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Itaicaspi/episode reset refactoring (#105)

Browse Source 
* reordering of the episode reset operation and allowing to store episodes only when they are terminated

* reordering of the episode reset operation and allowing to store episodes only when they are terminated

* revert tensorflow-gpu to 1.9.0 + bug fix in should_train()

* tests readme file and refactoring of policy optimization agent train function

* Update README.md

* Update README.md

* additional policy optimization train function simplifications

* Updated the traces after the reordering of the environment reset

* docker and jenkins files

* updated the traces to the ones from within the docker container

* updated traces and added control suite to the docker

* updated jenkins file with the intel proxy + updated doom basic a3c test params

* updated line breaks in jenkins file

* added a missing line break in jenkins file

* refining trace tests ignored presets + adding a configurable beta entropy value

* switch the order of trace and golden tests in jenkins + fix golden tests processes not killed issue

* updated benchmarks for dueling ddqn breakout and pong

* allowing dynamic updates to the loss weights + bug fix in episode.update_returns

* remove docker and jenkins file
This commit is contained in:
Itai Caspi
2018-09-04 15:07:54 +03:00
committed by GitHub
parent 7086492127
commit 72a1d9d426
92 changed files with 9803 additions and 9740 deletions
Download Patch File Download Diff File Expand all files Collapse all files

266
rl_coach/traces/Atari_NStepQ_breakout/trace.csv
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@@ -36,131 +36,141 @@ Episode #,Training Iter,In Heatup,ER #Transitions,ER #Episodes,Episode Length,To
35,0.0,1.0,14.0,1.0,14.0,952.0,0.5,,,0.0,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
36,0.0,1.0,24.0,1.0,24.0,976.0,0.5,,,0.0,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
37,0.0,1.0,52.0,1.0,52.0,1028.0,0.5,,,0.0,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
38,5.0,0.0,24.0,1.0,24.0,1052.0,0.4997647999999999,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.07489359,0.041573647000000005,0.16390917,0.0040994594,0.09837681,0.19166197,0.48168,0.00042801094000000003
39,16.0,0.0,52.0,1.0,52.0,1104.0,0.4992551999999997,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.100721285,0.032967872999999995,0.1681471,0.00045936348,0.02142299,0.051950752999999995,0.18503354,0.0013631048999999998
40,20.0,0.0,17.0,1.0,17.0,1121.0,0.4990885999999996,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.06274524,0.04507676,0.13320798,-0.0021532392,0.0037312931,0.0028375557,0.00860327,0.001735469
41,25.0,0.0,24.0,1.0,24.0,1145.0,0.4988533999999995,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.033566747,0.029472815,0.10234715,-0.0072106626,0.0025086203,0.003664943,0.009735747,2.0691083e-05
42,30.0,0.0,24.0,1.0,24.0,1169.0,0.4986181999999994,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.01666107,0.020928731000000002,0.05481066,-0.021686597000000002,0.0014784338,0.0006860672999999999,0.0025117162,0.0005052351599999999
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110,540.0,0.0,24.0,1.0,24.0,3649.0,0.4743141999999889,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.15492682,0.024075867999999997,0.17709275,0.107106484,0.000578495,0.00018150120999999998,0.00082901045,0.0003250992
111,553.0,0.0,63.0,1.0,63.0,3712.0,0.4736967999999886,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13187033,0.020867221000000002,0.1591769,0.09112801400000001,0.033951048,0.11125334,0.402933,2.0686493e-06
112,558.0,0.0,24.0,1.0,24.0,3736.0,0.4734615999999885,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13450405,0.021080097000000002,0.15732937,0.09367559,0.0007048858,0.00018798986,0.00101309,0.0005062971
113,563.0,0.0,24.0,1.0,24.0,3760.0,0.4732263999999884,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.1327385,0.019823495,0.15519121,0.09578245,0.0006684233,0.00017721542000000002,0.00092492515,0.0004564471599999999
114,568.0,0.0,24.0,1.0,24.0,3784.0,0.4729911999999883,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13016468,0.01777938,0.15119131,0.09623605,0.00038325385000000003,0.00040066040000000003,0.0010375273,5.5099033e-05
115,573.0,0.0,24.0,1.0,24.0,3808.0,0.4727559999999882,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.1273359,0.01559575,0.14209288,0.09696039999999999,0.00042572617999999995,0.00022562694,0.0006660416999999999,5.717554e-05
116,578.0,0.0,24.0,1.0,24.0,3832.0,0.4725207999999881,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12270597,0.015294602,0.13775864,0.09500805,0.0014557038,0.0007879191,0.0026663772,0.0005009419000000001
117,583.0,0.0,24.0,1.0,24.0,3856.0,0.472285599999988,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11822992,0.013633291,0.1358129,0.092634775,0.0007712595,5.4886445e-05,0.0008234402,0.00068120897
118,594.0,0.0,52.0,1.0,52.0,3908.0,0.4717759999999878,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.119709335,0.012039065,0.14269781,0.09605235599999999,0.020499032,0.060374234000000006,0.20162049999999998,1.7829649e-05
119,597.0,0.0,15.0,1.0,15.0,3923.0,0.4716289999999877,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12531243,0.013167278999999999,0.14553232,0.10608052,9.865084999999999e-05,7.2366565e-05,0.00017101741000000002,2.6284288000000002e-05
120,608.0,0.0,54.0,1.0,54.0,3977.0,0.4710997999999874,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12277151,0.009114103,0.14273345,0.107969925,0.04129278,0.12317698,0.41082337,1.2265547e-05
121,613.0,0.0,24.0,1.0,24.0,4001.0,0.4708645999999874,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12766299,0.009738948,0.149345,0.11170484,0.0002595397,0.00017244433999999997,0.0005439982,9.2998554e-05
122,618.0,0.0,24.0,1.0,24.0,4025.0,0.4706293999999873,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13518813,0.0105321435,0.1553072,0.11934577,0.00023753717999999997,0.00012391437,0.00043323162000000003,0.00010451234
123,627.0,0.0,44.0,1.0,44.0,4069.0,0.4701981999999871,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13889104,0.0117830215,0.16273786,0.11818285,0.07542173,0.19903158,0.6020098,9.771427e-05
124,632.0,0.0,24.0,1.0,24.0,4093.0,0.46996299999998703,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14967702,0.011989292,0.16812429,0.13193959,0.00032303244,0.00015617584,0.0005065509999999999,0.00012767182
125,637.0,0.0,24.0,1.0,24.0,4117.0,0.4697277999999869,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14517184,0.010316819,0.16426559999999998,0.13073336,0.00029161404,0.00016902651999999997,0.0005793628,0.00015367693000000002
126,642.0,0.0,24.0,1.0,24.0,4141.0,0.4694925999999868,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13430846,0.007582524,0.14599809,0.120344624,7.422041999999999e-05,3.6584977e-05,0.00012584597,2.2530645e-05
127,647.0,0.0,24.0,1.0,24.0,4165.0,0.4692573999999866,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12441199,0.0042165252000000005,0.13642648,0.11506612599999999,0.0005136468700000001,0.00011599093999999999,0.0006731466,0.00037820492
128,652.0,0.0,24.0,1.0,24.0,4189.0,0.4690221999999866,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11703958,0.0037335916,0.12587266,0.106892586,0.0008389748399999999,0.00012603558000000002,0.0010086133,0.0006702364999999999
129,657.0,0.0,24.0,1.0,24.0,4213.0,0.4687869999999865,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11241161,0.0048462343,0.12605634,0.10357543,0.0016036438000000001,0.00036465693999999997,0.00218902,0.0012113695
130,662.0,0.0,24.0,1.0,24.0,4237.0,0.4685517999999864,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11255008,0.009451174,0.13003199,0.09711216,0.0016033652,0.000338784,0.0018876227999999999,0.0010279019
131,667.0,0.0,24.0,1.0,24.0,4261.0,0.4683165999999863,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11270639999999998,0.009879856999999999,0.13445713,0.09336645,0.0013903792999999998,0.00016632567999999998,0.0015531663,0.001113867
132,687.0,0.0,101.0,1.0,101.0,4362.0,0.4673267999999858,2.0,2.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12976664,0.026280496,0.23639223,0.10493989999999999,0.061677712999999995,0.21542408,0.95588654,0.00023809135
133,698.0,0.0,54.0,1.0,54.0,4416.0,0.4667975999999856,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.17283638,0.03430677,0.23981228,0.1403031,0.03861051,0.10121483,0.34222603,0.0016437687
134,709.0,0.0,53.0,1.0,53.0,4469.0,0.4662781999999854,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.16038841,0.021553371,0.21902068,0.12692267,0.040070735,0.11592526,0.38782096,0.00021260299
135,714.0,0.0,24.0,1.0,24.0,4493.0,0.4660429999999853,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14782842,0.004730834000000001,0.15554644,0.13958603,5.1121322e-05,2.2554244e-05,8.121060999999999e-05,1.7655197000000002e-05
136,719.0,0.0,24.0,1.0,24.0,4517.0,0.4658077999999852,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.15219575,0.0045813974,0.16462322,0.14354335,3.6682093e-05,3.9154856e-05,0.00010363438,4.187522e-06
137,735.0,0.0,79.0,1.0,79.0,4596.0,0.4650335999999848,2.0,2.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14927807,0.02445258,0.21949688,0.116397515,0.09203096,0.23247552,0.7739242,8.25909e-06
138,740.0,0.0,24.0,1.0,24.0,4620.0,0.4647983999999847,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.16510426,0.03335811,0.20976198,0.1099463,0.00247259,0.0009678101600000001,0.0034944774,0.0010334637
139,745.0,0.0,24.0,1.0,24.0,4644.0,0.4645631999999846,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.15071858,0.028405872999999998,0.18778744,0.100189805,0.0009824486,0.0002127709,0.0013414405,0.0008015005000000001
140,750.0,0.0,24.0,1.0,24.0,4668.0,0.4643279999999845,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13998653,0.024388257000000003,0.17621326,0.10564081,0.0005464454,0.00025059999999999997,0.0008220394,0.00016789009999999997
141,787.0,0.0,185.0,1.0,185.0,4853.0,0.4625149999999837,4.0,4.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14335863,0.035385564,0.2699377,0.095115155,0.07332901,0.2077105,0.81454057,2.5846208000000002e-05
142,798.0,0.0,52.0,1.0,52.0,4905.0,0.4620053999999835,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.18069276,0.033956897,0.26724359999999997,0.15036213,0.02253583,0.04838466599999999,0.16743654,0.00262629
143,809.0,0.0,54.0,1.0,54.0,4959.0,0.4614761999999833,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.15307872,0.014833701000000001,0.19672088,0.12596223,0.03994921,0.11748963,0.39241263,3.6323578000000006e-05
144,814.0,0.0,24.0,1.0,24.0,4983.0,0.4612409999999832,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14062423,0.013190547,0.15487877,0.11479163,0.00025558134,0.00014884171999999998,0.0004887198400000001,7.4275245e-05
145,819.0,0.0,24.0,1.0,24.0,5007.0,0.4610057999999831,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14494963,0.011490471,0.15995255,0.12011648,0.00014714585,9.047994000000001e-05,0.00029176872,6.2081235e-05
146,830.0,0.0,52.0,1.0,52.0,5059.0,0.4604961999999829,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13679075,0.012300746000000001,0.15838829,0.112608925,0.019659923,0.058483962,0.19511145,4.720927e-06
147,831.0,0.0,2.0,1.0,2.0,5061.0,0.4604765999999829,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
148,836.0,0.0,24.0,1.0,24.0,5085.0,0.4602413999999828,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13276483,0.01899585,0.16289914,0.10159221,0.00046911344000000004,0.00011695996999999999,0.00059117115,0.0003365264
149,841.0,0.0,24.0,1.0,24.0,5109.0,0.4600061999999826,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11900536,0.017314076,0.14810766,0.08748884,0.0002714075,0.00029301593999999997,0.0007770185,6.420755999999999e-05
150,846.0,0.0,24.0,1.0,24.0,5133.0,0.4597709999999826,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11262725,0.013697484499999999,0.1282893,0.08710891,0.00094097765,0.00022069717,0.0013072229,0.0007392394000000001
151,850.0,0.0,18.0,1.0,18.0,5151.0,0.4595945999999825,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.107294805,0.011326194,0.12054111,0.08467492,0.0010227173,0.0002994995,0.0014382435,0.0007438673599999999
152,855.0,0.0,24.0,1.0,24.0,5175.0,0.4593593999999824,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10360303,0.012907699,0.11896962,0.07709195,0.0015324937,0.00028596772000000003,0.0019801364,0.0012224992
153,860.0,0.0,24.0,1.0,24.0,5199.0,0.4591241999999823,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10436385,0.013215329,0.11958277,0.08073024,0.0011726351,0.00022281947999999997,0.0014616349,0.0008782896000000001
154,865.0,0.0,24.0,1.0,24.0,5223.0,0.4588889999999822,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10370237,0.011034828,0.117495686,0.081327975,0.0019504072,0.00033863324999999994,0.0023433554000000002,0.0014090568
155,870.0,0.0,24.0,1.0,24.0,5247.0,0.4586537999999821,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.1071472,0.014526441999999999,0.12706271,0.08139216,0.0013260813,0.00034142094,0.0017038131,0.0008064181
156,873.0,0.0,14.0,1.0,14.0,5261.0,0.45851659999998207,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10734959,0.014710395,0.12522231,0.08465682,0.0015697895000000002,0.00035586138,0.0019256509,0.0012139281
157,878.0,0.0,24.0,1.0,24.0,5285.0,0.4582813999999819,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10895019,0.014535122,0.12413476,0.08180543,0.0013827297,0.0002729706,0.0016734779000000001,0.0010050092
158,883.0,0.0,24.0,1.0,24.0,5309.0,0.4580461999999818,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10796832,0.014337505,0.12455883599999999,0.07926455,0.0014147348999999998,0.0004294976,0.00192655,0.0008834217
159,888.0,0.0,24.0,1.0,24.0,5333.0,0.4578109999999817,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10801206,0.00953539,0.12176802,0.09115314,0.0017978395999999998,0.00039005443,0.002391469,0.0013005999999999998
160,893.0,0.0,24.0,1.0,24.0,5357.0,0.4575757999999816,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11153528,0.011672364,0.12790745,0.08654026,0.0011660854,0.00041703233999999996,0.0017167032,0.0006996465400000001
161,898.0,0.0,24.0,1.0,24.0,5381.0,0.4573405999999815,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.112158105,0.009146493,0.122860804,0.09450192,0.0009177982000000001,0.0002018486,0.0011716585,0.00063285226
162,903.0,0.0,24.0,1.0,24.0,5405.0,0.4571053999999814,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11256131,0.0081875045,0.12155639,0.09498049,0.0012709271,0.00016790976000000002,0.001486785,0.0010691121000000001
163,925.0,0.0,107.0,1.0,107.0,5512.0,0.456056799999981,2.0,2.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13265494,0.022235807000000003,0.20342045,0.10337451,0.047393415,0.16917023,0.77786344,5.891577e-06
164,936.0,0.0,52.0,1.0,52.0,5564.0,0.4555471999999807,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.16775152,0.034592744,0.21690075,0.12469836,0.019585716,0.053722862,0.18075037,0.0012703257000000001
165,941.0,0.0,24.0,1.0,24.0,5588.0,0.4553119999999806,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.16440016,0.030154271,0.21072444,0.118458614,0.0017104656,0.0005326561,0.002520473,0.001076328
166,946.0,0.0,24.0,1.0,24.0,5612.0,0.4550767999999805,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14498839,0.021894254,0.17866746,0.11195495,0.0005141074,0.00021872125,0.00083028735,0.00023929587000000004
167,951.0,0.0,24.0,1.0,24.0,5636.0,0.4548415999999804,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12669672,0.014539792,0.15282796,0.102609225,0.0004388286,0.00015830748,0.0006999367999999999,0.0002763644
168,956.0,0.0,24.0,1.0,24.0,5660.0,0.4546063999999803,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.11536579,0.010503262,0.13021372,0.095301025,0.001149778,0.00035682824,0.0016598359,0.0006639573
169,961.0,0.0,24.0,1.0,24.0,5684.0,0.4543711999999802,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.10488323,0.005277899999999999,0.11544744,0.09693652400000001,0.0017318070000000001,0.00013360755,0.0018398091,0.0015056461999999999
170,966.0,0.0,24.0,1.0,24.0,5708.0,0.4541359999999801,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.105216764,0.0075725390000000005,0.118058234,0.09235613,0.0019692238000000003,0.00010344101999999999,0.0020803378,0.0018038084
171,974.0,0.0,41.0,1.0,41.0,5749.0,0.45373419999998,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.12052059,0.0163179,0.15967733,0.09158137,0.1477886,0.36075962,1.0314649999999999,8.4346495e-05
172,985.0,0.0,52.0,1.0,52.0,5801.0,0.4532245999999797,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14404112,0.016613776,0.17051353,0.11443004,0.019605,0.057585500000000005,0.19236107,0.00020093292
173,989.0,0.0,18.0,1.0,18.0,5819.0,0.4530481999999797,0.0,0.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14779656,0.017011693,0.17241506,0.11987831,0.00058232836,7.8220146e-05,0.0006573502000000001,0.0004744159
174,1000.0,0.0,54.0,1.0,54.0,5873.0,0.4525189999999794,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.13871170000000002,0.01599524,0.16851415,0.11912651,0.039656658,0.11832682,0.39463702,0.0001072101
175,1011.0,0.0,52.0,1.0,52.0,5925.0,0.4520093999999792,1.0,1.0,0.0,,,,,,,,,,,,,,,,,,,,,,,,0.14527567,0.009964919000000001,0.16790026,0.13074793,0.019625053,0.058338307,0.19463970000000003,3.7354217e-05
1 Episode # Training Iter In Heatup ER #Transitions ER #Episodes Episode Length Total steps Epsilon Shaped Training Reward Training Reward Update Target Network Evaluation Reward Shaped Evaluation Reward Success Rate Loss/Mean Loss/Stdev Loss/Max Loss/Min Learning Rate/Mean Learning Rate/Stdev Learning Rate/Max Learning Rate/Min Grads (unclipped)/Mean Grads (unclipped)/Stdev Grads (unclipped)/Max Grads (unclipped)/Min Entropy/Mean Entropy/Stdev Entropy/Max Entropy/Min Q/Mean Q/Stdev Q/Max Q/Min Q Values/Mean Q Values/Stdev Q Values/Max Q Values/Min Value Loss/Mean Value Loss/Stdev Value Loss/Max Value Loss/Min
36 35 0.0 1.0 14.0 1.0 14.0 952.0 0.5 0.0
37 36 0.0 1.0 24.0 1.0 24.0 976.0 0.5 0.0
38 37 0.0 1.0 52.0 1.0 52.0 1028.0 0.5 0.0
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