 str=+0.02 safe=0 progress=92.5% goal=15.19m dL=0.15 ttc=28.79s tl=None credit=0 reason=
[TRAIN] step=21300 critic=2.9677 actor=5.5840 alpha=0.0100 sigma=0.5720 beta0=1.00
[STEP] step=0615 speed=  9.95km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=93.6% goal=12.89m dL=0.38 ttc=24.88s tl=None credit=0 reason=goal
[EP] ep=21 steps=615 reward=-140.98 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31551 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 79 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=20.51% dL=35.84m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=20 weather=night_rain_fog spawn_idx=79 goal_idx=None route_len=205.2m spawn=(-41.7,48.9,-0.0) yaw=-90.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=205.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.23m dL=0.00 ttc=44.51s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.37km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=201.75m dL=0.00 ttc=13.67s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.08km/h thr=0.19 brk=0.00 str=+0.04 safe=0 progress=4.2% goal=196.71m dL=0.08 ttc=9.44s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.04km/h thr=0.42 brk=0.00 str=+0.14 safe=0 progress=6.4% goal=192.13m dL=0.11 ttc=5.88s tl=None credit=0 reason=
[TRAIN] step=21400 critic=1.4860 actor=4.6033 alpha=0.0100 sigma=0.5568 beta0=1.00
[STEP] step=0100 speed= 18.83km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=8.8% goal=187.20m dL=0.12 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.72km/h thr=0.35 brk=0.00 str=+0.07 safe=0 progress=11.3% goal=182.07m dL=0.14 ttc=4.10s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.46km/h thr=0.54 brk=0.00 str=-0.11 safe=0 progress=13.6% goal=177.30m dL=0.34 ttc=4.52s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.44km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=16.0% goal=172.35m dL=0.05 ttc=4.68s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.38km/h thr=0.54 brk=0.00 str=+0.04 safe=0 progress=18.0% goal=168.25m dL=0.02 ttc=4.57s tl=None credit=0 reason=
[TRAIN] step=21500 critic=1.6882 actor=5.9171 alpha=0.0100 sigma=0.5624 beta0=1.00
[STEP] step=0200 speed= 18.42km/h thr=0.33 brk=0.00 str=-0.09 safe=0 progress=20.5% goal=163.23m dL=0.04 ttc=6.34s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.26km/h thr=0.16 brk=0.00 str=+0.04 safe=0 progress=22.9% goal=158.15m dL=0.31 ttc=6.81s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.47km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=25.4% goal=153.19m dL=0.20 ttc=13.60s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.64km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=27.5% goal=148.71m dL=0.10 ttc=14.84s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.75km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=29.7% goal=144.23m dL=0.13 ttc=12.60s tl=None credit=0 reason=
[TRAIN] step=21600 critic=1.7668 actor=4.8383 alpha=0.0100 sigma=0.5494 beta0=1.00
[STEP] step=0300 speed= 17.18km/h thr=0.23 brk=0.00 str=+0.42 safe=0 progress=32.1% goal=139.38m dL=0.12 ttc=10.97s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.97km/h thr=0.28 brk=0.00 str=-0.07 safe=0 progress=34.4% goal=134.61m dL=0.06 ttc=10.80s tl=None credit=0 reason=
[STEP] step=0340 speed= 20.97km/h thr=0.56 brk=0.00 str=+0.09 safe=0 progress=37.0% goal=129.36m dL=0.14 ttc=7.62s tl=None credit=0 reason=
[STEP] step=0360 speed= 26.43km/h thr=0.47 brk=0.00 str=+0.01 safe=0 progress=40.2% goal=122.76m dL=0.08 ttc=5.96s tl=None credit=0 reason=
[STEP] step=0380 speed= 24.00km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=43.8% goal=115.28m dL=0.11 ttc=6.32s tl=Yellow credit=0 reason=
[TRAIN] step=21700 critic=1.4962 actor=5.1681 alpha=0.0100 sigma=0.5393 beta0=1.00
[STEP] step=0400 speed=  0.26km/h thr=0.24 brk=0.00 str=+0.47 safe=0 progress=45.0% goal=112.81m dL=0.48 ttc=3.44s tl=Yellow credit=0 reason=
[STEP] step=0420 speed= 10.00km/h thr=0.42 brk=0.00 str=+0.37 safe=0 progress=45.6% goal=111.57m dL=0.17 ttc=5.08s tl=Yellow credit=0 reason=
[STEP] step=0440 speed= 10.13km/h thr=0.26 brk=0.00 str=+0.21 safe=0 progress=47.1% goal=108.63m dL=0.05 ttc=5.39s tl=None credit=0 reason=
[STEP] step=0460 speed=  7.65km/h thr=0.14 brk=0.00 str=+0.32 safe=0 progress=48.3% goal=106.04m dL=0.01 ttc=4.24s tl=None credit=0 reason=
[STEP] step=0480 speed=  9.82km/h thr=0.00 brk=0.08 str=-0.00 safe=0 progress=49.6% goal=103.45m dL=0.05 ttc=7.62s tl=None credit=0 reason=
[TRAIN] step=21800 critic=2.0753 actor=5.8541 alpha=0.0100 sigma=0.5779 beta0=1.00
[STEP] step=0500 speed=  8.34km/h thr=0.15 brk=0.00 str=+0.27 safe=0 progress=50.8% goal=101.07m dL=0.06 ttc=3.72s tl=None credit=0 reason=
[STEP] step=0520 speed=  8.82km/h thr=0.22 brk=0.00 str=+0.05 safe=0 progress=51.9% goal=98.71m dL=0.02 ttc=2.45s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.36 safe=0 progress=52.5% goal=97.41m dL=0.10 ttc=3.64s tl=None credit=0 reason=
[STEP] step=0560 speed=  4.31km/h thr=0.50 brk=0.00 str=+0.35 safe=0 progress=52.6% goal=97.19m dL=0.06 ttc=2.88s tl=None credit=0 reason=
[STEP] step=0580 speed=  8.04km/h thr=0.06 brk=0.00 str=+0.30 safe=0 progress=53.7% goal=95.02m dL=0.04 ttc=5.64s tl=None credit=0 reason=
[TRAIN] step=21900 critic=3.8275 actor=6.5130 alpha=0.0100 sigma=0.5649 beta0=1.00
[STEP] step=0600 speed= 14.28km/h thr=0.60 brk=0.00 str=+0.22 safe=0 progress=55.1% goal=92.20m dL=0.10 ttc=3.92s tl=None credit=0 reason=
[STEP] step=0620 speed= 17.98km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=57.4% goal=87.38m dL=0.14 ttc=2.67s tl=None credit=0 reason=
[STEP] step=0640 speed= 18.17km/h thr=0.18 brk=0.00 str=+0.18 safe=0 progress=59.9% goal=82.34m dL=0.13 ttc=1.73s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.51km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=62.3% goal=77.39m dL=0.16 ttc=1.25s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.96km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=64.5% goal=72.96m dL=0.21 ttc=1.75s tl=None credit=0 reason=
[TRAIN] step=22000 critic=1.8870 actor=6.9126 alpha=0.0100 sigma=0.5709 beta0=1.00
[STEP] step=0700 speed= 18.17km/h thr=0.45 brk=0.00 str=+0.03 safe=0 progress=66.9% goal=67.96m dL=0.07 ttc=1.27s tl=None credit=0 reason=
[STEP] step=0720 speed= 20.33km/h thr=0.32 brk=0.00 str=+0.05 safe=0 progress=69.4% goal=62.72m dL=0.01 ttc=24.90s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.24km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=71.7% goal=58.00m dL=0.19 ttc=28.14s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.61km/h thr=0.00 brk=0.08 str=-0.23 safe=0 progress=73.9% goal=53.53m dL=0.22 ttc=26.21s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.53km/h thr=0.48 brk=0.00 str=-0.02 safe=0 progress=75.9% goal=49.48m dL=0.01 ttc=21.83s tl=None credit=0 reason=
[TRAIN] step=22100 critic=1.5873 actor=6.5801 alpha=0.0100 sigma=0.5395 beta0=1.00
[STEP] step=0800 speed= 18.36km/h thr=0.42 brk=0.00 str=-0.16 safe=0 progress=78.2% goal=44.79m dL=0.16 ttc=18.46s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.99km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=80.7% goal=39.70m dL=0.16 ttc=15.90s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.18 safe=0 progress=82.5% goal=35.96m dL=0.01 ttc=8.59s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.95km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=82.5% goal=35.95m dL=0.01 ttc=7.70s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=83.8% goal=33.34m dL=0.01 ttc=12.26s tl=None credit=0 reason=
[TRAIN] step=22200 critic=2.0420 actor=6.4922 alpha=0.0100 sigma=0.5747 beta0=1.00
[STEP] step=0900 speed= 19.53km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=86.2% goal=28.23m dL=0.37 ttc=10.97s tl=None credit=0 reason=
[STEP] step=0920 speed= 12.51km/h thr=0.06 brk=0.00 str=-0.11 safe=0 progress=88.6% goal=23.40m dL=0.07 ttc=8.87s tl=None credit=0 reason=
[STEP] step=0940 speed=  7.13km/h thr=0.00 brk=0.40 str=-0.10 safe=0 progress=90.0% goal=20.51m dL=0.01 ttc=6.32s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.08 safe=0 progress=90.1% goal=20.37m dL=0.00 ttc=4.09s tl=None credit=0 reason=
[STEP] step=0980 speed= 12.30km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=90.9% goal=18.73m dL=0.00 ttc=4.97s tl=None credit=0 reason=
[TRAIN] step=22300 critic=1.9527 actor=5.3521 alpha=0.0100 sigma=0.5665 beta0=1.00
[STEP] step=1000 speed= 14.21km/h thr=0.16 brk=0.00 str=-0.11 safe=0 progress=92.8% goal=14.80m dL=0.14 ttc=4.43s tl=None credit=0 reason=
[STEP] step=1009 speed= 15.75km/h thr=0.57 brk=0.00 str=-0.03 safe=0 progress=93.7% goal=12.99m dL=0.10 ttc=4.31s tl=None credit=0 reason=goal
[EP] ep=22 steps=1009 reward=-163.89 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31573 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 29 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=22.12% dL=79.40m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=15 weather=night_rain_fog spawn_idx=29 goal_idx=None route_len=212.4m spawn=(-45.0,92.5,-0.0) yaw=-90.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=212.41m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  2.33km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=212.39m dL=0.00 ttc=25.18s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.07km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=208.59m dL=0.00 ttc=8.54s tl=None credit=0 reason=
[STEP] step=0060 speed= 20.05km/h thr=0.39 brk=0.00 str=+0.17 safe=0 progress=4.3% goal=203.33m dL=0.06 ttc=8.28s tl=None credit=0 reason=
[TRAIN] step=22400 critic=1.5509 actor=4.4874 alpha=0.0100 sigma=0.5592 beta0=1.00
[STEP] step=0080 speed= 18.25km/h thr=0.27 brk=0.00 str=+0.07 safe=0 progress=6.8% goal=197.95m dL=0.01 ttc=8.28s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.50km/h thr=0.00 brk=0.32 str=-0.07 safe=0 progress=9.1% goal=193.13m dL=0.04 ttc=8.85s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.42km/h thr=0.60 brk=0.00 str=+0.00 safe=0 progress=10.6% goal=189.83m dL=0.31 ttc=8.37s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.15km/h thr=0.24 brk=0.00 str=+0.15 safe=0 progress=12.8% goal=185.13m dL=0.74 ttc=6.74s tl=None credit=0 reason=
[STEP] step=0160 speed=  9.79km/h thr=0.54 brk=0.00 str=+0.38 safe=0 progress=14.4% goal=181.82m dL=0.68 ttc=8.10s tl=None credit=0 reason=
[TRAIN] step=22500 critic=1.4866 actor=5.6501 alpha=0.0100 sigma=0.5331 beta0=1.00
[STEP] step=0180 speed= 18.25km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=16.3% goal=177.86m dL=0.17 ttc=6.27s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.92km/h thr=0.28 brk=0.00 str=-0.03 safe=0 progress=18.6% goal=172.87m dL=0.04 ttc=5.48s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.41km/h thr=0.00 brk=0.24 str=-0.12 safe=0 progress=20.9% goal=167.97m dL=0.08 ttc=5.10s tl=Red credit=0 reason=
[STEP] step=0240 speed= 15.18km/h thr=0.60 brk=0.00 str=+0.13 safe=0 progress=22.7% goal=164.15m dL=0.17 ttc=4.85s tl=None credit=0 reason=
[STEP] step=0260 speed= 21.43km/h thr=0.23 brk=0.00 str=-0.25 safe=0 progress=25.3% goal=158.77m dL=0.07 ttc=3.08s tl=None credit=0 reason=
[TRAIN] step=22600 critic=3.1163 actor=6.8012 alpha=0.0100 sigma=0.5525 beta0=1.00
[STEP] step=0280 speed= 20.40km/h thr=0.29 brk=0.00 str=+0.18 safe=0 progress=27.9% goal=153.14m dL=0.59 ttc=1.66s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.01km/h thr=0.00 brk=0.32 str=+0.08 safe=0 progress=30.4% goal=147.80m dL=0.76 ttc=7.79s tl=None credit=0 reason=
[STEP] step=0320 speed= 14.63km/h thr=0.48 brk=0.00 str=+0.00 safe=0 progress=32.2% goal=143.95m dL=0.37 ttc=8.19s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.28km/h thr=0.31 brk=0.00 str=-0.11 safe=0 progress=34.4% goal=139.26m dL=0.10 ttc=5.50s tl=None credit=0 reason=
[STEP] step=0360 speed= 21.23km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=37.0% goal=133.91m dL=0.04 ttc=3.93s tl=None credit=0 reason=
[TRAIN] step=22700 critic=1.9696 actor=6.0974 alpha=0.0100 sigma=0.5566 beta0=1.00
[STEP] step=0380 speed= 18.19km/h thr=0.47 brk=0.00 str=+0.03 safe=0 progress=39.5% goal=128.46m dL=0.07 ttc=3.59s tl=None credit=0 reason=
[STEP] step=0400 speed= 19.66km/h thr=0.42 brk=0.00 str=+0.10 safe=0 progress=42.0% goal=123.28m dL=0.03 ttc=2.29s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.63km/h thr=0.19 brk=0.00 str=-0.06 safe=0 progress=44.5% goal=117.91m dL=0.14 ttc=1.58s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.13km/h thr=0.23 brk=0.00 str=+0.18 safe=0 progress=46.9% goal=112.84m dL=0.34 ttc=1.77s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.23km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=49.3% goal=107.78m dL=0.12 ttc=5.34s tl=None credit=0 reason=
[TRAIN] step=22800 critic=2.0032 actor=4.3059 alpha=0.0100 sigma=0.5373 beta0=1.00
[STEP] step=0480 speed= 19.58km/h thr=0.46 brk=0.00 str=+0.10 safe=0 progress=51.7% goal=102.50m dL=0.07 ttc=4.01s tl=None credit=0 reason=
[STEP] step=0500 speed= 20.23km/h thr=0.22 brk=0.00 str=+0.02 safe=0 progress=54.5% goal=96.75m dL=0.36 ttc=3.08s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.11km/h thr=0.00 brk=0.16 str=-0.28 safe=0 progress=56.8% goal=91.73m dL=0.15 ttc=2.78s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.05km/h thr=0.44 brk=0.00 str=+0.12 safe=0 progress=58.9% goal=87.32m dL=0.07 ttc=1.50s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.15km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=61.2% goal=82.31m dL=0.02 ttc=2.72s tl=None credit=0 reason=
[TRAIN] step=22900 critic=2.1635 actor=6.0728 alpha=0.0100 sigma=0.5475 beta0=1.00
[STEP] step=0580 speed= 10.33km/h thr=0.00 brk=0.89 str=+0.06 safe=0 progress=63.3% goal=77.90m dL=0.03 ttc=8.88s tl=Red credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.10 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=8.56s tl=Red credit=15 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.09 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=10.90s tl=Red credit=35 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.12 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=15.12s tl=Red credit=55 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.02 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=15.11s tl=Red credit=75 reason=
[TRAIN] step=23000 critic=2.1470 actor=6.0552 alpha=0.0100 sigma=0.5450 beta0=1.00
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.01 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=8.32s tl=Red credit=95 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.19 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=5.69s tl=Red credit=115 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.01 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=6.47s tl=Red credit=135 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.03 safe=0 progress=63.6% goal=77.27m dL=0.02 ttc=7.83s tl=Red credit=155 reason=
[STEP] step=0760 speed=  2.38km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=63.7% goal=77.06m dL=0.02 ttc=3.87s tl=Red credit=159 reason=
[TRAIN] step=23100 critic=6.9476 actor=5.4815 alpha=0.0100 sigma=0.5730 beta0=1.00
[STEP] step=0780 speed=  7.10km/h thr=0.47 brk=0.00 str=+0.02 safe=0 progress=64.3% goal=75.78m dL=0.09 ttc=2.71s tl=Red credit=139 reason=
[STEP] step=0800 speed= 10.95km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=65.6% goal=73.00m dL=0.06 ttc=4.59s tl=Red credit=119 reason=
[STEP] step=0820 speed= 10.26km/h thr=0.00 brk=0.16 str=-0.05 safe=0 progress=67.0% goal=70.13m dL=0.33 ttc=25.82s tl=None credit=99 reason=
[STEP] step=0840 speed=  9.69km/h thr=0.37 brk=0.00 str=-0.25 safe=0 progress=68.1% goal=67.84m dL=0.13 ttc=30.64s tl=None credit=79 reason=
[STEP] step=0860 speed=  8.58km/h thr=0.12 brk=0.00 str=-0.20 safe=0 progress=69.4% goal=64.92m dL=0.21 ttc=29.26s tl=None credit=59 reason=
[TRAIN] step=23200 critic=7.0084 actor=5.4708 alpha=0.0100 sigma=0.5708 beta0=1.00
[STEP] step=0880 speed= 10.31km/h thr=0.06 brk=0.00 str=+0.07 safe=0 progress=70.6% goal=62.45m dL=0.16 ttc=34.21s tl=None credit=39 reason=
[STEP] step=0900 speed=  8.18km/h thr=0.23 brk=0.00 str=-0.17 safe=0 progress=71.7% goal=60.03m dL=0.21 ttc=32.67s tl=None credit=19 reason=
[STEP] step=0920 speed= 10.35km/h thr=0.13 brk=0.00 str=-0.18 safe=0 progress=73.0% goal=57.30m dL=0.15 ttc=41.43s tl=None credit=0 reason=
[STEP] step=0940 speed=  9.97km/h thr=0.06 brk=0.00 str=-0.36 safe=0 progress=74.3% goal=54.48m dL=0.19 ttc=39.99s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.28km/h thr=0.24 brk=0.00 str=-0.28 safe=0 progress=75.0% goal=53.10m dL=0.22 ttc=6.76s tl=None credit=0 reason=
[TRAIN] step=23300 critic=3.7479 actor=7.1646 alpha=0.0100 sigma=0.5660 beta0=1.00
[STEP] step=0980 speed= 10.22km/h thr=0.40 brk=0.00 str=-0.08 safe=0 progress=75.6% goal=51.85m dL=0.14 ttc=14.20s tl=None credit=0 reason=
[STEP] step=1000 speed=  9.99km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=77.0% goal=48.78m dL=0.40 ttc=27.01s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.66km/h thr=0.67 brk=0.00 str=-0.11 safe=0 progress=78.3% goal=46.15m dL=0.16 ttc=12.38s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.87km/h thr=0.00 brk=0.08 str=+0.18 safe=0 progress=80.4% goal=41.59m dL=0.09 ttc=11.97s tl=None credit=0 reason=
[STEP] step=1060 speed= 14.38km/h thr=0.22 brk=0.00 str=+0.03 safe=0 progress=82.2% goal=37.82m dL=0.61 ttc=12.17s tl=None credit=0 reason=
[TRAIN] step=23400 critic=2.8289 actor=5.5195 alpha=0.0100 sigma=0.5761 beta0=1.00
[STEP] step=1080 speed= 10.14km/h thr=0.23 brk=0.00 str=-0.36 safe=0 progress=83.8% goal=34.47m dL=1.17 ttc=10.20s tl=None credit=0 reason=
[STEP] step=1100 speed= 14.33km/h thr=0.36 brk=0.00 str=-0.31 safe=0 progress=85.2% goal=31.38m dL=1.00 ttc=9.49s tl=None credit=0 reason=
[STEP] step=1120 speed= 11.12km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=87.0% goal=27.56m dL=0.78 ttc=10.43s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.36 safe=0 progress=87.7% goal=26.22m dL=0.77 ttc=9.94s tl=None credit=0 reason=
[STEP] step=1160 speed=  5.86km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=87.8% goal=25.94m dL=0.75 ttc=13.79s tl=None credit=0 reason=
[TRAIN] step=23500 critic=5.0127 actor=7.0546 alpha=0.0100 sigma=0.5655 beta0=1.00
[STEP] step=1180 speed= 15.04km/h thr=0.36 brk=0.00 str=+0.06 safe=0 progress=89.3% goal=22.74m dL=0.30 ttc=14.01s tl=None credit=0 reason=
[STEP] step=1200 speed= 10.14km/h thr=0.00 brk=0.22 str=-0.11 safe=0 progress=91.0% goal=19.10m dL=0.58 ttc=14.07s tl=None credit=0 reason=
[STEP] step=1220 speed= 11.31km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=92.2% goal=16.63m dL=0.37 ttc=12.88s tl=None credit=0 reason=
[STEP] step=1240 speed= 10.71km/h thr=0.00 brk=0.24 str=-0.06 safe=0 progress=93.7% goal=13.45m dL=0.20 ttc=13.56s tl=None credit=0 reason=
[STEP] step=1244 speed=  9.15km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=93.9% goal=12.90m dL=0.18 ttc=13.98s tl=None credit=0 reason=goal
[EP] ep=23 steps=1244 reward=-223.95 success=1 progress=93.9% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31590 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 102 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=24.12% dL=17.84m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=8 weather=night_rain_fog spawn_idx=102 goal_idx=None route_len=203.0m spawn=(-48.8,-4.8,-0.0) yaw=89.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=203.04m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  2.84km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=203.02m dL=0.00 ttc=17.50s tl=None credit=0 reason=
[TRAIN] step=23600 critic=2.7510 actor=5.7095 alpha=0.0100 sigma=0.5724 beta0=1.00
[STEP] step=0040 speed= 18.08km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=199.19m dL=0.00 ttc=3.13s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.86km/h thr=0.40 brk=0.00 str=+0.08 safe=0 progress=4.4% goal=194.09m dL=0.21 ttc=1.39s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.01km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=6.9% goal=188.94m dL=0.15 ttc=0.41s tl=None credit=0 reason=
[STEP] step=0100 speed= 18.15km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=9.4% goal=183.90m dL=0.04 ttc=6.29s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.52km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=11.9% goal=178.92m dL=0.01 ttc=5.95s tl=None credit=0 reason=
[TRAIN] step=23700 critic=3.7301 actor=5.9051 alpha=0.0100 sigma=0.5821 beta0=1.00
[STEP] step=0140 speed= 15.61km/h thr=0.22 brk=0.00 str=-0.10 safe=0 progress=14.2% goal=174.27m dL=0.03 ttc=6.47s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.99km/h thr=0.12 brk=0.00 str=+0.18 safe=0 progress=16.5% goal=169.51m dL=0.18 ttc=11.29s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.43km/h thr=0.31 brk=0.00 str=+0.33 safe=0 progress=18.8% goal=164.91m dL=0.17 ttc=16.38s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.93km/h thr=0.36 brk=0.00 str=+0.08 safe=0 progress=21.0% goal=160.37m dL=0.02 ttc=13.83s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.84km/h thr=0.24 brk=0.00 str=+0.23 safe=0 progress=23.5% goal=155.39m dL=0.12 ttc=12.92s tl=None credit=0 reason=
[TRAIN] step=23800 critic=3.3939 actor=6.6730 alpha=0.0100 sigma=0.5632 beta0=1.00
[STEP] step=0240 speed= 15.53km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=25.7% goal=150.83m dL=0.04 ttc=13.78s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.62km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=28.1% goal=145.99m dL=0.10 ttc=11.13s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.19km/h thr=0.00 brk=0.08 str=+0.14 safe=0 progress=30.4% goal=141.31m dL=0.14 ttc=16.89s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.78km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=32.5% goal=137.00m dL=0.23 ttc=15.27s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.17km/h thr=0.43 brk=0.00 str=+0.09 safe=0 progress=34.9% goal=132.26m dL=0.05 ttc=13.86s tl=None credit=0 reason=
[TRAIN] step=23900 critic=6.1748 actor=6.8424 alpha=0.0100 sigma=0.5777 beta0=1.00
[STEP] step=0340 speed= 15.06km/h thr=0.30 brk=0.00 str=-0.13 safe=0 progress=37.2% goal=127.54m dL=0.35 ttc=15.31s tl=None credit=0 reason=
[STEP] step=0360 speed= 17.83km/h thr=0.30 brk=0.00 str=+0.13 safe=0 progress=39.4% goal=122.96m dL=0.02 ttc=14.70s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.35km/h thr=0.00 brk=0.16 str=+0.14 safe=0 progress=41.7% goal=118.41m dL=0.12 ttc=14.14s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.41km/h thr=0.42 brk=0.00 str=-0.24 safe=0 progress=43.5% goal=114.63m dL=0.24 ttc=12.99s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.41km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=46.0% goal=109.68m dL=0.22 ttc=14.22s tl=None credit=0 reason=
[TRAIN] step=24000 critic=5.3200 actor=7.7956 alpha=0.0100 sigma=0.5875 beta0=1.00
[STEP] step=0440 speed= 19.33km/h thr=0.35 brk=0.00 str=+0.13 safe=0 progress=48.5% goal=104.53m dL=0.11 ttc=14.34s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.04km/h thr=0.00 brk=0.08 str=+0.19 safe=0 progress=51.1% goal=99.26m dL=0.03 ttc=11.84s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.61km/h thr=0.42 brk=0.00 str=+0.16 safe=0 progress=53.3% goal=94.89m dL=0.13 ttc=8.95s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.71km/h thr=0.34 brk=0.00 str=-0.30 safe=0 progress=55.5% goal=90.32m dL=0.23 ttc=8.56s tl=Yellow credit=0 reason=
[STEP] step=0520 speed= 17.01km/h thr=0.00 brk=0.08 str=+0.15 safe=0 progress=57.9% goal=85.44m dL=0.24 ttc=7.90s tl=None credit=0 reason=
[TRAIN] step=24100 critic=6.7898 actor=5.6673 alpha=0.0100 sigma=0.5724 beta0=1.00
[STEP] step=0540 speed=  9.86km/h thr=0.00 brk=0.16 str=+0.08 safe=0 progress=59.7% goal=81.75m dL=0.21 ttc=5.09s tl=None credit=0 reason=
[STEP] step=0560 speed= 10.20km/h thr=0.44 brk=0.00 str=+0.02 safe=0 progress=60.9% goal=79.43m dL=0.02 ttc=5.34s tl=None credit=0 reason=
[STEP] step=0580 speed= 10.08km/h thr=0.16 brk=0.00 str=+0.26 safe=0 progress=62.3% goal=76.47m dL=0.09 ttc=5.65s tl=None credit=0 reason=
[STEP] step=0600 speed=  9.22km/h thr=0.00 brk=0.08 str=+0.12 safe=0 progress=63.6% goal=73.91m dL=0.04 ttc=6.24s tl=None credit=0 reason=
[STEP] step=0620 speed=  2.55km/h thr=0.48 brk=0.00 str=+0.24 safe=0 progress=64.3% goal=72.52m dL=0.00 ttc=5.33s tl=None credit=0 reason=
[TRAIN] step=24200 critic=4.9079 actor=6.0452 alpha=0.0100 sigma=0.6037 beta0=1.00
[STEP] step=0640 speed= 12.69km/h thr=0.15 brk=0.00 str=+0.15 safe=0 progress=65.5% goal=70.11m dL=0.08 ttc=3.34s tl=None credit=0 reason=
[STEP] step=0660 speed=  9.57km/h thr=0.16 brk=0.00 str=+0.04 safe=0 progress=66.9% goal=67.14m dL=0.07 ttc=2.78s tl=None credit=0 reason=
[STEP] step=0680 speed=  8.20km/h thr=0.11 brk=0.00 str=+0.06 safe=0 progress=68.1% goal=64.77m dL=0.08 ttc=2.24s tl=None credit=0 reason=
[STEP] step=0700 speed=  8.03km/h thr=0.11 brk=0.00 str=+0.26 safe=0 progress=69.2% goal=62.54m dL=0.08 ttc=2.21s tl=None credit=0 reason=
[STEP] step=0720 speed=  7.88km/h thr=0.19 brk=0.00 str=+0.42 safe=0 progress=70.3% goal=60.30m dL=0.10 ttc=19.12s tl=None credit=0 reason=
[TRAIN] step=24300 critic=6.5968 actor=6.0781 alpha=0.0100 sigma=0.5780 beta0=1.00
[STEP] step=0740 speed= 10.69km/h thr=0.36 brk=0.00 str=+0.13 safe=0 progress=71.6% goal=57.76m dL=0.10 ttc=17.67s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.52km/h thr=0.29 brk=0.00 str=-0.14 safe=0 progress=73.3% goal=54.24m dL=0.20 ttc=17.39s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.20km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=75.1% goal=50.64m dL=0.11 ttc=15.51s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.34km/h thr=0.30 brk=0.00 str=+0.14 safe=0 progress=76.9% goal=46.89m dL=0.21 ttc=12.73s tl=None credit=0 reason=
[STEP] step=0820 speed= 14.42km/h thr=0.00 brk=0.08 str=+0.01 safe=0 progress=79.0% goal=42.62m dL=0.10 ttc=11.70s tl=None credit=0 reason=
[TRAIN] step=24400 critic=9.1392 actor=6.5692 alpha=0.0100 sigma=0.5910 beta0=1.00
[STEP] step=0840 speed= 11.08km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=80.6% goal=39.48m dL=0.11 ttc=11.08s tl=None credit=0 reason=
[STEP] step=0860 speed= 14.61km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=82.4% goal=35.64m dL=0.07 ttc=10.25s tl=None credit=0 reason=
[STEP] step=0880 speed= 14.15km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=84.4% goal=31.58m dL=0.11 ttc=11.92s tl=None credit=0 reason=
[STEP] step=0900 speed= 10.52km/h thr=0.17 brk=0.00 str=-0.11 safe=0 progress=86.0% goal=28.33m dL=0.56 ttc=13.59s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.56km/h thr=0.36 brk=0.00 str=+0.20 safe=0 progress=87.4% goal=25.51m dL=0.81 ttc=30.03s tl=None credit=0 reason=
[TRAIN] step=24500 critic=6.8079 actor=6.8270 alpha=0.0100 sigma=0.5691 beta0=1.00
[STEP] step=0940 speed= 12.11km/h thr=0.39 brk=0.00 str=+0.07 safe=0 progress=88.9% goal=22.44m dL=0.59 ttc=34.39s tl=None credit=0 reason=
[STEP] step=0960 speed= 13.93km/h thr=0.00 brk=0.16 str=+0.27 safe=0 progress=90.8% goal=18.62m dL=0.33 ttc=30.13s tl=None credit=0 reason=
[STEP] step=0980 speed= 11.64km/h thr=0.18 brk=0.00 str=-0.10 safe=0 progress=92.5% goal=15.32m dL=0.07 ttc=34.90s tl=None credit=0 reason=
[STEP] step=0997 speed=  7.04km/h thr=0.00 brk=0.29 str=+0.04 safe=0 progress=93.6% goal=13.05m dL=0.05 ttc=10.90s tl=None credit=0 reason=goal
[EP] ep=24 steps=997 reward=-192.42 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31600 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 1 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=33.18% dL=15.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=20 weather=night_rain_fog spawn_idx=1 goal_idx=None route_len=205.2m spawn=(-67.3,28.0,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=205.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.97km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.22m dL=0.00 ttc=77.20s tl=None credit=0 reason=
[TRAIN] step=24600 critic=17.7415 actor=7.0915 alpha=0.0100 sigma=0.5896 beta0=1.00
[STEP] step=0040 speed= 18.04km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=201.43m dL=0.00 ttc=8.33s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.92km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=4.3% goal=196.38m dL=0.23 ttc=9.18s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.28km/h thr=0.47 brk=0.00 str=-0.05 safe=0 progress=6.7% goal=191.54m dL=0.16 ttc=8.44s tl=None credit=0 reason=
[STEP] step=0100 speed= 19.80km/h thr=0.51 brk=0.00 str=+0.16 safe=0 progress=9.2% goal=186.40m dL=0.15 ttc=7.27s tl=None credit=0 reason=
[STEP] step=0120 speed= 20.15km/h thr=0.30 brk=0.00 str=+0.12 safe=0 progress=12.0% goal=180.67m dL=0.04 ttc=6.18s tl=None credit=0 reason=
[TRAIN] step=24700 critic=7.3075 actor=7.0566 alpha=0.0100 sigma=0.5820 beta0=1.00
[STEP] step=0140 speed= 23.09km/h thr=0.41 brk=0.00 str=+0.17 safe=0 progress=14.8% goal=174.96m dL=0.40 ttc=4.60s tl=None credit=0 reason=
[STEP] step=0160 speed= 22.98km/h thr=0.22 brk=0.00 str=-0.14 safe=0 progress=18.0% goal=168.28m dL=0.23 ttc=4.26s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.04km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=20.8% goal=162.64m dL=0.10 ttc=8.04s tl=None credit=0 reason=
[STEP] step=0200 speed= 20.39km/h thr=0.46 brk=0.00 str=-0.12 safe=0 progress=23.3% goal=157.41m dL=0.01 ttc=8.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 20.23km/h thr=0.23 brk=0.00 str=-0.25 safe=0 progress=26.1% goal=151.67m dL=0.14 ttc=7.04s tl=None credit=0 reason=
[TRAIN] step=24800 critic=14.3916 actor=6.9759 alpha=0.0100 sigma=0.6084 beta0=1.00
[STEP] step=0240 speed= 20.15km/h thr=0.34 brk=0.00 str=-0.16 safe=0 progress=28.8% goal=146.15m dL=0.05 ttc=6.53s tl=None credit=0 reason=
[STEP] step=0260 speed= 22.16km/h thr=0.28 brk=0.00 str=-0.17 safe=0 progress=31.6% goal=140.33m dL=0.00 ttc=5.04s tl=None credit=0 reason=
[STEP] step=0280 speed= 19.37km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=34.5% goal=134.35m dL=0.40 ttc=5.19s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.28km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=36.8% goal=129.71m dL=0.25 ttc=8.04s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.02km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=39.1% goal=125.03m dL=0.17 ttc=7.95s tl=None credit=0 reason=
[TRAIN] step=24900 critic=4.3208 actor=6.9588 alpha=0.0100 sigma=0.5865 beta0=1.00
[STEP] step=0340 speed= 17.97km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=41.5% goal=120.01m dL=0.07 ttc=8.47s tl=None credit=0 reason=
[STEP] step=0360 speed= 18.78km/h thr=0.54 brk=0.00 str=+0.15 safe=0 progress=44.0% goal=114.97m dL=0.15 ttc=7.18s tl=None credit=0 reason=
[STEP] step=0380 speed= 18.38km/h thr=0.18 brk=0.00 str=+0.16 safe=0 progress=46.6% goal=109.63m dL=0.15 ttc=6.24s tl=None credit=0 reason=
[STEP] step=0400 speed= 18.02km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=49.0% goal=104.63m dL=0.08 ttc=5.35s tl=None credit=0 reason=
[STEP] step=0420 speed= 11.33km/h thr=0.00 brk=0.17 str=-0.30 safe=0 progress=51.1% goal=100.39m dL=0.22 ttc=7.17s tl=None credit=0 reason=
[TRAIN] step=25000 critic=6.5993 actor=6.3517 alpha=0.0100 sigma=0.5793 beta0=1.00
[STEP] step=0440 speed= 14.63km/h thr=0.48 brk=0.00 str=+0.16 safe=0 progress=52.6% goal=97.30m dL=0.12 ttc=4.86s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.16km/h thr=0.54 brk=0.00 str=+0.04 safe=0 progress=54.9% goal=92.53m dL=0.06 ttc=3.01s tl=None credit=0 reason=
[STEP] step=0480 speed= 19.70km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=57.5% goal=87.23m dL=0.17 ttc=1.84s tl=None credit=0 reason=
[STEP] step=0500 speed= 19.40km/h thr=0.49 brk=0.00 str=+0.12 safe=0 progress=60.0% goal=82.01m dL=0.05 ttc=1.42s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.61km/h thr=0.00 brk=0.32 str=+0.18 safe=0 progress=62.6% goal=76.75m dL=0.17 ttc=3.36s tl=None credit=0 reason=
[TRAIN] step=25100 critic=8.5277 actor=7.4538 alpha=0.0100 sigma=0.5971 beta0=1.00
[STEP] step=0540 speed=  2.58km/h thr=0.58 brk=0.00 str=+0.12 safe=0 progress=63.1% goal=75.63m dL=0.16 ttc=17.49s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.74km/h thr=0.00 brk=0.14 str=+0.13 safe=0 progress=64.0% goal=73.86m dL=0.07 ttc=5.75s tl=None credit=0 reason=
[STEP] step=0580 speed=  2.77km/h thr=0.36 brk=0.00 str=-0.15 safe=0 progress=64.3% goal=73.36m dL=0.04 ttc=13.23s tl=None credit=6 reason=
[STEP] step=0600 speed=  0.19km/h thr=0.12 brk=0.00 str=-0.10 safe=0 progress=64.4% goal=73.09m dL=0.04 ttc=145.65s tl=None credit=16 reason=
[STEP] step=0620 speed=  3.89km/h thr=0.13 brk=0.00 str=-0.01 safe=0 progress=64.7% goal=72.53m dL=0.05 ttc=8.67s tl=None credit=8 reason=
[TRAIN] step=25200 critic=6.5051 actor=6.4076 alpha=0.0100 sigma=0.5900 beta0=1.00
[STEP] step=0640 speed=  0.18km/h thr=0.30 brk=0.00 str=-0.12 safe=0 progress=64.7% goal=72.50m dL=0.04 ttc=183.38s tl=None credit=28 reason=
[STEP] step=0660 speed=  1.04km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=64.9% goal=72.03m dL=0.06 ttc=30.52s tl=None credit=20 reason=
[STEP] step=0680 speed=  1.10km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=65.0% goal=71.87m dL=0.06 ttc=28.51s tl=None credit=26 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.10 safe=0 progress=65.1% goal=71.68m dL=0.05 ttc=999.00s tl=None credit=34 reason=
[STEP] step=0720 speed=  0.45km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=65.1% goal=71.59m dL=0.06 ttc=68.02s tl=None credit=48 reason=
[TRAIN] step=25300 critic=9.2540 actor=6.7620 alpha=0.0100 sigma=0.5915 beta0=1.00
[STEP] step=0740 speed=  1.07km/h thr=0.22 brk=0.00 str=+0.05 safe=0 progress=65.2% goal=71.51m dL=0.06 ttc=28.17s tl=None credit=64 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.04 safe=0 progress=65.2% goal=71.33m dL=0.05 ttc=999.00s tl=None credit=70 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.04 safe=0 progress=65.2% goal=71.33m dL=0.05 ttc=999.00s tl=None credit=90 reason=
[STEP] step=0800 speed=  1.12km/h thr=0.09 brk=0.00 str=-0.02 safe=0 progress=65.3% goal=71.29m dL=0.05 ttc=26.04s tl=None credit=106 reason=
[STEP] step=0820 speed=  0.25km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=65.3% goal=71.25m dL=0.05 ttc=118.09s tl=None credit=126 reason=
[TRAIN] step=25400 critic=6.2444 actor=7.4791 alpha=0.0100 sigma=0.6172 beta0=1.00
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.08 safe=0 progress=65.3% goal=71.12m dL=0.04 ttc=999.00s tl=None credit=134 reason=
[STEP] step=0860 speed=  0.02km/h thr=0.06 brk=0.00 str=-0.13 safe=0 progress=65.4% goal=71.07m dL=0.04 ttc=999.00s tl=None credit=152 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.09 safe=0 progress=65.4% goal=70.94m dL=0.04 ttc=999.00s tl=None credit=162 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.09 safe=0 progress=65.4% goal=70.94m dL=0.04 ttc=999.00s tl=None credit=182 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.06 str=+0.12 safe=0 progress=65.4% goal=70.94m dL=0.04 ttc=999.00s tl=None credit=202 reason=
[TRAIN] step=25500 critic=8.7063 actor=7.8097 alpha=0.0100 sigma=0.5900 beta0=1.00
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.10 safe=0 progress=65.4% goal=70.94m dL=0.04 ttc=999.00s tl=None credit=222 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.04 safe=0 progress=65.4% goal=70.91m dL=0.04 ttc=999.00s tl=None credit=242 reason=
[STEP] step=0980 speed=  0.30km/h thr=0.11 brk=0.00 str=+0.07 safe=0 progress=65.5% goal=70.89m dL=0.04 ttc=93.12s tl=None credit=262 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.09 str=-0.05 safe=0 progress=65.5% goal=70.85m dL=0.05 ttc=999.00s tl=None credit=282 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.10 safe=0 progress=65.5% goal=70.83m dL=0.04 ttc=999.00s tl=None credit=302 reason=
[TRAIN] step=25600 critic=6.5913 actor=6.9371 alpha=0.0100 sigma=0.6075 beta0=1.00
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.03 safe=0 progress=65.5% goal=70.83m dL=0.04 ttc=999.00s tl=None credit=322 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.04 safe=0 progress=65.5% goal=70.83m dL=0.04 ttc=999.00s tl=None credit=342 reason=
[STEP] step=1080 speed=  0.20km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=65.5% goal=70.84m dL=0.04 ttc=135.83s tl=None credit=362 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=999.00s tl=None credit=382 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.15 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=999.00s tl=None credit=402 reason=
[TRAIN] step=25700 critic=6.9026 actor=7.1296 alpha=0.0100 sigma=0.5855 beta0=1.00
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.02 safe=0 progress=65.5% goal=70.82m dL=0.05 ttc=999.00s tl=None credit=422 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=65.5% goal=70.82m dL=0.05 ttc=999.00s tl=None credit=442 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.07 str=-0.05 safe=0 progress=65.5% goal=70.82m dL=0.05 ttc=999.00s tl=None credit=462 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=999.00s tl=None credit=482 reason=
[STEP] step=1220 speed=  0.12km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=223.68s tl=None credit=502 reason=
[TRAIN] step=25800 critic=9.0091 actor=7.7183 alpha=0.0100 sigma=0.5803 beta0=1.00
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=999.00s tl=None credit=522 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.07 safe=0 progress=65.5% goal=70.81m dL=0.05 ttc=999.00s tl=None credit=542 reason=
[STEP] step=1280 speed=  1.01km/h thr=0.09 brk=0.00 str=-0.07 safe=0 progress=65.5% goal=70.76m dL=0.05 ttc=26.93s tl=None credit=560 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=578 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=598 reason=
[TRAIN] step=25900 critic=6.4609 actor=6.8637 alpha=0.0100 sigma=0.5780 beta0=1.00
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.23 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26000 critic=4.1956 actor=8.3045 alpha=0.0100 sigma=0.5874 beta0=1.00
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26100 critic=6.4687 actor=8.2748 alpha=0.0100 sigma=0.5946 beta0=1.00
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.18 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.22 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.05 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26200 critic=4.9992 actor=8.2106 alpha=0.0100 sigma=0.5688 beta0=1.00
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.17 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26300 critic=4.8596 actor=6.7623 alpha=0.0100 sigma=0.5764 beta0=1.00
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1800 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.11 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26400 critic=9.7392 actor=7.4777 alpha=0.0100 sigma=0.5855 beta0=1.00
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.17 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26500 critic=5.3937 actor=6.7485 alpha=0.0100 sigma=0.5795 beta0=1.00
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26600 critic=10.1988 actor=6.7692 alpha=0.0100 sigma=0.5928 beta0=1.00
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26700 critic=5.8690 actor=9.6393 alpha=0.0100 sigma=0.5951 beta0=1.00
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.11 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.20 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26800 critic=8.4191 actor=7.5032 alpha=0.0100 sigma=0.5873 beta0=1.00
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.05 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2320 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=26900 critic=4.6223 actor=7.8426 alpha=0.0100 sigma=0.5880 beta0=1.00
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2380 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2400 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.05 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27000 critic=5.4438 actor=8.4673 alpha=0.0100 sigma=0.5829 beta0=1.00
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2460 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.14 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2480 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27100 critic=4.3553 actor=8.5898 alpha=0.0100 sigma=0.5577 beta0=1.00
[STEP] step=2540 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.18 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27200 critic=11.8173 actor=7.8198 alpha=0.0100 sigma=0.5935 beta0=1.00
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.05 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.20 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27300 critic=4.1584 actor=7.8800 alpha=0.0100 sigma=0.5687 beta0=1.00
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.19 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2780 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2800 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.14 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2820 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27400 critic=7.4695 actor=8.4591 alpha=0.0100 sigma=0.5843 beta0=1.00
[STEP] step=2840 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2860 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2900 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.14 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2920 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27500 critic=6.7871 actor=8.3775 alpha=0.0100 sigma=0.5829 beta0=1.00
[STEP] step=2940 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2960 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2980 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3000 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3020 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27600 critic=4.0480 actor=6.7848 alpha=0.0100 sigma=0.5665 beta0=1.00
[STEP] step=3040 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.14 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3060 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3080 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3100 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.19 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3120 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27700 critic=5.4326 actor=8.5044 alpha=0.0100 sigma=0.5847 beta0=1.00
[STEP] step=3140 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3160 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3180 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.20 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3200 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3220 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.18 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27800 critic=4.8846 actor=7.8726 alpha=0.0100 sigma=0.5889 beta0=1.00
[STEP] step=3240 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3260 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3280 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3300 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3320 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=27900 critic=6.0152 actor=7.7352 alpha=0.0100 sigma=0.5837 beta0=1.00
[STEP] step=3340 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3360 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3380 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[CAL] step=30000 fitted=1 center=0.1114 scale=0.1319 beta0=1.00
[OK] Saved checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[EVAL step=30000] skipping cross-town eval (Town10HD_Opt→Town02).
[STEP] step=3400 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.05 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3420 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28000 critic=6.7147 actor=8.4167 alpha=0.0100 sigma=0.6278 beta0=1.00
[STEP] step=3440 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3460 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3480 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3500 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3520 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.19 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28100 critic=9.2983 actor=8.3645 alpha=0.0100 sigma=0.6222 beta0=1.00
[STEP] step=3540 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.23 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3560 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3580 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.23 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3600 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3620 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28200 critic=18.1028 actor=8.0095 alpha=0.0100 sigma=0.6012 beta0=1.00
[STEP] step=3640 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3660 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3680 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3700 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3720 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.10 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28300 critic=5.3952 actor=8.3534 alpha=0.0100 sigma=0.5930 beta0=1.00
[STEP] step=3740 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3760 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.00 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3780 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3800 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3820 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28400 critic=4.6807 actor=9.2477 alpha=0.0100 sigma=0.5899 beta0=1.00
[STEP] step=3840 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.10 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3860 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3880 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3900 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3920 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28500 critic=6.8083 actor=8.1286 alpha=0.0100 sigma=0.6293 beta0=1.00
[STEP] step=3940 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3960 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3980 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.10 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4000 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4020 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.11 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28600 critic=2.9581 actor=7.7630 alpha=0.0100 sigma=0.5920 beta0=1.00
[STEP] step=4040 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4060 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.22 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4080 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4100 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4120 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.08 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28700 critic=5.4064 actor=8.7029 alpha=0.0100 sigma=0.5779 beta0=1.00
[STEP] step=4140 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4160 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.06 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4180 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4200 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4220 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.11 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28800 critic=10.9769 actor=9.0193 alpha=0.0100 sigma=0.6161 beta0=1.00
[STEP] step=4240 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4260 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.13 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4280 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4300 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4320 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=28900 critic=6.7234 actor=8.9472 alpha=0.0100 sigma=0.6127 beta0=1.00
[STEP] step=4340 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4360 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4380 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4400 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4420 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=29000 critic=12.9628 actor=7.4771 alpha=0.0100 sigma=0.6171 beta0=1.00
[STEP] step=4440 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4460 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4480 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4500 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.01 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4520 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.15 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=29100 critic=9.4027 actor=7.1719 alpha=0.0100 sigma=0.6029 beta0=1.00
[STEP] step=4540 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.11 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4560 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4580 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.03 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4600 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.04 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4620 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.23 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=29200 critic=20.2543 actor=7.3265 alpha=0.0100 sigma=0.6037 beta0=1.00
[STEP] step=4640 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4660 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.19 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4680 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.12 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4700 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4720 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=29300 critic=6.0991 actor=7.9599 alpha=0.0100 sigma=0.6138 beta0=1.00
[STEP] step=4740 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.09 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4760 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4780 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.16 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4800 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=65.5% goal=70.74m dL=0.05 ttc=999.00s tl=None credit=600 reason=timeout
[EP] ep=25 steps=4800 reward=936.12 success=0 progress=65.5% reason=timeout
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31622 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 30 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=7.39% dL=56.59m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=20 weather=night_rain_fog spawn_idx=30 goal_idx=None route_len=205.2m spawn=(-15.1,69.7,-0.0) yaw=0.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=205.19m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.10km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.16m dL=0.00 ttc=33.93s tl=None credit=0 reason=
[TRAIN] step=29400 critic=8.3550 actor=8.3483 alpha=0.0100 sigma=0.6049 beta0=1.00
[STEP] step=0040 speed= 17.95km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=201.29m dL=0.00 ttc=5.09s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.96km/h thr=0.29 brk=0.00 str=-0.13 safe=0 progress=4.4% goal=196.13m dL=0.10 ttc=3.84s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.30km/h thr=0.41 brk=0.00 str=+0.08 safe=0 progress=6.9% goal=191.01m dL=0.06 ttc=2.99s tl=None credit=0 reason=
[STEP] step=0100 speed=  9.85km/h thr=0.00 brk=0.33 str=+0.05 safe=0 progress=9.2% goal=186.22m dL=0.05 ttc=3.78s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=9.4% goal=185.89m dL=0.05 ttc=999.00s tl=None credit=17 reason=
[TRAIN] step=29500 critic=6.2662 actor=7.8457 alpha=0.0100 sigma=0.5943 beta0=1.00
[STEP] step=0140 speed=  3.02km/h thr=0.10 brk=0.00 str=-0.05 safe=0 progress=9.6% goal=185.58m dL=0.06 ttc=11.55s tl=None credit=17 reason=
[STEP] step=0160 speed=  0.20km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=9.6% goal=185.42m dL=0.06 ttc=173.18s tl=None credit=31 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.04 safe=0 progress=9.7% goal=185.19m dL=0.06 ttc=999.00s tl=None credit=35 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.10 str=+0.05 safe=0 progress=9.7% goal=185.19m dL=0.06 ttc=999.00s tl=None credit=55 reason=
[STEP] step=0220 speed=  0.21km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=9.7% goal=185.19m dL=0.06 ttc=999.00s tl=None credit=75 reason=
[TRAIN] step=29600 critic=8.8364 actor=8.6906 alpha=0.0100 sigma=0.6102 beta0=1.00
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=9.8% goal=185.01m dL=0.06 ttc=999.00s tl=None credit=79 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=9.8% goal=185.01m dL=0.06 ttc=999.00s tl=None credit=99 reason=
[STEP] step=0280 speed=  0.70km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=9.8% goal=185.00m dL=0.06 ttc=47.03s tl=None credit=119 reason=
[STEP] step=0300 speed=  1.35km/h thr=0.11 brk=0.00 str=-0.08 safe=0 progress=10.0% goal=184.74m dL=0.06 ttc=23.47s tl=None credit=115 reason=
[STEP] step=0320 speed=  1.38km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=10.0% goal=184.61m dL=0.06 ttc=22.72s tl=None credit=125 reason=
[TRAIN] step=29700 critic=10.6328 actor=7.1005 alpha=0.0100 sigma=0.6290 beta0=1.00
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.07 safe=0 progress=10.1% goal=184.47m dL=0.07 ttc=999.00s tl=None credit=133 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=10.1% goal=184.41m dL=0.07 ttc=999.00s tl=None credit=149 reason=
[STEP] step=0380 speed=  0.29km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=10.1% goal=184.41m dL=0.07 ttc=104.54s tl=None credit=169 reason=
[STEP] step=0400 speed=  1.11km/h thr=0.23 brk=0.00 str=+0.03 safe=0 progress=10.2% goal=184.30m dL=0.07 ttc=27.18s tl=None credit=185 reason=
[STEP] step=0420 speed=  0.13km/h thr=0.17 brk=0.00 str=+0.07 safe=0 progress=10.2% goal=184.27m dL=0.07 ttc=999.00s tl=None credit=201 reason=
[TRAIN] step=29800 critic=23.2341 actor=8.3519 alpha=0.0100 sigma=0.5867 beta0=1.00
[STEP] step=0440 speed=  0.12km/h thr=0.16 brk=0.00 str=-0.09 safe=0 progress=10.2% goal=184.20m dL=0.07 ttc=999.00s tl=None credit=221 reason=
[STEP] step=0460 speed=  0.88km/h thr=0.10 brk=0.00 str=-0.05 safe=0 progress=10.3% goal=184.12m dL=0.07 ttc=33.48s tl=None credit=241 reason=
[STEP] step=0480 speed=  0.77km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=10.3% goal=184.09m dL=0.07 ttc=38.53s tl=None credit=261 reason=
[STEP] step=0500 speed=  0.30km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=10.3% goal=184.05m dL=0.07 ttc=97.60s tl=None credit=281 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.02 safe=0 progress=10.3% goal=184.01m dL=0.07 ttc=999.00s tl=None credit=301 reason=
[TRAIN] step=29900 critic=7.4066 actor=8.4215 alpha=0.0100 sigma=0.5905 beta0=1.00
[STEP] step=0540 speed=  0.09km/h thr=0.14 brk=0.00 str=+0.05 safe=0 progress=10.3% goal=184.01m dL=0.07 ttc=999.00s tl=None credit=321 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.10 str=+0.06 safe=0 progress=10.3% goal=183.99m dL=0.07 ttc=999.00s tl=None credit=341 reason=
[STEP] step=0580 speed=  0.21km/h thr=0.14 brk=0.00 str=+0.06 safe=0 progress=10.3% goal=183.99m dL=0.07 ttc=138.88s tl=None credit=361 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.02 safe=0 progress=10.3% goal=183.97m dL=0.07 ttc=999.00s tl=None credit=381 reason=
[STEP] step=0620 speed=  0.15km/h thr=0.14 brk=0.00 str=-0.05 safe=0 progress=10.3% goal=183.97m dL=0.07 ttc=187.77s tl=None credit=401 reason=
[TRAIN] step=30000 critic=14.2847 actor=9.2577 alpha=0.0100 sigma=0.6292 beta0=1.00
[STEP] step=0640 speed=  0.16km/h thr=0.14 brk=0.00 str=-0.01 safe=0 progress=10.3% goal=183.95m dL=0.07 ttc=999.00s tl=None credit=421 reason=
[STEP] step=0660 speed=  0.05km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=10.4% goal=183.89m dL=0.07 ttc=999.00s tl=None credit=441 reason=
[STEP] step=0680 speed=  0.20km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=10.4% goal=183.88m dL=0.07 ttc=999.00s tl=None credit=461 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.10 safe=0 progress=10.4% goal=183.85m dL=0.07 ttc=999.00s tl=None credit=481 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.06 str=-0.03 safe=0 progress=10.4% goal=183.79m dL=0.07 ttc=999.00s tl=None credit=501 reason=
[TRAIN] step=30100 critic=12.0137 actor=9.2104 alpha=0.0100 sigma=0.6290 beta0=1.00
[STEP] step=0740 speed=  0.09km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=10.4% goal=183.75m dL=0.07 ttc=999.00s tl=None credit=521 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.10 safe=0 progress=10.5% goal=183.73m dL=0.07 ttc=999.00s tl=None credit=541 reason=
[STEP] step=0780 speed=  0.14km/h thr=0.11 brk=0.00 str=+0.04 safe=0 progress=10.5% goal=183.74m dL=0.07 ttc=197.21s tl=None credit=561 reason=
[STEP] step=0800 speed=  0.14km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=10.5% goal=183.73m dL=0.07 ttc=203.01s tl=None credit=581 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.11 str=+0.02 safe=0 progress=10.5% goal=183.71m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30200 critic=15.6880 actor=7.3828 alpha=0.0100 sigma=0.6002 beta0=1.00
[STEP] step=0840 speed=  0.63km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=10.5% goal=183.70m dL=0.07 ttc=44.88s tl=None credit=600 reason=
[STEP] step=0860 speed=  0.13km/h thr=0.10 brk=0.00 str=-0.14 safe=0 progress=10.5% goal=183.68m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=10.5% goal=183.65m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0900 speed=  0.03km/h thr=0.06 brk=0.00 str=+0.00 safe=0 progress=10.5% goal=183.64m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=10.5% goal=183.63m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30300 critic=11.8682 actor=8.8638 alpha=0.0100 sigma=0.6158 beta0=1.00
[STEP] step=0940 speed=  0.17km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=10.5% goal=183.64m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.09 safe=0 progress=10.5% goal=183.62m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=10.5% goal=183.62m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.04 safe=0 progress=10.5% goal=183.61m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.08 safe=0 progress=10.5% goal=183.62m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30400 critic=15.2986 actor=9.3730 alpha=0.0100 sigma=0.5985 beta0=1.00
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.06 safe=0 progress=10.5% goal=183.62m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1060 speed=  0.27km/h thr=0.10 brk=0.00 str=-0.04 safe=0 progress=10.5% goal=183.61m dL=0.07 ttc=102.76s tl=None credit=600 reason=
[STEP] step=1080 speed=  0.16km/h thr=0.10 brk=0.00 str=-0.13 safe=0 progress=10.5% goal=183.60m dL=0.07 ttc=170.90s tl=None credit=600 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.04 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1120 speed=  0.04km/h thr=0.16 brk=0.00 str=+0.06 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=631.33s tl=None credit=600 reason=
[TRAIN] step=30500 critic=14.7696 actor=7.2922 alpha=0.0100 sigma=0.6249 beta0=1.00
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.06 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.10 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.07 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.03 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30600 critic=9.3013 actor=8.7313 alpha=0.0100 sigma=0.5894 beta0=1.00
[STEP] step=1240 speed=  0.23km/h thr=0.10 brk=0.00 str=-0.06 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.08 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.07 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.01 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1320 speed=  0.16km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=174.26s tl=None credit=600 reason=
[TRAIN] step=30700 critic=11.6690 actor=8.3606 alpha=0.0100 sigma=0.6054 beta0=1.00
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.08 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.10 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.11 str=+0.03 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.00 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30800 critic=9.9515 actor=9.5311 alpha=0.0100 sigma=0.6200 beta0=1.00
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.09 str=-0.07 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1460 speed=  0.19km/h thr=0.13 brk=0.00 str=-0.08 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=142.59s tl=None credit=600 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.14 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1500 speed=  0.17km/h thr=0.06 brk=0.00 str=-0.10 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=166.44s tl=None credit=600 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.07 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=30900 critic=8.7140 actor=8.2773 alpha=0.0100 sigma=0.6180 beta0=1.00
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.02 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.02 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.08 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1600 speed=  0.09km/h thr=0.06 brk=0.00 str=+0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.09 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31000 critic=12.3120 actor=8.0241 alpha=0.0100 sigma=0.6222 beta0=1.00
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.04 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.11 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31100 critic=14.0843 actor=9.0918 alpha=0.0100 sigma=0.6178 beta0=1.00
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.03 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1800 speed=  0.15km/h thr=0.14 brk=0.00 str=-0.14 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1820 speed=  0.21km/h thr=0.10 brk=0.00 str=+0.00 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=133.48s tl=None credit=600 reason=
[TRAIN] step=31200 critic=19.8646 actor=9.0761 alpha=0.0100 sigma=0.6629 beta0=1.00
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.05 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.09 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31300 critic=19.1639 actor=8.7221 alpha=0.0100 sigma=0.6376 beta0=1.00
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.04 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.11 str=+0.05 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31400 critic=27.5901 actor=8.6107 alpha=0.0100 sigma=0.6730 beta0=1.00
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.08 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.08 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.05 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31500 critic=16.7762 actor=9.7077 alpha=0.0100 sigma=0.6774 beta0=1.00
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.01 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.08 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.06 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2220 speed=  0.24km/h thr=0.06 brk=0.00 str=-0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31600 critic=25.7109 actor=9.1498 alpha=0.0100 sigma=0.6300 beta0=1.00
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.03 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.09 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2320 speed=  0.65km/h thr=0.20 brk=0.00 str=+0.03 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=42.44s tl=None credit=600 reason=
[TRAIN] step=31700 critic=15.7459 actor=8.2629 alpha=0.0100 sigma=0.6338 beta0=1.00
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.00 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2380 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.09 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2400 speed=  0.12km/h thr=0.06 brk=0.00 str=-0.07 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=228.31s tl=None credit=600 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.16 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31800 critic=15.1515 actor=9.1180 alpha=0.0100 sigma=0.6341 beta0=1.00
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=10.6% goal=183.51m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2460 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.10 safe=0 progress=10.6% goal=183.51m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2480 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.05 safe=0 progress=10.6% goal=183.51m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.09 str=-0.08 safe=0 progress=10.6% goal=183.51m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.09 str=-0.03 safe=0 progress=10.6% goal=183.51m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=31900 critic=14.0209 actor=7.7393 alpha=0.0100 sigma=0.6434 beta0=1.00
[STEP] step=2540 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.01 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.01 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.06 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.03 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.01 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32000 critic=24.7689 actor=9.4145 alpha=0.0100 sigma=0.6380 beta0=1.00
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.11 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.05 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2700 speed=  0.23km/h thr=0.09 brk=0.00 str=-0.17 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.08 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32100 critic=23.6922 actor=7.9138 alpha=0.0100 sigma=0.6465 beta0=1.00
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.02 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.02 safe=0 progress=10.6% goal=183.52m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2780 speed=  0.18km/h thr=0.06 brk=0.00 str=+0.02 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2800 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.00 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2820 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.06 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32200 critic=65.8997 actor=8.1827 alpha=0.0100 sigma=0.6395 beta0=1.00
[STEP] step=2840 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.06 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2860 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.05 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2900 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.17 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2920 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32300 critic=14.5731 actor=8.2219 alpha=0.0100 sigma=0.6344 beta0=1.00
[STEP] step=2940 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.03 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2960 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.12 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2980 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.09 safe=0 progress=10.6% goal=183.53m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3000 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.01 safe=0 progress=10.6% goal=183.54m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3020 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.07 safe=0 progress=10.6% goal=183.54m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32400 critic=17.2700 actor=10.3819 alpha=0.0100 sigma=0.6465 beta0=1.00
[STEP] step=3040 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.08 safe=0 progress=10.6% goal=183.54m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3060 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=10.5% goal=183.54m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3080 speed=  0.00km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=10.5% goal=183.54m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3100 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.07 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3120 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.05 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32500 critic=10.9607 actor=8.8652 alpha=0.0100 sigma=0.6431 beta0=1.00
[STEP] step=3140 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3160 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.02 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3180 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.09 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3200 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.09 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3220 speed=  0.21km/h thr=0.10 brk=0.00 str=-0.11 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32600 critic=60.7056 actor=9.1542 alpha=0.0100 sigma=0.6558 beta0=1.00
[STEP] step=3240 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.06 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3260 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.01 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3280 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.03 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3300 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3320 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.13 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32700 critic=31.7971 actor=8.7708 alpha=0.0100 sigma=0.6572 beta0=1.00
[STEP] step=3340 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.05 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3360 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3380 speed=  0.00km/h thr=0.00 brk=0.10 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3400 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3420 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.02 safe=0 progress=10.5% goal=183.55m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32800 critic=11.9128 actor=10.2049 alpha=0.0100 sigma=0.6432 beta0=1.00
[STEP] step=3440 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.08 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3460 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3480 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3500 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.05 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3520 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.13 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=32900 critic=17.9343 actor=8.6327 alpha=0.0100 sigma=0.6617 beta0=1.00
[STEP] step=3540 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3560 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.25 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3580 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3600 speed=  0.00km/h thr=0.00 brk=0.10 str=-0.01 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3620 speed=  0.13km/h thr=0.11 brk=0.00 str=-0.05 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=206.25s tl=None credit=600 reason=
[TRAIN] step=33000 critic=68.6720 actor=7.7673 alpha=0.0100 sigma=0.6439 beta0=1.00
[STEP] step=3640 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.06 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3660 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.06 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3680 speed=  0.00km/h thr=0.00 brk=0.10 str=+0.08 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3700 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.09 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3720 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.18 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33100 critic=27.1543 actor=9.3381 alpha=0.0100 sigma=0.6435 beta0=1.00
[STEP] step=3740 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.01 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3760 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3780 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.07 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3800 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3820 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.18 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33200 critic=22.1968 actor=9.6882 alpha=0.0100 sigma=0.6446 beta0=1.00
[STEP] step=3840 speed=  0.00km/h thr=0.00 brk=0.09 str=+0.08 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3860 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.03 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3880 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3900 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.13 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3920 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33300 critic=23.2430 actor=10.6255 alpha=0.0100 sigma=0.6265 beta0=1.00
[STEP] step=3940 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.11 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3960 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3980 speed=  0.12km/h thr=0.06 brk=0.00 str=-0.00 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=229.38s tl=None credit=600 reason=
[STEP] step=4000 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.02 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4020 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.17 safe=0 progress=10.5% goal=183.56m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33400 critic=21.3135 actor=7.8694 alpha=0.0100 sigma=0.6451 beta0=1.00
[STEP] step=4040 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4060 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.15 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4080 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.10 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4100 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.04 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4120 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.10 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33500 critic=19.2247 actor=10.8570 alpha=0.0100 sigma=0.6439 beta0=1.00
[STEP] step=4140 speed=  0.12km/h thr=0.06 brk=0.00 str=-0.16 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=231.72s tl=None credit=600 reason=
[STEP] step=4160 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4180 speed=  0.00km/h thr=0.00 brk=0.11 str=+0.05 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4200 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.07 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4220 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33600 critic=71.9437 actor=8.7102 alpha=0.0100 sigma=0.6595 beta0=1.00
[STEP] step=4240 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.02 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4260 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.06 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4280 speed=  0.23km/h thr=0.10 brk=0.00 str=+0.01 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4300 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4320 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.23 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33700 critic=22.8205 actor=10.0132 alpha=0.0100 sigma=0.6386 beta0=1.00
[STEP] step=4340 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.08 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4360 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.18 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4380 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.08 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4400 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.09 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4420 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.05 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33800 critic=28.6840 actor=10.3506 alpha=0.0100 sigma=0.6304 beta0=1.00
[STEP] step=4440 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.10 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4460 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.01 safe=0 progress=10.5% goal=183.57m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4480 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.05 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4500 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.14 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4520 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.11 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=33900 critic=38.0875 actor=10.8646 alpha=0.0100 sigma=0.6844 beta0=1.00
[STEP] step=4540 speed=  0.00km/h thr=0.00 brk=0.10 str=-0.00 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4560 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4580 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.05 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4600 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.09 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4620 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.04 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=34000 critic=59.7528 actor=10.7673 alpha=0.0100 sigma=0.6869 beta0=1.00
[STEP] step=4640 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.01 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4660 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4680 speed=  0.23km/h thr=0.06 brk=0.00 str=-0.03 safe=0 progress=10.5% goal=183.58m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4700 speed=  0.00km/h thr=0.00 brk=0.07 str=-0.12 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4720 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.05 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=34100 critic=692.8328 actor=10.1050 alpha=0.0100 sigma=0.6708 beta0=1.00
[STEP] step=4740 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4760 speed=  0.00km/h thr=0.00 brk=0.08 str=-0.12 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4780 speed=  0.00km/h thr=0.00 brk=0.11 str=-0.12 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4800 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.06 safe=0 progress=10.5% goal=183.59m dL=0.07 ttc=999.00s tl=None credit=600 reason=timeout
[EP] ep=26 steps=4800 reward=442.91 success=0 progress=10.5% reason=timeout
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31644 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 78 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=35.00% dL=119.34m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=18 weather=night_rain_fog spawn_idx=78 goal_idx=None route_len=202.9m spawn=(-71.2,132.3,-0.0) yaw=-167.2 start_progress=0.02% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=202.82m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=0.0% goal=202.82m dL=0.00 ttc=17.89s tl=None credit=0 reason=
[TRAIN] step=34200 critic=54.8279 actor=8.1349 alpha=0.0100 sigma=0.6431 beta0=1.00
[STEP] step=0040 speed= 17.01km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=1.7% goal=199.40m dL=0.04 ttc=10.88s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.84km/h thr=0.12 brk=0.00 str=+0.14 safe=0 progress=4.0% goal=194.78m dL=0.02 ttc=7.16s tl=None credit=0 reason=
[STEP] step=0080 speed= 14.47km/h thr=0.26 brk=0.00 str=+0.07 safe=0 progress=5.9% goal=190.99m dL=0.00 ttc=5.36s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.18km/h thr=0.00 brk=0.08 str=-0.14 safe=0 progress=7.9% goal=186.91m dL=0.10 ttc=4.25s tl=None credit=0 reason=
[STEP] step=0120 speed= 14.60km/h thr=0.26 brk=0.00 str=+0.22 safe=0 progress=9.7% goal=183.12m dL=0.02 ttc=3.02s tl=None credit=0 reason=
[TRAIN] step=34300 critic=55.5564 actor=9.0194 alpha=0.0100 sigma=0.6813 beta0=1.00
[STEP] step=0140 speed= 15.57km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=11.8% goal=178.85m dL=0.03 ttc=1.93s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.78km/h thr=0.22 brk=0.00 str=-0.06 safe=0 progress=13.9% goal=174.71m dL=0.17 ttc=0.99s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.17km/h thr=0.15 brk=0.00 str=+0.17 safe=0 progress=16.0% goal=170.42m dL=0.16 ttc=21.85s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.16km/h thr=0.18 brk=0.00 str=+0.10 safe=0 progress=18.0% goal=166.26m dL=0.15 ttc=23.22s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.41km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=20.0% goal=162.25m dL=0.05 ttc=15.25s tl=None credit=0 reason=
[TRAIN] step=34400 critic=129.3033 actor=8.8633 alpha=0.0100 sigma=0.6845 beta0=1.00
[STEP] step=0240 speed= 16.45km/h thr=0.24 brk=0.00 str=+0.12 safe=0 progress=22.2% goal=157.86m dL=0.12 ttc=13.32s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.23km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=24.3% goal=153.58m dL=0.05 ttc=13.46s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.53km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=26.3% goal=149.60m dL=0.22 ttc=14.39s tl=None credit=0 reason=
[STEP] step=0300 speed= 14.76km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=28.4% goal=145.29m dL=0.27 ttc=12.69s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.36km/h thr=0.33 brk=0.00 str=+0.07 safe=0 progress=30.4% goal=141.17m dL=0.06 ttc=11.01s tl=None credit=0 reason=
[TRAIN] step=34500 critic=27.8055 actor=10.1957 alpha=0.0100 sigma=0.6632 beta0=1.00
[STEP] step=0340 speed= 16.24km/h thr=0.19 brk=0.00 str=+0.02 safe=0 progress=32.6% goal=136.71m dL=0.07 ttc=9.53s tl=None credit=0 reason=
[STEP] step=0360 speed= 17.21km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=34.9% goal=132.16m dL=0.05 ttc=8.59s tl=None credit=0 reason=
[STEP] step=0380 speed= 19.00km/h thr=0.45 brk=0.00 str=-0.06 safe=0 progress=37.3% goal=127.18m dL=0.16 ttc=8.39s tl=None credit=0 reason=
[STEP] step=0400 speed= 22.35km/h thr=0.67 brk=0.00 str=-0.01 safe=0 progress=40.1% goal=121.47m dL=0.47 ttc=9.63s tl=None credit=0 reason=
[STEP] step=0420 speed= 23.90km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=43.4% goal=114.79m dL=0.60 ttc=9.68s tl=None credit=0 reason=
[TRAIN] step=34600 critic=53.1709 actor=7.8982 alpha=0.0100 sigma=0.6500 beta0=1.00
[STEP] step=0440 speed= 23.85km/h thr=0.35 brk=0.00 str=-0.03 safe=0 progress=46.7% goal=108.20m dL=0.36 ttc=8.51s tl=None credit=0 reason=
[STEP] step=0460 speed= 20.26km/h thr=0.30 brk=0.00 str=-0.16 safe=0 progress=49.7% goal=101.97m dL=0.07 ttc=8.10s tl=Red credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.22 safe=0 progress=51.2% goal=99.09m dL=0.23 ttc=2.47s tl=None credit=0 reason=
[STEP] step=0500 speed=  4.92km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.3% goal=98.88m dL=0.25 ttc=6.92s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.61km/h thr=0.24 brk=0.00 str=-0.16 safe=0 progress=52.8% goal=95.80m dL=0.17 ttc=7.07s tl=None credit=0 reason=
[TRAIN] step=34700 critic=74.8472 actor=8.1424 alpha=0.0100 sigma=0.6965 beta0=1.00
[STEP] step=0540 speed= 10.75km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=54.5% goal=92.23m dL=0.31 ttc=6.23s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.49km/h thr=0.24 brk=0.00 str=+0.12 safe=0 progress=55.7% goal=89.97m dL=0.20 ttc=5.52s tl=None credit=0 reason=
[STEP] step=0580 speed= 10.00km/h thr=0.09 brk=0.00 str=+0.15 safe=0 progress=56.9% goal=87.52m dL=0.14 ttc=5.61s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.40km/h thr=0.12 brk=0.00 str=+0.20 safe=0 progress=58.1% goal=85.00m dL=0.08 ttc=4.68s tl=None credit=0 reason=
[STEP] step=0620 speed=  8.25km/h thr=0.20 brk=0.00 str=+0.14 safe=0 progress=59.2% goal=82.77m dL=0.12 ttc=4.37s tl=None credit=0 reason=
[TRAIN] step=34800 critic=28.7778 actor=11.4186 alpha=0.0100 sigma=0.6597 beta0=1.00
[STEP] step=0640 speed=  6.85km/h thr=0.00 brk=0.13 str=+0.30 safe=0 progress=60.3% goal=80.50m dL=0.13 ttc=8.50s tl=None credit=0 reason=
[STEP] step=0660 speed=  4.82km/h thr=0.55 brk=0.00 str=+0.08 safe=0 progress=60.5% goal=80.11m dL=0.13 ttc=5.96s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.06km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=61.6% goal=77.83m dL=0.03 ttc=4.58s tl=None credit=0 reason=
[STEP] step=0700 speed=  8.43km/h thr=0.35 brk=0.00 str=+0.30 safe=0 progress=62.7% goal=75.64m dL=0.03 ttc=3.81s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.31km/h thr=0.42 brk=0.00 str=+0.00 safe=0 progress=64.3% goal=72.33m dL=0.35 ttc=2.78s tl=None credit=0 reason=
[TRAIN] step=34900 critic=75.3843 actor=8.2746 alpha=0.0100 sigma=0.7224 beta0=1.00
[STEP] step=0740 speed= 17.13km/h thr=0.30 brk=0.00 str=+0.07 safe=0 progress=66.7% goal=67.62m dL=0.07 ttc=2.16s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.37km/h thr=0.53 brk=0.00 str=+0.01 safe=0 progress=69.0% goal=62.97m dL=0.06 ttc=1.75s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.34km/h thr=0.37 brk=0.00 str=+0.12 safe=0 progress=71.5% goal=57.90m dL=0.11 ttc=1.95s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.95km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=73.9% goal=52.88m dL=0.09 ttc=6.10s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.27km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=76.4% goal=47.92m dL=0.09 ttc=5.71s tl=Red credit=0 reason=
[TRAIN] step=35000 critic=94.6269 actor=8.7157 alpha=0.0100 sigma=0.7219 beta0=1.00
[STEP] step=0840 speed= 13.80km/h thr=0.37 brk=0.00 str=+0.06 safe=0 progress=78.3% goal=43.99m dL=0.26 ttc=4.47s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.48km/h thr=0.24 brk=0.00 str=+0.12 safe=0 progress=80.5% goal=39.57m dL=0.02 ttc=2.93s tl=None credit=0 reason=
[STEP] step=0880 speed= 17.37km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=82.7% goal=35.03m dL=0.01 ttc=5.10s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.09km/h thr=0.20 brk=0.00 str=+0.24 safe=0 progress=85.0% goal=30.48m dL=0.20 ttc=5.96s tl=None credit=0 reason=
[STEP] step=0920 speed=  9.61km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=86.8% goal=26.72m dL=0.54 ttc=2.37s tl=None credit=0 reason=
[TRAIN] step=35100 critic=104.0519 actor=10.7871 alpha=0.0100 sigma=0.6773 beta0=1.00
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.03 safe=0 progress=87.1% goal=26.17m dL=0.46 ttc=5.30s tl=None credit=0 reason=
[STEP] step=0960 speed= 11.03km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=87.7% goal=25.03m dL=0.32 ttc=3.26s tl=None credit=0 reason=
[STEP] step=0980 speed= 12.27km/h thr=0.00 brk=0.24 str=+0.10 safe=0 progress=89.5% goal=21.32m dL=0.37 ttc=18.31s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.35 safe=0 progress=90.3% goal=19.59m dL=0.43 ttc=3.46s tl=None credit=0 reason=
[STEP] step=1020 speed=  4.04km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=90.4% goal=19.43m dL=0.43 ttc=23.87s tl=None credit=0 reason=
[TRAIN] step=35200 critic=89.0537 actor=9.3257 alpha=0.0100 sigma=0.7235 beta0=1.00
[STEP] step=1040 speed= 14.89km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=91.9% goal=16.43m dL=0.16 ttc=18.74s tl=None credit=0 reason=
[STEP] step=1056 speed= 17.59km/h thr=0.44 brk=0.00 str=+0.07 safe=0 progress=93.7% goal=12.88m dL=0.04 ttc=22.06s tl=None credit=0 reason=goal
[EP] ep=27 steps=1056 reward=-220.52 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31664 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 112 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=107.12m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=19 weather=night_rain_fog spawn_idx=112 goal_idx=None route_len=205.2m spawn=(102.6,44.0,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=205.25m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.97km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=205.23m dL=0.00 ttc=66.50s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.04km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.9% goal=201.45m dL=0.00 ttc=6.51s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.99km/h thr=0.19 brk=0.00 str=-0.08 safe=0 progress=4.3% goal=196.39m dL=0.26 ttc=5.52s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.09km/h thr=0.35 brk=0.00 str=+0.07 safe=0 progress=6.7% goal=191.44m dL=0.10 ttc=4.51s tl=None credit=0 reason=
[TRAIN] step=35300 critic=96.1113 actor=9.6963 alpha=0.0100 sigma=0.7104 beta0=1.00
[STEP] step=0100 speed= 21.33km/h thr=0.41 brk=0.00 str=-0.03 safe=0 progress=9.3% goal=186.09m dL=0.14 ttc=2.92s tl=None credit=0 reason=
[STEP] step=0120 speed= 19.14km/h thr=0.00 brk=0.32 str=+0.08 safe=0 progress=12.2% goal=180.12m dL=0.06 ttc=2.13s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.17km/h thr=0.00 brk=0.37 str=-0.07 safe=0 progress=14.1% goal=176.23m dL=0.05 ttc=2.92s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.15 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=13 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.20 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=33 reason=
[TRAIN] step=35400 critic=69.3141 actor=8.4545 alpha=0.0100 sigma=0.7034 beta0=1.00
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=53 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=73 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.20 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=93 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.18 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=113 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=133 reason=
[TRAIN] step=35500 critic=475.0437 actor=8.8705 alpha=0.0100 sigma=0.7172 beta0=1.00
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=153 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=173 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=193 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=213 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=233 reason=
[TRAIN] step=35600 critic=193.1088 actor=9.1092 alpha=0.0100 sigma=0.7046 beta0=1.00
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=253 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=273 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=293 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=313 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=333 reason=
[TRAIN] step=35700 critic=55.4101 actor=10.4440 alpha=0.0100 sigma=0.7011 beta0=1.00
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.17 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=353 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=373 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=393 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=413 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=433 reason=
[TRAIN] step=35800 critic=206.1223 actor=7.6617 alpha=0.0100 sigma=0.6860 beta0=1.00
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=453 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=473 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=493 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=513 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=533 reason=
[TRAIN] step=35900 critic=50.7566 actor=9.6757 alpha=0.0100 sigma=0.7127 beta0=1.00
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=553 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=573 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=593 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36000 critic=137.3893 actor=9.2733 alpha=0.0100 sigma=0.7011 beta0=1.00
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.19 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36100 critic=78.1360 actor=7.6312 alpha=0.0100 sigma=0.6844 beta0=1.00
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.30 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.15 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36200 critic=105.1008 actor=9.2050 alpha=0.0100 sigma=0.7284 beta0=1.00
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36300 critic=87.0764 actor=10.9804 alpha=0.0100 sigma=0.7016 beta0=1.00
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36400 critic=60.7299 actor=10.0521 alpha=0.0100 sigma=0.7235 beta0=1.00
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36500 critic=448.0117 actor=4.1919 alpha=0.0100 sigma=0.7021 beta0=1.00
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36600 critic=48.8906 actor=9.8178 alpha=0.0100 sigma=0.7308 beta0=1.00
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.16 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36700 critic=159.8418 actor=6.8126 alpha=0.0100 sigma=0.7512 beta0=1.00
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36800 critic=76.8540 actor=9.7599 alpha=0.0100 sigma=0.7432 beta0=1.00
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=36900 critic=71.8130 actor=7.4734 alpha=0.0100 sigma=0.7561 beta0=1.00
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.16 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37000 critic=168.4303 actor=10.9237 alpha=0.0100 sigma=0.7458 beta0=1.00
[STEP] step=1800 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37100 critic=382.9672 actor=7.3690 alpha=0.0100 sigma=0.7678 beta0=1.00
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.14 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37200 critic=106.5302 actor=8.6594 alpha=0.0100 sigma=0.7300 beta0=1.00
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37300 critic=103.7018 actor=10.3368 alpha=0.0100 sigma=0.7087 beta0=1.00
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37400 critic=92.6502 actor=7.5206 alpha=0.0100 sigma=0.7281 beta0=1.00
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.17 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37500 critic=163.6827 actor=7.7592 alpha=0.0100 sigma=0.7820 beta0=1.00
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2320 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2380 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37600 critic=325.0904 actor=4.1594 alpha=0.0100 sigma=0.7619 beta0=1.00
[STEP] step=2400 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2460 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2480 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37700 critic=284.4168 actor=7.7463 alpha=0.0100 sigma=0.7783 beta0=1.00
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2540 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37800 critic=174.3804 actor=11.5281 alpha=0.0100 sigma=0.7823 beta0=1.00
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.14 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=37900 critic=138.5785 actor=9.7774 alpha=0.0100 sigma=0.7679 beta0=1.00
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[CAL] step=40000 fitted=1 center=0.0152 scale=0.0500 beta0=0.50
[OK] Saved checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[EVAL step=40000] skipping cross-town eval (Town10HD_Opt→Town02).
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2780 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38000 critic=116.5723 actor=8.3929 alpha=0.0100 sigma=0.5776 beta0=0.50
[STEP] step=2800 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2820 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2840 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2860 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38100 critic=127.7938 actor=10.5107 alpha=0.0100 sigma=0.5731 beta0=0.50
[STEP] step=2900 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2920 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2940 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2960 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2980 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38200 critic=189.4715 actor=9.8081 alpha=0.0100 sigma=0.5711 beta0=0.50
[STEP] step=3000 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3020 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3040 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.13 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3060 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3080 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38300 critic=326.3284 actor=8.0717 alpha=0.0100 sigma=0.5671 beta0=0.50
[STEP] step=3100 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3120 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3140 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3160 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3180 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38400 critic=209.3520 actor=10.0062 alpha=0.0100 sigma=0.5828 beta0=0.50
[STEP] step=3200 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3220 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3240 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3260 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3280 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38500 critic=434.0201 actor=9.0065 alpha=0.0100 sigma=0.5791 beta0=0.50
[STEP] step=3300 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3320 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3340 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3360 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3380 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38600 critic=298.5293 actor=10.6639 alpha=0.0100 sigma=0.5875 beta0=0.50
[STEP] step=3400 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3420 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3440 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3460 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3480 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38700 critic=334.5416 actor=8.9497 alpha=0.0100 sigma=0.5763 beta0=0.50
[STEP] step=3500 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3520 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3540 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3560 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3580 speed=  0.00km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38800 critic=360.9679 actor=9.4202 alpha=0.0100 sigma=0.5940 beta0=0.50
[STEP] step=3600 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3620 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3640 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3660 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3680 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=38900 critic=331.1709 actor=9.4962 alpha=0.0100 sigma=0.6036 beta0=0.50
[STEP] step=3700 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3720 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3740 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3760 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3780 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39000 critic=154.4689 actor=13.3557 alpha=0.0100 sigma=0.6027 beta0=0.50
[STEP] step=3800 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3820 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3840 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3860 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3880 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39100 critic=267.9013 actor=5.3456 alpha=0.0100 sigma=0.6055 beta0=0.50
[STEP] step=3900 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3920 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3940 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3960 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=3980 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39200 critic=955.1063 actor=6.2386 alpha=0.0100 sigma=0.5846 beta0=0.50
[STEP] step=4000 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4020 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4040 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.12 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4060 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4080 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39300 critic=198.7570 actor=11.8791 alpha=0.0100 sigma=0.6019 beta0=0.50
[STEP] step=4100 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4120 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4140 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4160 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.11 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4180 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39400 critic=485.0167 actor=8.2679 alpha=0.0100 sigma=0.6042 beta0=0.50
[STEP] step=4200 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4220 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.07 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4240 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4260 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4280 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39500 critic=347.6653 actor=11.1453 alpha=0.0100 sigma=0.6074 beta0=0.50
[STEP] step=4300 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.09 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4320 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4340 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4360 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4380 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39600 critic=449.5117 actor=4.2743 alpha=0.0100 sigma=0.6008 beta0=0.50
[STEP] step=4400 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.18 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4420 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4440 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4460 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4480 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39700 critic=240.9815 actor=6.6245 alpha=0.0100 sigma=0.6089 beta0=0.50
[STEP] step=4500 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4520 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.10 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4540 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.08 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4560 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4580 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.01 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39800 critic=186.1410 actor=10.7785 alpha=0.0100 sigma=0.5994 beta0=0.50
[STEP] step=4600 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.00 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4620 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4640 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4660 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4680 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=39900 critic=982.5635 actor=7.8215 alpha=0.0100 sigma=0.6107 beta0=0.50
[STEP] step=4700 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4720 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.06 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4740 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4760 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.03 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=4780 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.05 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=40000 critic=240.3415 actor=15.8308 alpha=0.0100 sigma=0.5953 beta0=0.50
[STEP] step=4800 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.04 safe=0 progress=14.5% goal=175.51m dL=0.04 ttc=999.00s tl=None credit=600 reason=timeout
[EP] ep=28 steps=4800 reward=1409.26 success=0 progress=14.5% reason=timeout
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31685 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 5 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=64.98% dL=0.00m
[RESET] town=Town10HD_Opt npc=14 weather=night_rain_fog spawn_idx=5 goal_idx=None route_len=202.5m spawn=(-106.5,-17.1,-0.0) yaw=-89.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=65.0% goal=70.90m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=65.0% goal=70.90m dL=0.00 ttc=59.98s tl=None credit=0 reason=
[STEP] step=0040 speed= 14.69km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=65.8% goal=69.31m dL=0.02 ttc=17.81s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.46km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=68.1% goal=64.63m dL=0.04 ttc=45.41s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.04km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=70.5% goal=59.65m dL=0.12 ttc=49.21s tl=None credit=0 reason=
[TRAIN] step=40100 critic=631.3669 actor=7.4873 alpha=0.0100 sigma=0.6075 beta0=0.50
[STEP] step=0100 speed= 18.20km/h thr=0.33 brk=0.00 str=+0.04 safe=0 progress=73.0% goal=54.64m dL=0.23 ttc=26.84s tl=None credit=0 reason=
[STEP] step=0120 speed= 19.54km/h thr=0.43 brk=0.00 str=+0.16 safe=0 progress=75.5% goal=49.53m dL=0.32 ttc=17.97s tl=None credit=0 reason=
[STEP] step=0140 speed= 20.33km/h thr=0.29 brk=0.00 str=+0.00 safe=0 progress=78.3% goal=43.96m dL=0.29 ttc=15.39s tl=None credit=0 reason=
[STEP] step=0160 speed= 19.73km/h thr=0.40 brk=0.00 str=+0.12 safe=0 progress=81.0% goal=38.46m dL=0.49 ttc=12.74s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.92km/h thr=0.35 brk=0.00 str=+0.14 safe=0 progress=83.6% goal=33.12m dL=0.53 ttc=10.47s tl=None credit=0 reason=
[TRAIN] step=40200 critic=813.6855 actor=4.4475 alpha=0.0100 sigma=0.5947 beta0=0.50
[STEP] step=0200 speed= 18.09km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=86.1% goal=28.11m dL=0.43 ttc=10.80s tl=None credit=0 reason=
[STEP] step=0220 speed= 18.14km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=88.6% goal=23.13m dL=0.39 ttc=8.95s tl=None credit=0 reason=
[STEP] step=0240 speed= 15.68km/h thr=0.16 brk=0.00 str=+0.04 safe=0 progress=90.9% goal=18.43m dL=0.13 ttc=7.38s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.92km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=93.0% goal=14.20m dL=0.22 ttc=6.73s tl=None credit=0 reason=
[STEP] step=0266 speed= 14.99km/h thr=0.25 brk=0.00 str=+0.14 safe=0 progress=93.6% goal=12.97m dL=0.26 ttc=6.40s tl=None credit=0 reason=goal
[EP] ep=29 steps=266 reward=-35.08 success=1 progress=93.6% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31701 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 58 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=77.93m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=8 weather=night_rain_fog spawn_idx=58 goal_idx=None route_len=213.5m spawn=(77.0,24.9,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=0.0% goal=213.46m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=40300 critic=344.0085 actor=9.2525 alpha=0.0100 sigma=0.6278 beta0=0.50
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=213.46m dL=0.00 ttc=157.07s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.56km/h thr=0.46 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=211.84m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.19km/h thr=0.00 brk=0.38 str=+0.04 safe=0 progress=2.8% goal=207.48m dL=0.11 ttc=145.62s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.11 safe=0 progress=3.5% goal=205.91m dL=0.07 ttc=27.53s tl=None credit=0 reason=
[STEP] step=0100 speed=  5.70km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=3.7% goal=205.62m dL=0.06 ttc=41.99s tl=None credit=0 reason=
[TRAIN] step=40400 critic=725.1019 actor=8.8672 alpha=0.0100 sigma=0.6467 beta0=0.50
[STEP] step=0120 speed= 14.31km/h thr=0.23 brk=0.00 str=+0.12 safe=0 progress=5.1% goal=202.51m dL=0.14 ttc=60.08s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.47km/h thr=0.00 brk=0.10 str=-0.05 safe=0 progress=6.8% goal=199.02m dL=0.33 ttc=51.75s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.55 safe=0 progress=7.3% goal=197.97m dL=0.37 ttc=36.35s tl=None credit=0 reason=
[STEP] step=0180 speed=  6.13km/h thr=0.42 brk=0.00 str=-0.27 safe=0 progress=7.5% goal=197.44m dL=0.32 ttc=56.74s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.96km/h thr=0.12 brk=0.00 str=-0.17 safe=0 progress=8.5% goal=195.32m dL=0.26 ttc=81.38s tl=None credit=0 reason=
[TRAIN] step=40500 critic=649.5132 actor=9.8015 alpha=0.0100 sigma=0.6365 beta0=0.50
[STEP] step=0220 speed=  7.65km/h thr=0.15 brk=0.00 str=-0.28 safe=0 progress=9.5% goal=193.20m dL=0.22 ttc=118.54s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.75km/h thr=0.13 brk=0.00 str=-0.15 safe=0 progress=10.5% goal=191.08m dL=0.21 ttc=93.24s tl=None credit=0 reason=
[STEP] step=0260 speed=  7.80km/h thr=0.14 brk=0.00 str=-0.34 safe=0 progress=11.5% goal=188.94m dL=0.14 ttc=58.40s tl=None credit=0 reason=
[STEP] step=0280 speed= 10.65km/h thr=0.17 brk=0.00 str=-0.02 safe=0 progress=12.7% goal=186.38m dL=0.05 ttc=58.65s tl=None credit=0 reason=
[STEP] step=0300 speed=  9.94km/h thr=0.17 brk=0.00 str=+0.10 safe=0 progress=14.0% goal=183.51m dL=0.00 ttc=36.30s tl=None credit=0 reason=
[TRAIN] step=40600 critic=2002.7063 actor=1.1365 alpha=0.0100 sigma=0.6655 beta0=0.50
[STEP] step=0320 speed=  9.99km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=15.3% goal=180.75m dL=0.08 ttc=29.94s tl=None credit=0 reason=
[STEP] step=0340 speed= 10.12km/h thr=0.22 brk=0.00 str=-0.20 safe=0 progress=16.6% goal=177.92m dL=0.11 ttc=25.83s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.73km/h thr=0.42 brk=0.00 str=-0.12 safe=0 progress=18.3% goal=174.45m dL=0.08 ttc=35.04s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.19km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=20.4% goal=169.90m dL=0.01 ttc=29.72s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.31km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=22.6% goal=165.23m dL=0.04 ttc=33.09s tl=None credit=0 reason=
[TRAIN] step=40700 critic=1089.0594 actor=8.1791 alpha=0.0100 sigma=0.6353 beta0=0.50
[STEP] step=0420 speed= 16.69km/h thr=0.47 brk=0.00 str=-0.01 safe=0 progress=24.7% goal=160.70m dL=0.06 ttc=30.23s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.81km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=27.0% goal=155.90m dL=0.05 ttc=29.57s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.47km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=29.0% goal=151.53m dL=0.02 ttc=25.36s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.75km/h thr=0.17 brk=0.00 str=+0.07 safe=0 progress=31.1% goal=147.10m dL=0.02 ttc=27.89s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.25km/h thr=0.18 brk=0.00 str=-0.09 safe=0 progress=33.0% goal=142.94m dL=0.15 ttc=23.45s tl=None credit=0 reason=
[TRAIN] step=40800 critic=576.2228 actor=13.9647 alpha=0.0100 sigma=0.6281 beta0=0.50
[STEP] step=0520 speed= 15.44km/h thr=0.25 brk=0.00 str=-0.09 safe=0 progress=34.9% goal=138.93m dL=0.07 ttc=38.91s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.35km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=36.6% goal=135.30m dL=0.04 ttc=36.84s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.41km/h thr=0.13 brk=0.00 str=-0.06 safe=0 progress=38.5% goal=131.38m dL=0.05 ttc=95.40s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.69km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=40.3% goal=127.51m dL=0.08 ttc=97.46s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.41km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=42.0% goal=123.75m dL=0.10 ttc=41.02s tl=None credit=0 reason=
[TRAIN] step=40900 critic=779.3794 actor=7.8780 alpha=0.0100 sigma=0.6514 beta0=0.50
[STEP] step=0620 speed= 13.43km/h thr=0.20 brk=0.00 str=-0.14 safe=0 progress=43.8% goal=120.01m dL=0.06 ttc=25.93s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.68km/h thr=0.19 brk=0.00 str=+0.02 safe=0 progress=45.5% goal=116.23m dL=0.11 ttc=15.20s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.49km/h thr=0.20 brk=0.00 str=-0.04 safe=0 progress=47.3% goal=112.46m dL=0.12 ttc=13.16s tl=None credit=0 reason=
[STEP] step=0680 speed= 13.43km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=49.0% goal=108.76m dL=0.10 ttc=12.07s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.11km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=50.9% goal=104.82m dL=0.09 ttc=10.60s tl=None credit=0 reason=
[TRAIN] step=41000 critic=1969.3506 actor=9.4962 alpha=0.0100 sigma=0.6606 beta0=0.50
[STEP] step=0720 speed= 14.22km/h thr=0.15 brk=0.00 str=-0.02 safe=0 progress=52.7% goal=100.90m dL=0.01 ttc=9.44s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.43km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=54.5% goal=97.10m dL=0.04 ttc=8.61s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.57km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=56.3% goal=93.29m dL=0.01 ttc=7.29s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.92km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=58.2% goal=89.31m dL=0.02 ttc=6.33s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.94km/h thr=0.26 brk=0.00 str=-0.20 safe=0 progress=60.2% goal=85.02m dL=0.12 ttc=4.99s tl=None credit=0 reason=
[TRAIN] step=41100 critic=3622.4463 actor=6.9995 alpha=0.0100 sigma=0.6435 beta0=0.50
[STEP] step=0820 speed= 15.34km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=62.3% goal=80.57m dL=0.05 ttc=4.04s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.32km/h thr=0.45 brk=0.00 str=-0.01 safe=0 progress=64.5% goal=75.74m dL=0.22 ttc=2.81s tl=None credit=0 reason=
[STEP] step=0860 speed= 20.25km/h thr=0.39 brk=0.00 str=+0.05 safe=0 progress=67.0% goal=70.34m dL=0.28 ttc=1.73s tl=None credit=0 reason=
[STEP] step=0880 speed= 20.86km/h thr=0.51 brk=0.00 str=+0.04 safe=0 progress=69.8% goal=64.55m dL=0.30 ttc=0.75s tl=None credit=0 reason=
[STEP] step=0900 speed= 25.15km/h thr=0.54 brk=0.00 str=-0.04 safe=0 progress=72.8% goal=58.15m dL=0.26 ttc=12.92s tl=None credit=0 reason=
[TRAIN] step=41200 critic=3041.9165 actor=8.8514 alpha=0.0100 sigma=0.6577 beta0=0.50
[STEP] step=0920 speed= 26.94km/h thr=0.30 brk=0.00 str=-0.06 safe=0 progress=76.2% goal=50.76m dL=0.25 ttc=10.22s tl=None credit=0 reason=
[STEP] step=0940 speed= 29.68km/h thr=0.54 brk=0.00 str=+0.04 safe=0 progress=79.9% goal=42.94m dL=0.35 ttc=7.86s tl=None credit=0 reason=
[STEP] step=0960 speed= 33.69km/h thr=0.55 brk=0.00 str=-0.02 safe=0 progress=84.0% goal=34.08m dL=0.21 ttc=5.24s tl=None credit=0 reason=
[STEP] step=0980 speed= 35.13km/h thr=0.65 brk=0.00 str=-0.03 safe=0 progress=88.6% goal=24.36m dL=0.49 ttc=3.23s tl=None credit=0 reason=
[STEP] step=1000 speed= 33.31km/h thr=0.11 brk=0.00 str=+0.10 safe=0 progress=93.2% goal=14.53m dL=0.50 ttc=2.05s tl=None credit=0 reason=
[STEP] step=1004 speed= 31.68km/h thr=0.23 brk=0.00 str=-0.04 safe=0 progress=94.0% goal=12.73m dL=0.41 ttc=1.91s tl=None credit=0 reason=goal
[EP] ep=30 steps=1004 reward=-160.69 success=1 progress=94.0% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31711 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 110 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=24.15% dL=30.26m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=8 weather=night_rain_fog spawn_idx=110 goal_idx=None route_len=203.4m spawn=(-48.8,-17.2,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=+0.08 safe=0 progress=0.0% goal=203.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=41300 critic=896.3571 actor=6.2367 alpha=0.0100 sigma=0.6432 beta0=0.50
[STEP] step=0020 speed=  1.51km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=0.0% goal=203.36m dL=0.00 ttc=39.67s tl=None credit=0 reason=
[STEP] step=0040 speed= 18.16km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.8% goal=199.61m dL=0.01 ttc=11.74s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.34km/h thr=0.00 brk=0.64 str=+0.06 safe=0 progress=4.2% goal=194.75m dL=0.05 ttc=11.56s tl=Red credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.18 safe=0 progress=5.1% goal=193.09m dL=0.06 ttc=17.87s tl=Red credit=8 reason=
[STEP] step=0100 speed=  1.96km/h thr=0.15 brk=0.00 str=+0.08 safe=0 progress=5.1% goal=192.92m dL=0.04 ttc=14.94s tl=Red credit=14 reason=
[TRAIN] step=41400 critic=569.1156 actor=11.7524 alpha=0.0100 sigma=0.6770 beta0=0.50
[STEP] step=0120 speed=  3.35km/h thr=0.15 brk=0.00 str=+0.00 safe=0 progress=5.5% goal=192.15m dL=0.01 ttc=12.55s tl=Red credit=0 reason=
[STEP] step=0140 speed=  4.83km/h thr=0.15 brk=0.00 str=+0.01 safe=0 progress=6.1% goal=191.01m dL=0.09 ttc=10.63s tl=Red credit=0 reason=
[STEP] step=0160 speed= 10.44km/h thr=0.48 brk=0.00 str=-0.12 safe=0 progress=7.0% goal=189.04m dL=0.08 ttc=7.78s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.87km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=9.0% goal=185.15m dL=0.17 ttc=5.55s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.37km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=11.2% goal=180.64m dL=0.12 ttc=4.95s tl=None credit=0 reason=
[TRAIN] step=41500 critic=2026.6692 actor=2.6114 alpha=0.0100 sigma=0.6631 beta0=0.50
[STEP] step=0220 speed= 15.84km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=13.4% goal=176.06m dL=0.10 ttc=6.05s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.50km/h thr=0.10 brk=0.00 str=+0.12 safe=0 progress=15.6% goal=171.61m dL=0.07 ttc=8.45s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.22km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=17.8% goal=167.23m dL=0.07 ttc=7.10s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.18km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=20.0% goal=162.73m dL=0.08 ttc=6.17s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.50km/h thr=0.15 brk=0.00 str=-0.04 safe=0 progress=22.3% goal=157.91m dL=0.07 ttc=5.49s tl=None credit=0 reason=
[TRAIN] step=41600 critic=458.1706 actor=11.6342 alpha=0.0100 sigma=0.6614 beta0=0.50
[STEP] step=0320 speed= 17.35km/h thr=0.12 brk=0.00 str=-0.00 safe=0 progress=24.6% goal=153.42m dL=0.07 ttc=4.47s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.12km/h thr=0.28 brk=0.00 str=+0.08 safe=0 progress=26.8% goal=148.92m dL=0.05 ttc=3.81s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.58km/h thr=0.39 brk=0.00 str=-0.00 safe=0 progress=29.0% goal=144.41m dL=0.09 ttc=3.21s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.20km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=31.2% goal=139.92m dL=0.15 ttc=3.57s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.93km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=33.5% goal=135.27m dL=0.09 ttc=9.95s tl=None credit=0 reason=
[TRAIN] step=41700 critic=2591.1638 actor=10.7243 alpha=0.0100 sigma=0.7143 beta0=0.50
[STEP] step=0420 speed= 16.96km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=35.8% goal=130.61m dL=0.01 ttc=10.27s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.71km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=37.8% goal=126.41m dL=0.06 ttc=11.25s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.80km/h thr=0.42 brk=0.00 str=+0.04 safe=0 progress=40.0% goal=121.96m dL=0.13 ttc=11.25s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.47km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=42.4% goal=117.19m dL=0.12 ttc=13.21s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.95km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=44.6% goal=112.57m dL=0.04 ttc=12.89s tl=None credit=0 reason=
[TRAIN] step=41800 critic=1782.7106 actor=7.3345 alpha=0.0100 sigma=0.6709 beta0=0.50
[STEP] step=0520 speed= 18.05km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=47.1% goal=107.62m dL=0.01 ttc=11.38s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.14km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=49.6% goal=102.58m dL=0.08 ttc=11.25s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.14km/h thr=0.22 brk=0.00 str=-0.08 safe=0 progress=52.0% goal=97.54m dL=0.22 ttc=11.57s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.56km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=54.5% goal=92.48m dL=0.25 ttc=11.44s tl=None credit=0 reason=
[STEP] step=0600 speed= 18.25km/h thr=0.27 brk=0.00 str=+0.08 safe=0 progress=57.0% goal=87.39m dL=0.45 ttc=11.20s tl=None credit=0 reason=
[TRAIN] step=41900 critic=521.9205 actor=17.5454 alpha=0.0100 sigma=0.6744 beta0=0.50
[STEP] step=0620 speed= 17.84km/h thr=0.30 brk=0.00 str=-0.21 safe=0 progress=59.5% goal=82.39m dL=0.40 ttc=10.50s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.28km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=61.9% goal=77.57m dL=0.48 ttc=13.34s tl=Green credit=0 reason=
[STEP] step=0660 speed= 10.72km/h thr=0.12 brk=0.00 str=-0.07 safe=0 progress=63.7% goal=73.75m dL=0.35 ttc=20.23s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.05 safe=0 progress=64.6% goal=72.06m dL=0.31 ttc=21.71s tl=None credit=0 reason=
[STEP] step=0700 speed=  4.02km/h thr=0.75 brk=0.00 str=+0.16 safe=1 progress=64.6% goal=71.91m dL=0.30 ttc=16.77s tl=None credit=0 reason=
[TRAIN] step=42000 critic=1799.4868 actor=13.7447 alpha=0.0100 sigma=0.6842 beta0=0.50
[STEP] step=0720 speed= 11.68km/h thr=0.00 brk=0.17 str=+0.07 safe=0 progress=66.0% goal=69.07m dL=0.22 ttc=13.13s tl=None credit=0 reason=
[STEP] step=0740 speed= 10.63km/h thr=0.19 brk=0.00 str=+0.16 safe=0 progress=67.4% goal=66.37m dL=0.11 ttc=12.44s tl=None credit=0 reason=
[STEP] step=0760 speed=  8.63km/h thr=0.12 brk=0.00 str=+0.18 safe=0 progress=68.7% goal=63.56m dL=0.11 ttc=11.72s tl=None credit=0 reason=
[STEP] step=0780 speed=  7.64km/h thr=0.12 brk=0.00 str=+0.20 safe=0 progress=70.0% goal=61.09m dL=0.08 ttc=11.13s tl=None credit=0 reason=
[STEP] step=0800 speed= 11.99km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=71.3% goal=58.41m dL=0.06 ttc=8.52s tl=None credit=0 reason=
[TRAIN] step=42100 critic=2897.4944 actor=-1.8462 alpha=0.0100 sigma=0.6698 beta0=0.50
[STEP] step=0820 speed=  7.58km/h thr=0.12 brk=0.00 str=+0.18 safe=0 progress=72.6% goal=55.63m dL=0.06 ttc=9.95s tl=None credit=0 reason=
[STEP] step=0840 speed=  9.78km/h thr=0.18 brk=0.00 str=+0.07 safe=0 progress=73.7% goal=53.40m dL=0.01 ttc=5.77s tl=None credit=0 reason=
[STEP] step=0860 speed=  6.99km/h thr=0.30 brk=0.00 str=+0.16 safe=0 progress=74.9% goal=51.14m dL=0.00 ttc=8.10s tl=None credit=0 reason=
[STEP] step=0880 speed=  8.41km/h thr=0.12 brk=0.00 str=+0.25 safe=0 progress=76.0% goal=48.80m dL=0.05 ttc=9.56s tl=None credit=0 reason=
[STEP] step=0900 speed=  9.23km/h thr=0.42 brk=0.00 str=+0.27 safe=0 progress=77.2% goal=46.46m dL=0.08 ttc=11.68s tl=None credit=0 reason=
[TRAIN] step=42200 critic=1818.8247 actor=16.2746 alpha=0.0100 sigma=0.6853 beta0=0.50
[STEP] step=0920 speed= 12.52km/h thr=0.36 brk=0.00 str=+0.20 safe=0 progress=78.7% goal=43.39m dL=0.18 ttc=19.71s tl=None credit=0 reason=
[STEP] step=0940 speed= 11.51km/h thr=0.00 brk=0.16 str=+0.16 safe=0 progress=80.5% goal=39.75m dL=0.12 ttc=62.65s tl=None credit=0 reason=
[STEP] step=0960 speed= 13.90km/h thr=0.47 brk=0.00 str=+0.15 safe=0 progress=82.0% goal=36.66m dL=0.20 ttc=60.96s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.79km/h thr=0.34 brk=0.00 str=+0.04 safe=0 progress=84.1% goal=32.30m dL=0.32 ttc=59.15s tl=None credit=0 reason=
[STEP] step=1000 speed= 17.71km/h thr=0.22 brk=0.00 str=+0.08 safe=0 progress=86.4% goal=27.57m dL=0.34 ttc=11.12s tl=None credit=0 reason=
[TRAIN] step=42300 critic=1401.8958 actor=13.8280 alpha=0.0100 sigma=0.6808 beta0=0.50
[STEP] step=1020 speed= 17.32km/h thr=0.16 brk=0.00 str=+0.09 safe=0 progress=88.8% goal=22.69m dL=0.39 ttc=7.79s tl=None credit=0 reason=
[STEP] step=1040 speed= 15.44km/h thr=0.27 brk=0.00 str=+0.12 safe=0 progress=91.0% goal=18.26m dL=0.39 ttc=6.24s tl=None credit=0 reason=
[STEP] step=1060 speed= 14.81km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=93.1% goal=14.08m dL=0.43 ttc=5.54s tl=None credit=0 reason=
[STEP] step=1066 speed= 14.98km/h thr=0.20 brk=0.00 str=+0.29 safe=0 progress=93.7% goal=12.86m dL=0.41 ttc=5.11s tl=None credit=0 reason=goal
[EP] ep=31 steps=1066 reward=-209.99 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31721 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 110 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=24.15% dL=30.26m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=19 weather=night_rain_fog spawn_idx=110 goal_idx=None route_len=203.4m spawn=(-48.8,-17.2,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=0.0% goal=203.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=0.0% goal=203.36m dL=0.00 ttc=22.92s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.68km/h thr=0.50 brk=0.00 str=-0.01 safe=1 progress=0.8% goal=201.74m dL=0.01 ttc=7.50s tl=None credit=0 reason=
[TRAIN] step=42400 critic=1092.5284 actor=10.6482 alpha=0.0100 sigma=0.6823 beta0=0.50
[STEP] step=0060 speed= 18.03km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=3.2% goal=196.83m dL=0.00 ttc=9.74s tl=None credit=0 reason=
[STEP] step=0080 speed= 11.54km/h thr=0.00 brk=0.19 str=+0.12 safe=0 progress=5.3% goal=192.50m dL=0.03 ttc=12.61s tl=Red credit=0 reason=
[STEP] step=0100 speed= 12.51km/h thr=0.42 brk=0.00 str=+0.09 safe=0 progress=6.8% goal=189.47m dL=0.07 ttc=12.04s tl=None credit=0 reason=
[STEP] step=0120 speed= 18.28km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=9.1% goal=184.96m dL=0.00 ttc=9.22s tl=None credit=0 reason=
[STEP] step=0140 speed= 18.05km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=11.6% goal=179.85m dL=0.11 ttc=8.38s tl=None credit=0 reason=
[TRAIN] step=42500 critic=390.2415 actor=19.9994 alpha=0.0100 sigma=0.7192 beta0=0.50
[STEP] step=0160 speed= 16.45km/h thr=0.48 brk=0.00 str=+0.10 safe=0 progress=13.8% goal=175.20m dL=0.06 ttc=10.15s tl=None credit=0 reason=
[STEP] step=0180 speed= 18.07km/h thr=0.28 brk=0.00 str=-0.06 safe=0 progress=16.3% goal=170.22m dL=0.08 ttc=5.65s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.70km/h thr=0.10 brk=0.00 str=-0.05 safe=0 progress=18.7% goal=165.34m dL=0.10 ttc=3.53s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.99km/h thr=0.11 brk=0.00 str=-0.04 safe=0 progress=20.9% goal=160.84m dL=0.01 ttc=2.81s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.13km/h thr=0.15 brk=0.00 str=-0.05 safe=0 progress=23.2% goal=156.21m dL=0.02 ttc=3.73s tl=None credit=0 reason=
[TRAIN] step=42600 critic=1361.7739 actor=11.5732 alpha=0.0100 sigma=0.6850 beta0=0.50
[STEP] step=0260 speed= 17.85km/h thr=0.13 brk=0.00 str=-0.05 safe=0 progress=25.6% goal=151.33m dL=0.01 ttc=3.57s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.56km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=27.8% goal=146.89m dL=0.03 ttc=3.23s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.45km/h thr=0.18 brk=0.00 str=-0.05 safe=0 progress=30.1% goal=142.17m dL=0.06 ttc=3.07s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.73km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=32.3% goal=137.69m dL=0.16 ttc=11.03s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.85km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=34.5% goal=133.18m dL=0.12 ttc=11.52s tl=None credit=0 reason=
[TRAIN] step=42700 critic=2708.1211 actor=4.2807 alpha=0.0100 sigma=0.6951 beta0=0.50
[STEP] step=0360 speed= 16.43km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=36.8% goal=128.60m dL=0.10 ttc=8.87s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.95km/h thr=0.17 brk=0.00 str=-0.05 safe=0 progress=39.0% goal=124.03m dL=0.09 ttc=5.47s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.72km/h thr=0.35 brk=0.00 str=-0.09 safe=0 progress=41.3% goal=119.44m dL=0.03 ttc=5.27s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.07km/h thr=0.25 brk=0.00 str=+0.07 safe=0 progress=43.7% goal=114.40m dL=0.05 ttc=4.39s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.07km/h thr=0.32 brk=0.00 str=-0.14 safe=0 progress=46.3% goal=109.30m dL=0.02 ttc=3.51s tl=None credit=0 reason=
[TRAIN] step=42800 critic=388.2553 actor=15.3114 alpha=0.0100 sigma=0.6775 beta0=0.50
[STEP] step=0460 speed= 18.06km/h thr=0.20 brk=0.00 str=-0.01 safe=0 progress=48.7% goal=104.26m dL=0.01 ttc=2.62s tl=None credit=0 reason=
[STEP] step=0480 speed= 18.08km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=51.2% goal=99.23m dL=0.02 ttc=2.04s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.98km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=53.7% goal=94.20m dL=0.05 ttc=5.12s tl=None credit=0 reason=
[STEP] step=0520 speed= 18.02km/h thr=0.17 brk=0.00 str=+0.11 safe=0 progress=56.2% goal=89.15m dL=0.05 ttc=9.51s tl=None credit=0 reason=
[STEP] step=0540 speed= 17.86km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=58.6% goal=84.17m dL=0.02 ttc=8.20s tl=None credit=0 reason=
[TRAIN] step=42900 critic=1836.7184 actor=10.5601 alpha=0.0100 sigma=0.6990 beta0=0.50
[STEP] step=0560 speed= 16.39km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=61.0% goal=79.22m dL=0.01 ttc=7.25s tl=Red credit=0 reason=
[STEP] step=0580 speed= 10.73km/h thr=0.48 brk=0.00 str=-0.02 safe=0 progress=62.7% goal=75.94m dL=0.03 ttc=6.77s tl=Green credit=0 reason=
[STEP] step=0600 speed= 12.07km/h thr=0.00 brk=0.07 str=-0.04 safe=0 progress=64.4% goal=72.38m dL=0.07 ttc=5.76s tl=None credit=0 reason=
[STEP] step=0620 speed= 11.27km/h thr=0.19 brk=0.00 str=+0.19 safe=0 progress=65.9% goal=69.44m dL=0.18 ttc=4.48s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.43km/h thr=0.23 brk=0.00 str=+0.27 safe=0 progress=67.3% goal=66.53m dL=0.14 ttc=3.13s tl=None credit=0 reason=
[TRAIN] step=43000 critic=704.6323 actor=12.5374 alpha=0.0100 sigma=0.7065 beta0=0.50
[STEP] step=0660 speed= 10.06km/h thr=0.19 brk=0.00 str=+0.26 safe=0 progress=68.6% goal=63.83m dL=0.07 ttc=3.33s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.59km/h thr=0.00 brk=0.08 str=+0.29 safe=0 progress=70.1% goal=60.90m dL=0.10 ttc=2.88s tl=None credit=0 reason=
[STEP] step=0700 speed= 10.12km/h thr=0.36 brk=0.00 str=+0.08 safe=0 progress=71.2% goal=58.57m dL=0.02 ttc=2.51s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.90km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=72.6% goal=55.67m dL=0.13 ttc=2.02s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.24km/h thr=0.12 brk=0.00 str=+0.27 safe=0 progress=74.0% goal=52.96m dL=0.10 ttc=2.17s tl=None credit=0 reason=
[TRAIN] step=43100 critic=671.2621 actor=15.8094 alpha=0.0100 sigma=0.6841 beta0=0.50
[STEP] step=0760 speed=  7.10km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=75.0% goal=50.90m dL=0.03 ttc=2.33s tl=None credit=0 reason=
[STEP] step=0780 speed=  8.61km/h thr=0.12 brk=0.00 str=+0.28 safe=0 progress=76.1% goal=48.56m dL=0.01 ttc=77.21s tl=None credit=0 reason=
[STEP] step=0800 speed=  8.47km/h thr=0.29 brk=0.00 str=+0.25 safe=0 progress=77.2% goal=46.29m dL=0.00 ttc=107.45s tl=None credit=0 reason=
[STEP] step=0820 speed= 10.45km/h thr=0.42 brk=0.00 str=+0.13 safe=0 progress=78.6% goal=43.52m dL=0.15 ttc=101.72s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.90km/h thr=0.16 brk=0.00 str=+0.08 safe=0 progress=80.4% goal=39.88m dL=0.10 ttc=135.46s tl=None credit=0 reason=
[TRAIN] step=43200 critic=563.2189 actor=9.4734 alpha=0.0100 sigma=0.6879 beta0=0.50
[STEP] step=0860 speed= 14.18km/h thr=0.14 brk=0.00 str=+0.01 safe=0 progress=82.3% goal=35.93m dL=0.05 ttc=133.64s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.50km/h thr=0.19 brk=0.00 str=-0.04 safe=0 progress=84.2% goal=32.10m dL=0.01 ttc=96.11s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.33km/h thr=0.35 brk=0.00 str=+0.12 safe=0 progress=86.2% goal=28.10m dL=0.02 ttc=49.08s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.07km/h thr=0.06 brk=0.00 str=+0.10 safe=0 progress=88.4% goal=23.60m dL=0.22 ttc=55.26s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.59km/h thr=0.37 brk=0.00 str=-0.04 safe=0 progress=90.4% goal=19.58m dL=0.36 ttc=22.37s tl=None credit=0 reason=
[TRAIN] step=43300 critic=1794.7012 actor=10.1336 alpha=0.0100 sigma=0.7285 beta0=0.50
[STEP] step=0960 speed= 18.51km/h thr=0.44 brk=0.00 str=+0.14 safe=0 progress=92.8% goal=14.69m dL=0.62 ttc=17.05s tl=None credit=0 reason=
[STEP] step=0967 speed= 19.05km/h thr=0.44 brk=0.00 str=+0.08 safe=0 progress=93.7% goal=12.90m dL=0.67 ttc=15.74s tl=None credit=0 reason=goal
[EP] ep=32 steps=967 reward=-232.85 success=1 progress=93.7% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31742 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 36 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=88.27m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=18 weather=night_rain_fog spawn_idx=36 goal_idx=None route_len=197.0m spawn=(67.7,69.8,-0.0) yaw=0.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=0.0% goal=196.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=196.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=195.35m dL=0.00 ttc=52.20s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.95km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=3.2% goal=190.75m dL=0.05 ttc=55.49s tl=None credit=0 reason=
[TRAIN] step=43400 critic=2703.5679 actor=8.0770 alpha=0.0100 sigma=0.7001 beta0=0.50
[STEP] step=0080 speed= 14.94km/h thr=0.10 brk=0.00 str=+0.06 safe=0 progress=5.5% goal=186.18m dL=0.03 ttc=81.92s tl=None credit=0 reason=
[STEP] step=0100 speed= 12.06km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=7.4% goal=182.41m dL=0.06 ttc=93.06s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.08 safe=0 progress=8.4% goal=180.41m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  3.12km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=8.5% goal=180.32m dL=0.19 ttc=295.50s tl=None credit=0 reason=
[STEP] step=0160 speed= 12.81km/h thr=0.24 brk=0.00 str=-0.10 safe=0 progress=9.7% goal=177.81m dL=0.08 ttc=62.53s tl=None credit=0 reason=
[TRAIN] step=43500 critic=1604.9049 actor=12.4123 alpha=0.0100 sigma=0.7171 beta0=0.50
[STEP] step=0180 speed=  8.46km/h thr=0.12 brk=0.00 str=+0.42 safe=0 progress=11.2% goal=174.85m dL=0.37 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.01km/h thr=0.23 brk=0.00 str=+0.31 safe=0 progress=12.3% goal=172.76m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  5.44km/h thr=0.18 brk=0.00 str=+0.31 safe=0 progress=13.3% goal=170.85m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  6.52km/h thr=0.25 brk=0.00 str=+0.30 safe=0 progress=14.2% goal=169.09m dL=0.05 ttc=392.90s tl=None credit=0 reason=
[STEP] step=0260 speed=  6.21km/h thr=0.14 brk=0.00 str=+0.31 safe=0 progress=15.1% goal=167.28m dL=0.01 ttc=136.28s tl=None credit=0 reason=
[TRAIN] step=43600 critic=3572.1665 actor=10.2972 alpha=0.0100 sigma=0.7065 beta0=0.50
[STEP] step=0280 speed=  5.81km/h thr=0.24 brk=0.00 str=+0.28 safe=0 progress=16.0% goal=165.54m dL=0.01 ttc=105.79s tl=None credit=0 reason=
[STEP] step=0300 speed=  8.50km/h thr=0.14 brk=0.00 str=+0.41 safe=0 progress=17.0% goal=163.54m dL=0.19 ttc=44.29s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.83km/h thr=0.50 brk=0.00 str=+0.29 safe=0 progress=18.5% goal=160.47m dL=0.18 ttc=23.84s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.00km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=21.0% goal=155.66m dL=0.09 ttc=18.97s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.46km/h thr=0.17 brk=0.00 str=-0.03 safe=0 progress=23.4% goal=150.98m dL=0.03 ttc=23.43s tl=None credit=0 reason=
[TRAIN] step=43700 critic=689.9560 actor=18.4424 alpha=0.0100 sigma=0.7145 beta0=0.50
[STEP] step=0380 speed= 13.93km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=25.3% goal=147.13m dL=0.04 ttc=23.28s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.24km/h thr=0.17 brk=0.00 str=+0.25 safe=0 progress=27.4% goal=143.09m dL=0.04 ttc=17.44s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.98km/h thr=0.23 brk=0.00 str=+0.19 safe=0 progress=29.4% goal=138.98m dL=0.03 ttc=18.19s tl=None credit=0 reason=
[STEP] step=0440 speed= 15.03km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=31.4% goal=135.04m dL=0.01 ttc=16.37s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.05km/h thr=0.22 brk=0.00 str=-0.13 safe=0 progress=33.6% goal=130.86m dL=0.00 ttc=16.84s tl=None credit=0 reason=
[TRAIN] step=43800 critic=1346.6523 actor=5.1776 alpha=0.0100 sigma=0.7117 beta0=0.50
[STEP] step=0480 speed= 13.98km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=35.6% goal=126.91m dL=0.06 ttc=15.08s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.65km/h thr=0.08 brk=0.00 str=+0.13 safe=0 progress=37.6% goal=122.97m dL=0.07 ttc=12.48s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.17km/h thr=0.19 brk=0.00 str=+0.03 safe=0 progress=39.5% goal=119.22m dL=0.05 ttc=11.68s tl=None credit=0 reason=
[STEP] step=0540 speed= 10.78km/h thr=0.42 brk=0.00 str=+0.17 safe=0 progress=41.1% goal=115.92m dL=0.14 ttc=13.49s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.72km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=43.0% goal=112.24m dL=0.04 ttc=9.39s tl=None credit=0 reason=
[TRAIN] step=43900 critic=2389.3530 actor=2.2347 alpha=0.0100 sigma=0.7040 beta0=0.50
[STEP] step=0580 speed= 12.90km/h thr=0.17 brk=0.00 str=+0.03 safe=0 progress=44.9% goal=108.62m dL=0.06 ttc=8.77s tl=None credit=0 reason=
[STEP] step=0600 speed= 10.37km/h thr=0.00 brk=0.12 str=+0.15 safe=0 progress=46.6% goal=105.16m dL=0.04 ttc=9.53s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.10 safe=0 progress=47.3% goal=103.77m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  5.72km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=47.5% goal=103.50m dL=0.02 ttc=15.97s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.59km/h thr=0.19 brk=0.00 str=-0.13 safe=0 progress=49.1% goal=100.29m dL=0.01 ttc=5.58s tl=None credit=0 reason=
[TRAIN] step=44000 critic=4064.4961 actor=15.7035 alpha=0.0100 sigma=0.7195 beta0=0.50
[STEP] step=0680 speed= 10.35km/h thr=0.00 brk=0.12 str=+0.09 safe=0 progress=50.9% goal=96.76m dL=0.21 ttc=6.44s tl=None credit=0 reason=
[STEP] step=0700 speed= 12.75km/h thr=0.48 brk=0.00 str=+0.18 safe=0 progress=52.4% goal=93.84m dL=0.22 ttc=4.44s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.08km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=54.5% goal=89.54m dL=0.02 ttc=2.66s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.39km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=56.8% goal=85.00m dL=0.08 ttc=1.72s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.98km/h thr=0.25 brk=0.00 str=-0.10 safe=0 progress=59.3% goal=80.11m dL=0.09 ttc=1.56s tl=None credit=0 reason=
[TRAIN] step=44100 critic=1250.0195 actor=12.8271 alpha=0.0100 sigma=0.7234 beta0=0.50
[STEP] step=0780 speed= 18.25km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=61.9% goal=75.10m dL=0.09 ttc=18.66s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.29km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=64.4% goal=70.07m dL=0.02 ttc=17.67s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.30km/h thr=0.35 brk=0.00 str=-0.02 safe=0 progress=67.0% goal=65.03m dL=0.01 ttc=16.76s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.55km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=69.6% goal=59.94m dL=0.01 ttc=15.57s tl=None credit=0 reason=
[STEP] step=0860 speed= 19.37km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=72.3% goal=54.61m dL=0.01 ttc=14.06s tl=None credit=0 reason=
[TRAIN] step=44200 critic=4903.6133 actor=-0.9202 alpha=0.0100 sigma=0.7545 beta0=0.50
[STEP] step=0880 speed= 20.35km/h thr=0.37 brk=0.00 str=+0.04 safe=0 progress=75.0% goal=49.16m dL=0.04 ttc=12.30s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.94km/h thr=0.25 brk=0.00 str=+0.25 safe=0 progress=77.9% goal=43.62m dL=0.09 ttc=11.91s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.13km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=80.1% goal=39.11m dL=0.31 ttc=15.87s tl=None credit=0 reason=
[STEP] step=0940 speed= 18.40km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=82.5% goal=34.48m dL=0.11 ttc=11.18s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.24km/h thr=0.44 brk=0.00 str=-0.01 safe=0 progress=85.1% goal=29.38m dL=0.07 ttc=10.30s tl=None credit=0 reason=
[TRAIN] step=44300 critic=3541.9751 actor=-1.1353 alpha=0.0100 sigma=0.7400 beta0=0.50
[STEP] step=0980 speed= 18.86km/h thr=0.35 brk=0.00 str=-0.08 safe=0 progress=87.7% goal=24.17m dL=0.08 ttc=9.30s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.33km/h thr=0.32 brk=0.00 str=+0.04 safe=0 progress=90.3% goal=19.03m dL=0.02 ttc=8.65s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.07km/h thr=0.08 brk=0.00 str=+0.23 safe=0 progress=92.9% goal=14.00m dL=0.00 ttc=7.62s tl=None credit=0 reason=
[STEP] step=1025 speed= 17.01km/h thr=0.00 brk=0.08 str=-0.10 safe=0 progress=93.5% goal=12.78m dL=0.09 ttc=8.47s tl=None credit=0 reason=goal
[EP] ep=33 steps=1025 reward=-178.69 success=1 progress=93.5% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31762 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 18 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=120.71m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=13 weather=night_rain_fog spawn_idx=18 goal_idx=None route_len=203.2m spawn=(5.6,133.8,-0.0) yaw=-179.2 start_progress=0.01% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=203.18m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=0.0% goal=203.18m dL=0.00 ttc=25.45s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=201.56m dL=0.01 ttc=5.72s tl=None credit=0 reason=
[TRAIN] step=44400 critic=6350.5215 actor=9.9154 alpha=0.0100 sigma=0.7376 beta0=0.50
[STEP] step=0060 speed= 16.77km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=3.1% goal=196.84m dL=0.04 ttc=3.18s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.25km/h thr=0.42 brk=0.00 str=-0.21 safe=0 progress=5.3% goal=192.36m dL=0.07 ttc=2.31s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.42km/h thr=0.34 brk=0.00 str=-0.08 safe=0 progress=7.6% goal=187.67m dL=0.07 ttc=1.32s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.01km/h thr=0.21 brk=0.00 str=-0.01 safe=0 progress=10.0% goal=182.95m dL=0.05 ttc=2.30s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.18km/h thr=0.42 brk=0.00 str=-0.07 safe=0 progress=12.1% goal=178.63m dL=0.04 ttc=10.95s tl=None credit=0 reason=
[TRAIN] step=44500 critic=3874.9810 actor=8.8119 alpha=0.0100 sigma=0.7349 beta0=0.50
[STEP] step=0160 speed= 16.31km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=14.3% goal=174.06m dL=0.09 ttc=8.94s tl=Green credit=0 reason=
[STEP] step=0180 speed= 16.82km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=16.6% goal=169.49m dL=0.04 ttc=7.47s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.80km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=18.9% goal=164.75m dL=0.05 ttc=6.04s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.62km/h thr=0.00 brk=0.14 str=-0.07 safe=0 progress=21.4% goal=159.78m dL=0.05 ttc=4.89s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.27km/h thr=0.12 brk=0.00 str=-0.06 safe=0 progress=23.6% goal=155.28m dL=0.19 ttc=3.63s tl=None credit=0 reason=
[TRAIN] step=44600 critic=5482.6533 actor=-2.1949 alpha=0.0100 sigma=0.7317 beta0=0.50
[STEP] step=0260 speed= 16.72km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=25.7% goal=150.92m dL=0.12 ttc=3.24s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.32km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=28.0% goal=146.35m dL=0.12 ttc=2.36s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.68km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=30.1% goal=142.13m dL=0.04 ttc=1.63s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.08km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=32.0% goal=138.16m dL=0.00 ttc=1.91s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.87km/h thr=0.17 brk=0.00 str=+0.10 safe=0 progress=34.0% goal=134.11m dL=0.02 ttc=8.18s tl=None credit=0 reason=
[TRAIN] step=44700 critic=1327.0723 actor=11.0477 alpha=0.0100 sigma=0.7398 beta0=0.50
[STEP] step=0360 speed= 14.16km/h thr=0.19 brk=0.00 str=+0.02 safe=0 progress=36.0% goal=130.14m dL=0.01 ttc=7.08s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.99km/h thr=0.33 brk=0.00 str=+0.11 safe=0 progress=37.9% goal=126.26m dL=0.05 ttc=5.64s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.77km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=39.8% goal=122.37m dL=0.12 ttc=4.41s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.85km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=41.7% goal=118.54m dL=0.13 ttc=3.37s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.65km/h thr=0.27 brk=0.00 str=+0.05 safe=0 progress=43.5% goal=114.74m dL=0.06 ttc=2.35s tl=None credit=0 reason=
[TRAIN] step=44800 critic=6565.1333 actor=13.8731 alpha=0.0100 sigma=0.7172 beta0=0.50
[STEP] step=0460 speed= 13.53km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=45.4% goal=110.92m dL=0.11 ttc=1.49s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.72km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=47.3% goal=107.12m dL=0.09 ttc=2.76s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.80km/h thr=0.17 brk=0.00 str=+0.14 safe=0 progress=49.2% goal=103.14m dL=0.05 ttc=43.67s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.42km/h thr=0.27 brk=0.00 str=+0.12 safe=0 progress=51.2% goal=99.12m dL=0.05 ttc=23.35s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.55km/h thr=0.37 brk=0.00 str=+0.10 safe=0 progress=53.2% goal=95.04m dL=0.08 ttc=77.02s tl=None credit=0 reason=
[TRAIN] step=44900 critic=5158.8442 actor=22.0644 alpha=0.0100 sigma=0.7462 beta0=0.50
[STEP] step=0560 speed= 15.36km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=55.4% goal=90.63m dL=0.05 ttc=74.93s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.79km/h thr=0.15 brk=0.00 str=+0.12 safe=0 progress=57.5% goal=86.28m dL=0.08 ttc=53.21s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.65km/h thr=0.26 brk=0.00 str=-0.08 safe=0 progress=59.6% goal=82.03m dL=0.18 ttc=64.18s tl=None credit=0 reason=
[STEP] step=0620 speed= 14.78km/h thr=0.19 brk=0.00 str=+0.09 safe=0 progress=61.7% goal=77.82m dL=0.11 ttc=41.95s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.77km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=63.7% goal=73.77m dL=0.10 ttc=31.01s tl=None credit=0 reason=
[TRAIN] step=45000 critic=5543.0361 actor=17.1560 alpha=0.0100 sigma=0.7886 beta0=0.50
[STEP] step=0660 speed= 18.03km/h thr=0.23 brk=0.00 str=+0.13 safe=0 progress=66.0% goal=68.99m dL=0.04 ttc=26.56s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.63km/h thr=0.24 brk=0.00 str=+0.13 safe=0 progress=68.5% goal=64.06m dL=0.13 ttc=23.07s tl=None credit=0 reason=
[STEP] step=0700 speed= 18.11km/h thr=0.31 brk=0.00 str=-0.04 safe=0 progress=70.9% goal=59.21m dL=0.11 ttc=21.73s tl=None credit=0 reason=
[STEP] step=0720 speed= 20.53km/h thr=0.24 brk=0.00 str=+0.36 safe=0 progress=73.4% goal=53.95m dL=0.09 ttc=18.18s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=74.4% goal=51.99m dL=0.44 ttc=16.65s tl=None credit=0 reason=
[TRAIN] step=45100 critic=15077.6201 actor=17.8934 alpha=0.0100 sigma=0.7696 beta0=0.50
[STEP] step=0760 speed=  8.48km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=74.7% goal=51.41m dL=0.54 ttc=17.22s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.26km/h thr=0.26 brk=0.00 str=-0.28 safe=0 progress=76.8% goal=47.24m dL=0.43 ttc=21.05s tl=None credit=0 reason=
[STEP] step=0800 speed= 19.05km/h thr=0.31 brk=0.00 str=+0.38 safe=0 progress=79.2% goal=42.17m dL=0.25 ttc=16.88s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=80.4% goal=39.88m dL=0.33 ttc=19.36s tl=None credit=0 reason=
[STEP] step=0840 speed=  5.67km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=80.5% goal=39.59m dL=0.38 ttc=20.10s tl=None credit=0 reason=
[TRAIN] step=45200 critic=1898.4490 actor=24.4827 alpha=0.0100 sigma=0.7338 beta0=0.50
[STEP] step=0860 speed= 17.70km/h thr=0.29 brk=0.00 str=-0.45 safe=0 progress=82.4% goal=35.84m dL=0.44 ttc=11.63s tl=None credit=0 reason=
[STEP] step=0880 speed= 19.26km/h thr=0.09 brk=0.00 str=+0.38 safe=0 progress=84.9% goal=30.76m dL=0.08 ttc=9.29s tl=Red credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.75 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=14.48s tl=Red credit=12 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.67 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=12.68s tl=Red credit=32 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.92 str=-0.72 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=11.19s tl=Red credit=52 reason=
[TRAIN] step=45300 critic=2252.0579 actor=21.5368 alpha=0.0100 sigma=0.7538 beta0=0.50
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.96 str=-0.76 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=10.21s tl=Red credit=72 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.93 str=-0.76 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=9.92s tl=Red credit=92 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.89 str=-0.74 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=11.03s tl=Red credit=112 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.94 str=-0.78 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=13.53s tl=Red credit=132 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.90 str=-0.77 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=11.76s tl=Red credit=152 reason=
[TRAIN] step=45400 critic=2548.0708 actor=20.0348 alpha=0.0100 sigma=0.7493 beta0=0.50
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.91 str=-0.71 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=8.84s tl=Red credit=172 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.96 str=-0.75 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=5.59s tl=Red credit=192 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.85 str=-0.84 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=4.53s tl=Red credit=212 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.79 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=3.59s tl=Red credit=232 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.88 str=-0.84 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=2.70s tl=Red credit=252 reason=
[TRAIN] step=45500 critic=3940.3713 actor=14.1453 alpha=0.0100 sigma=0.7723 beta0=0.50
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.87 str=-0.85 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=1.98s tl=Red credit=272 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.91 str=-0.86 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=3.04s tl=Red credit=292 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.89 str=-0.85 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=115.43s tl=Red credit=312 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.93 str=-0.84 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=67.19s tl=Red credit=332 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.85 safe=0 progress=85.6% goal=29.28m dL=0.28 ttc=44.88s tl=Green credit=348 reason=
[TRAIN] step=45600 critic=2959.5701 actor=7.0193 alpha=0.0100 sigma=0.7628 beta0=0.50
[STEP] step=1260 speed=  0.82km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=85.6% goal=29.27m dL=0.29 ttc=34.39s tl=Green credit=328 reason=
[STEP] step=1280 speed= 13.62km/h thr=0.42 brk=0.00 str=-0.18 safe=1 progress=86.7% goal=26.94m dL=0.33 ttc=22.19s tl=Green credit=308 reason=
[STEP] step=1300 speed= 18.11km/h thr=0.40 brk=0.00 str=+0.06 safe=0 progress=89.0% goal=22.41m dL=0.02 ttc=19.95s tl=None credit=288 reason=
[STEP] step=1320 speed= 16.77km/h thr=0.00 brk=0.16 str=+0.11 safe=0 progress=91.4% goal=17.44m dL=0.29 ttc=18.77s tl=None credit=268 reason=
[STEP] step=1340 speed= 10.63km/h thr=0.18 brk=0.00 str=+0.12 safe=0 progress=93.2% goal=13.90m dL=0.19 ttc=18.65s tl=None credit=248 reason=goal
[EP] ep=34 steps=1340 reward=-22.30 success=1 progress=93.2% reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31777 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 110 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=24.15% dL=30.26m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=9 weather=night_rain_fog spawn_idx=110 goal_idx=None route_len=203.4m spawn=(-48.8,-17.2,-0.0) yaw=90.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=203.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[TRAIN] step=45700 critic=7830.5361 actor=8.3544 alpha=0.0100 sigma=0.7850 beta0=0.50
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=0.0% goal=203.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.68km/h thr=0.51 brk=0.00 str=-0.01 safe=1 progress=0.8% goal=201.75m dL=0.01 ttc=17.50s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.95km/h thr=0.00 brk=0.08 str=+0.12 safe=0 progress=3.1% goal=197.04m dL=0.04 ttc=17.28s tl=None credit=0 reason=
[STEP] step=0080 speed=  5.93km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=4.6% goal=194.10m dL=0.17 ttc=41.65s tl=Yellow credit=0 reason=
[STEP] step=0100 speed=  0.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.6% goal=194.05m dL=0.17 ttc=999.00s tl=Yellow credit=0 reason=
[TRAIN] step=45800 critic=4315.1621 actor=17.7504 alpha=0.0100 sigma=0.7872 beta0=0.50
[STEP] step=0120 speed= 15.54km/h thr=0.53 brk=0.00 str=+0.01 safe=1 progress=5.5% goal=192.11m dL=0.08 ttc=15.43s tl=Yellow credit=0 reason=
[STEP] step=0140 speed= 14.47km/h thr=0.00 brk=0.34 str=+0.03 safe=0 progress=7.8% goal=187.43m dL=0.07 ttc=15.42s tl=None credit=0 reason=
[STEP] step=0160 speed=  8.67km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=9.3% goal=184.45m dL=0.20 ttc=24.48s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.13km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=10.9% goal=181.15m dL=0.40 ttc=13.29s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.92km/h thr=0.36 brk=0.00 str=-0.14 safe=0 progress=13.1% goal=176.63m dL=0.36 ttc=11.62s tl=None credit=0 reason=
[TRAIN] step=45900 critic=744.4247 actor=30.3616 alpha=0.0100 sigma=0.7739 beta0=0.50
[STEP] step=0220 speed= 16.62km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=15.4% goal=172.14m dL=0.24 ttc=10.10s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.57km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=17.5% goal=167.69m dL=0.16 ttc=9.18s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.47km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=19.8% goal=163.13m dL=0.07 ttc=7.75s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.00km/h thr=0.10 brk=0.00 str=-0.04 safe=0 progress=22.2% goal=158.30m dL=0.12 ttc=6.94s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.28km/h thr=0.25 brk=0.00 str=+0.05 safe=0 progress=24.4% goal=153.75m dL=0.07 ttc=5.88s tl=None credit=0 reason=
[TRAIN] step=46000 critic=9291.1250 actor=24.3687 alpha=0.0100 sigma=0.7672 beta0=0.50
[STEP] step=0320 speed= 17.92km/h thr=0.38 brk=0.00 str=-0.07 safe=0 progress=26.8% goal=148.94m dL=0.10 ttc=4.71s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.56km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=29.1% goal=144.21m dL=0.10 ttc=4.62s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.63km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=30.7% goal=140.88m dL=0.11 ttc=5.20s tl=None credit=0 reason=
[STEP] step=0380 speed=  7.06km/h thr=0.00 brk=0.07 str=+0.12 safe=0 progress=31.9% goal=138.39m dL=0.04 ttc=6.57s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=7 reason=
[TRAIN] step=46100 critic=4365.3281 actor=23.6231 alpha=0.0100 sigma=0.7587 beta0=0.50
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=27 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.05 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=47 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.03 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=67 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.02 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=87 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.02 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=107 reason=
[TRAIN] step=46200 critic=945.0157 actor=27.5170 alpha=0.0100 sigma=0.7696 beta0=0.50
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=127 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.03 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=147 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.06 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=167 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=187 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=207 reason=
[TRAIN] step=46300 critic=1488.4514 actor=27.9858 alpha=0.0100 sigma=0.7579 beta0=0.50
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.06 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=227 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.03 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=247 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.04 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=267 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=287 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.04 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=307 reason=
[TRAIN] step=46400 critic=15632.1826 actor=12.6671 alpha=0.0100 sigma=0.8383 beta0=0.50
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.04 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=327 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.00 safe=0 progress=32.5% goal=137.17m dL=0.02 ttc=999.00s tl=None credit=347 reason=
[STEP] step=0760 speed=  0.67km/h thr=0.42 brk=0.00 str=-0.06 safe=0 progress=32.6% goal=137.17m dL=0.02 ttc=62.30s tl=None credit=367 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=361 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=381 reason=
[TRAIN] step=46500 critic=3369.1545 actor=21.0411 alpha=0.0100 sigma=0.7801 beta0=0.50
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=401 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.05 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=421 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.05 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=441 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.02 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=461 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=481 reason=
[TRAIN] step=46600 critic=4463.4517 actor=-0.3027 alpha=0.0100 sigma=0.7885 beta0=0.50
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.11 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=501 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.10 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=521 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.12 str=+0.02 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=541 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=561 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=581 reason=
[TRAIN] step=46700 critic=1383.2994 actor=23.0618 alpha=0.0100 sigma=0.7715 beta0=0.50
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.06 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.13 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=46800 critic=1120.2294 actor=16.2727 alpha=0.0100 sigma=0.7821 beta0=0.50
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.05 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.08 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=46900 critic=1458.5062 actor=29.9863 alpha=0.0100 sigma=0.7799 beta0=0.50
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.04 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.11 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47000 critic=4911.0864 actor=22.9934 alpha=0.0100 sigma=0.7582 beta0=0.50
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.02 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.13 str=+0.04 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.02 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47100 critic=4154.4385 actor=24.7364 alpha=0.0100 sigma=0.7898 beta0=0.50
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.05 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.10 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.17 str=+0.09 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.05 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47200 critic=10348.4336 actor=18.5406 alpha=0.0100 sigma=0.7880 beta0=0.50
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.09 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.00 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.18 str=+0.06 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.14 str=-0.06 safe=0 progress=32.8% goal=136.56m dL=0.01 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47300 critic=1444.0559 actor=24.9026 alpha=0.0100 sigma=0.7843 beta0=0.50
[STEP] step=1620 speed=  2.11km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=32.9% goal=136.48m dL=0.01 ttc=18.74s tl=None credit=597 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.08 safe=0 progress=33.1% goal=136.08m dL=0.02 ttc=999.00s tl=None credit=599 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.02 safe=0 progress=33.1% goal=136.08m dL=0.02 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.02 safe=0 progress=33.1% goal=136.08m dL=0.02 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1700 speed=  0.22km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=33.1% goal=136.08m dL=0.02 ttc=172.90s tl=None credit=600 reason=
[TRAIN] step=47400 critic=2426.7659 actor=33.4852 alpha=0.0100 sigma=0.7896 beta0=0.50
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.03 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=599 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.06 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.00 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.00 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1800 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.06 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47500 critic=782.4115 actor=35.1545 alpha=0.0100 sigma=0.7756 beta0=0.50
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.11 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.04 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47600 critic=2561.3027 actor=28.7928 alpha=0.0100 sigma=0.7892 beta0=0.50
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.05 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.01 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.04 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.02 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47700 critic=1318.0964 actor=32.4861 alpha=0.0100 sigma=0.7727 beta0=0.50
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.03 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.14 str=+0.09 safe=0 progress=33.2% goal=135.77m dL=0.03 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=33.4% goal=135.46m dL=0.04 ttc=999.00s tl=None credit=592 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.03 safe=0 progress=33.4% goal=135.46m dL=0.04 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2100 speed=  2.21km/h thr=0.11 brk=0.00 str=+0.01 safe=0 progress=33.5% goal=135.25m dL=0.05 ttc=15.86s tl=None credit=592 reason=
[TRAIN] step=47800 critic=714.3167 actor=31.6872 alpha=0.0100 sigma=0.7659 beta0=0.50
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.04 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.01 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.08 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.00 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.00 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[TRAIN] step=47900 critic=2040.1316 actor=28.4551 alpha=0.0100 sigma=0.7884 beta0=0.50
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.15 str=+0.01 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.10 safe=0 progress=33.5% goal=135.21m dL=0.06 ttc=999.00s tl=None credit=600 reason=
[CAL] step=50000 fitted=1 center=0.0635 scale=0.0798 beta0=0.50
[OK] Saved checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[EVAL step=50000] skipping cross-town eval (Town10HD_Opt→Town02).
[OK] Final checkpoint saved: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
[OK] Best checkpoint saved : /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent_best.pt
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 31788 (sensor.other.collision) 
(safe) umb@umb:~/Desktop/car2$ 


