From 9558dc882da995f0b0029f2039b68f4baeaa2283 Mon Sep 17 00:00:00 2001 From: aleflabo Date: Thu, 1 Aug 2024 13:54:02 +0200 Subject: [PATCH] initial_commit --- crowd_nav/README.md | 70 +- crowd_nav/correlation_analisys.ipynb | 668 - crowd_nav/drl-failing.txt | 349 - crowd_nav/drl_final.txt | 277 - crowd_nav/launch_commands.txt | 3 - crowd_nav/log.txt | 79080 ------------------------- crowd_nav/record | 719 - crowd_nav/social-forces-failing.txt | 277 - crowd_nav/social_forces.txt | 265 - crowd_nav/tsrl5humannoh.out | 400 - crowd_sim/envs/crowd_sim_old.py | 923 - crowd_sim/envs/crowd_sim_temp.py | 1213 - 12 files changed, 22 insertions(+), 84222 deletions(-) delete mode 100644 crowd_nav/correlation_analisys.ipynb delete mode 100644 crowd_nav/drl-failing.txt delete mode 100644 crowd_nav/drl_final.txt delete mode 100644 crowd_nav/launch_commands.txt delete mode 100644 crowd_nav/log.txt delete mode 100644 crowd_nav/record delete mode 100644 crowd_nav/social-forces-failing.txt delete mode 100644 crowd_nav/social_forces.txt delete mode 100644 crowd_nav/tsrl5humannoh.out delete mode 100644 crowd_sim/envs/crowd_sim_old.py delete mode 100644 crowd_sim/envs/crowd_sim_temp.py diff --git a/crowd_nav/README.md b/crowd_nav/README.md index 3f100ed..7109f27 100644 --- a/crowd_nav/README.md +++ b/crowd_nav/README.md @@ -1,18 +1,20 @@ -# Improving robot navigation in crowded environments using intrinsic rewards (ICRA 2023) +# Hyp²Nav: Hyperbolic Planning and Curiosity for Crowd Navigation (IROS 2024) -# [Paper](https://arxiv.org/abs/2302.06554) || [Video](https://youtu.be/Ksbok2YM9YY) +_Guido D'Amely*, Alessandro Flaborea*, Pascal Mettes, Fabio Galasso_ -## Poster - + +The official PyTorch implementation of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2024 paper [**Hyp²Nav: Hyperbolic Planning and Curiosity for Crowd Navigation**](https://arxiv.org/abs/2407.13567). + + +![Watch the video](video/iros_video.gif) ## Abstract -Autonomous navigation in crowded environments is an open problem with many applications, essential for the coexistence of robots and humans in the smart cities of the future. In recent years, deep reinforcement learning approaches have proven to outperform model-based algorithms. Nevertheless, even though the results provided are promising, the works are not able to take advantage of the capabilities that their models offer. They usually get trapped in local optima in the training process, that prevent them from learning the optimal policy. They are not able to visit and interact with every possible state appropriately, such as with the states near the goal or near the dynamic obstacles. In this work, we propose using intrinsic rewards to balance between exploration and exploitation and explore depending on the uncertainty of the states instead of on the time the agent has been trained, encouraging the agent to get more curious about unknown states. We explain the benefits of the approach and compare it with other exploration algorithms that may be used for crowd navigation. Many simulation experiments are performed modifying several algorithms of the state-of-the-art, showing that the use of intrinsic rewards makes the robot learn faster and reach higher rewards and success rates (fewer collisions) in shorter navigation times, outperforming the state-of-the-art. +Autonomous robots are increasingly becoming a strong fixture in social environments. Effective crowd navigation requires not only safe yet fast planning, but should also enable interpretability and computational efficiency for working in real-time on embedded devices. In this work, we advocate for hyperbolic learning to enable crowd navigation and we introduce Hyp2Nav. Different from conventional reinforcement learning-based crowd navigation methods, Hyp2Nav leverages the intrinsic properties of hyperbolic geometry to better encode the hierarchical nature of decision-making processes in navigation tasks. We propose a hyperbolic policy model and a hyperbolic curiosity module that results in effective social navigation, best success rates, and returns across multiple simulation settings, using up to 6 times fewer parameters than competitor state-of-the-art models. With our approach, it becomes even possible to obtain policies that work in 2-dimensional embedding spaces, opening up new possibilities for low-resource crowd navigation and model interpretability. Insightfully, the internal hyperbolic representation of Hyp2Nav correlates with how much attention the robot pays to the surrounding crowds, e.g. due to multiple people occluding its pathway or to a few of them showing colliding plans, rather than to its own planned route. ## Setup 1. Install [Python-RVO2](https://github.com/sybrenstuvel/Python-RVO2) library -### added by aleflabo - clone Python-RVO2 and cd in the repo - `sudo apt-get install cmake` - `cmake build .` @@ -27,12 +29,9 @@ Autonomous navigation in crowded environments is an open problem with many appli - `git clone git@github.com:sybrenstuvel/Python-RVO2.git` (the Python-RVO2 repo) - python setup.py install 2. Install [socialforce](https://github.com/ChanganVR/socialforce) library -### added by aleflabo - pip install 'socialforce[test,plot]' 3. Install crowd_sim and crowd_nav into pip -``` -pip install -e . -``` +`pip install -e .` ## Getting Started This repository are organized in two parts: crowd_sim/ folder contains the simulation environment and crowd_nav/ folder contains codes for training and testing the policies. Details of the simulation framework can be found [here](crowd_sim/README.md). Below are the instructions for training and testing policies, and they should be executed @@ -40,59 +39,34 @@ inside the crowd_nav/ folder. 1. Train a policy. ``` - python train.py --policy tree-search-rl --output_dir data/tsrl_random_encoder/ --config configs/icra_benchmark/ts_separate_random_encoder.py -``` -with ICM and wandb: -``` - python train.py --policy tree-search-rl --output_dir data/tsrl_random_encoder/ --config configs/icra_benchmark/ts_separate_curiosity.py --gpu --wandb_mode online --wandb_name ICM -``` -``` -python train.py --policy tree-search-rl --output_dir data/HyperVnet_HHICM_embDim=from32to2/ --config configs/icra_benchmark/ts_HVNet_Hypercuriosity.py --gpu --wandb_mode online --wandb_name HyperVnet_HHICM_embDim=from32to2 --embedding_dimension=2 +python train.py --policy tree-search-rl --output_dir data/model_name/ --config configs/icra_benchmark/ts_HVNet_Hypercuriosity.py --gpu --wandb_mode online --wandb_name name_of_the_run --embedding_dimension=[2,128] ``` + 2. Test policies with 1000 test cases. ``` -python test.py --model_dir data/ICM_reproducing/ +python test.py --model_dir data/model_name --hyperbolic --embedding_dimension [2,64,128] --gpu --device cuda:0 ``` + 3. Run policy for one episode and visualize the result. ``` -python test.py --policy tree-search-rl --model_dir data/tsrl_random_encoder/ --phase test --visualize --test_case 0 -``` -``` -python test.py --model_dir data/360_HyperVnet_HHICM_embDim=from32to2_human10 --hyperbolic --embedding_dimension 64 --gpu --device cuda:0 -``` -``` -python test.py --policy tree-search-rl --model_dir data/360_HyperVnet_HHICM_embDim=from32to2_human10 --phase test --visualize --test_case 50 --hyperbolic --video_file /home/aflabor/HypeRL/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2/video_model_HHICM_embDIm=2_test_50.gif --embedding_dimension 2 -``` -visualization -``` -python test.py --policy tree-search-rl --model_dir data/360_HyperVnet_HHICM_embDim=from32to2_human10 --phase test --visualize --test_case 35 --hyperbolic --video_file /home/aleflabo/amsterdam/intrinsic-rewards-navigation/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2_human10/video_submission/video_model_HHICM_embDIm=2_test_ --embedding_dimension 2 --human_num 10 +python test.py --policy tree-search-rl --model_dir data/model_name --phase test --visualize --test_case [1,..,1000] --hyperbolic --video_file /path/to/video/file_path/ --embedding_dimension [2,128] --human_num [5,10] ``` Note that in **run_experiments_icra.sh**, some examples of how to train different policies with several exploration algorithms. In **configs/icra_benchmark/**, all the configurations used for testing are shown. -## Improving SG-D3QN - - - - -## Improving other models - - - ## Acknowledge -This work is based on [CrowdNav](https://github.com/vita-epfl/CrowdNav) and [RelationalGraphLearning](https://github.com/ChanganVR/RelationalGraphLearning) and [SG-D3QN](https://github.com/nubot-nudt/SG-D3QN). The authors are thankful for their works and for making them available. +This work is based on [CrowdNav](https://github.com/vita-epfl/CrowdNav) and [RelationalGraphLearning](https://github.com/ChanganVR/RelationalGraphLearning) and [SG-D3QN](https://github.com/nubot-nudt/SG-D3QN) and [SG-D3QN-intrinsic](https://github.com/dmartinezbaselga/intrinsic-rewards-navigation). The authors are thankful for their works and for making them available. ## Citation If you use this work in your own research or wish to refer to the paper's results, please use the following BibTeX entries. ```bibtex -@inproceedings{martinez2023improving, - author = {Martinez-Baselga, Diego and Riazuelo, Luis and Montano, Luis}, - booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)}, - title = {Improving robot navigation in crowded environments using intrinsic rewards}, - year = {2023}, - pages = {9428-9434}, - doi = {10.1109/ICRA48891.2023.10160876}, - url = {https://arxiv.org/abs/2302.06554} +@inproceedings{damely24hyp2nav, + author = {Di Melendugno, Guido Maria D'Amely and Flaborea, Alessandro and Mettes, Pascal and Galasso, Fabio}, + booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, + title = {Hyp2Nav: Hyperbolic Planning and Curiosity for Crowd Navigation}, + year = {2024}, + url = {https://arxiv.org/abs/2407.13567} } + diff --git a/crowd_nav/correlation_analisys.ipynb b/crowd_nav/correlation_analisys.ipynb deleted file mode 100644 index 286ce8c..0000000 --- a/crowd_nav/correlation_analisys.ipynb +++ /dev/null @@ -1,668 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [], - "source": [ - "import numpy as np\n", - "import matplotlib.pyplot as plt\n", - "import os " - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": {}, - "outputs": [], - "source": [ - "discomfort = np.load(f'/home/aflabor/HypeRL/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2_human10/positions/{0}/entropy.npy', allow_pickle=True)" - ] - }, - { - "cell_type": "code", - "execution_count": 25, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "(7,\n", - " array([0.09956968, 0.01478561, 0.01321115, 0.08638684, 0.01584752,\n", - " 0.01130785, 0.01236567, 0.20554571, 0.04701755, 0.016141 ],\n", - " dtype=float32),\n", - " 10)" - ] - }, - "execution_count": 25, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "attention_weights = np.load(f'/home/aflabor/HypeRL/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2_human10/positions/{0}/attention_weights.npy')\n", - "np.argmax(attention_weights[0,1:]), attention_weights[0,1:], human_positions.shape[1]" - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": {}, - "outputs": [], - "source": [ - "distance_agg = []\n", - "raddi_total = []\n", - "attention_weights_total = []\n", - "discomfort_total = []\n", - "entropy_total = []\n", - "dist_per_timestep = {}\n", - "radii_per_timestep = {}\n", - "robot_attention_weights_per_timestep = {}\n", - "human_attention_weights_per_timestep = {}\n", - "discomfort_per_timestep = {}\n", - "entropy_per_timestep = {}\n", - "distance = 'attention_based'\n", - "path = '/home/aleflabo/amsterdam/intrinsic-rewards-navigation/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2_human10/positions/'\n", - "for test_case in range(600):\n", - "\n", - " human_positions = np.load(f'{path}{test_case}/human_positions.npy')\n", - " robot_positions = np.load(f'{path}{test_case}/robot_positions.npy')\n", - " radii = np.load(f'{path}{test_case}/radii.npy')\n", - " attention_weights = np.load(f'{path}{test_case}/attention_weights.npy')\n", - " # discomfort = np.load(f'{path}{test_case}/discomfort.npy')\n", - " # entropy = np.load(f'{path}{test_case}/entropy.npy')\n", - "\n", - " raddi_total += list(radii)\n", - " # discomfort_total += list(discomfort)\n", - " # discomfort_total.append(discomfort_total[-1])\n", - " attention_weights_total += list(attention_weights[:,0])\n", - " # entropy_total += list(entropy.reshape(-1))\n", - " for timestep in range(human_positions.shape[0]):\n", - " dist = []\n", - " if distance == 'simple':\n", - " for human in range(human_positions.shape[1]):\n", - " \n", - " dist.append(np.linalg.norm(human_positions[timestep, human] - robot_positions[timestep]))\n", - " distance_agg.append(np.mean(dist))\n", - "\n", - " elif distance == 'attention_based':\n", - " higher_human_attention_idx = np.argmax(attention_weights[0,1:]) - 1 \n", - " dist = np.linalg.norm(human_positions[timestep, higher_human_attention_idx] - robot_positions[timestep])\n", - " att = attention_weights[timestep,higher_human_attention_idx+1]\n", - " distance_agg.append(dist)\n", - "\n", - " if timestep in dist_per_timestep.keys():\n", - " dist_per_timestep[timestep].append(np.mean(dist))\n", - " radii_per_timestep[timestep].append(list(radii)[timestep])\n", - " robot_attention_weights_per_timestep[timestep].append(1-attention_weights[timestep,0])\n", - " human_attention_weights_per_timestep[timestep].append(att)\n", - " # entropy_per_timestep[timestep].append(entropy.reshape(-1)[timestep])\n", - " # try:\n", - " # discomfort_per_timestep[timestep].append(discomfort[timestep])\n", - " # except:\n", - " # discomfort_per_timestep[timestep].append(discomfort[timestep-1])\n", - " else:\n", - " dist_per_timestep[timestep] = [np.mean(dist)]\n", - " radii_per_timestep[timestep] = [radii[timestep]]\n", - " robot_attention_weights_per_timestep[timestep] = [1-attention_weights[timestep,0]]\n", - " human_attention_weights_per_timestep[timestep] = [att]\n", - " # entropy_per_timestep[timestep] = [entropy.reshape(-1)[timestep]]\n", - " # try:\n", - " # discomfort_per_timestep[timestep] = [discomfort[timestep]]\n", - " # except:\n", - " # discomfort_per_timestep[timestep] = [discomfort[timestep-1]]" - ] - }, - { - "cell_type": "code", - "execution_count": 66, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "" - ] - }, - "execution_count": 66, - "metadata": {}, - "output_type": "execute_result" - }, - { - "data": { - "image/png": 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" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "# bigger fig size\n", - "\n", - "scaled_distance_agg = (distance_agg - np.min(distance_agg)) / (np.max(distance_agg) - np.min(distance_agg))\n", - "plt.figure(figsize=(12, 8))\n", - "# plt.plot(raddi_total,scaled_distance_agg, 'o')\n", - "plt.plot(raddi_total,entropy_total, 'o')\n", - "\n", - "plt.xlabel('Radii')\n", - "plt.ylabel('Average distance')\n", - "plt.title('Average distance between robot and humans')\n", - "plt.show" - ] - }, - { - "cell_type": "code", - "execution_count": 74, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "0.12880468967000938" - ] - }, - "execution_count": 74, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "# measure the correlation between the two variables\n", - "np.corrcoef(raddi_total, entropy_total)[0, 1]" - ] - }, - { - "cell_type": "code", - "execution_count": 17, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "99 0.07331514 0.1737122\n" - ] - } - ], - "source": [ - "for test_case in range(700):\n", - " radii = np.load(f'{path}{test_case}/radii.npy')\n", - " attention_weights = np.load(f'{path}{test_case}/attention_weights.npy')\n", - " if radii[16] < 0.2 and attention_weights[16,0] < 0.2:\n", - " print(test_case, radii[16], attention_weights[16,0])" - ] - }, - { - "cell_type": "code", - "execution_count": 72, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", 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", 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", 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", 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", 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", 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", - "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "for timestep in [2, 3, 4, 5, 10, 20, 30, 40]:\n", - "# for timestep in range(10):\n", - " scaled_distance_agg = (dist_per_timestep[timestep] - min(dist_per_timestep[timestep])) / (max(dist_per_timestep[timestep]) - min(dist_per_timestep[timestep]))\n", - " scaled_human_attention_weights = (human_attention_weights_per_timestep[timestep] - min(human_attention_weights_per_timestep[timestep])) / (max(human_attention_weights_per_timestep[timestep]) - min(human_attention_weights_per_timestep[timestep]))\n", - " plt.figure(figsize=(10, 5))\n", - " # plt.plot(radii_per_timestep[timestep],scaled_human_attention_weights, 'o', label='Highest attention weights', alpha=0.5)\n", - " # plt.plot(radii_per_timestep[timestep],scaled_distance_agg, 'o', label = 'Dist. robot - human with highest attention', alpha=0.5)\n", - " # plt.plot(radii_per_timestep[timestep],robot_attention_weights_per_timestep[timestep], 'o', label='Robot attention weights', alpha=0.5)\n", - " plt.plot(radii_per_timestep[timestep],discomfort_per_timestep[timestep], 'o', label='Robot attention weights', alpha=0.5)\n", - " # plt.plot(radii_per_timestep[timestep],entropy_per_timestep[timestep], 'o', label='Robot attention weights', alpha=0.5)\n", - "\n", - " plt.xlim(0,1)\n", - " # plt.ylim(0,0.2)\n", - " plt.xlabel('Radii')\n", - " plt.title(f'Correlation with radius - Timestep: {timestep}')\n", - " plt.legend()\n", - " plt.show()" - ] - }, - { - "cell_type": "code", - "execution_count": 95, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "16\n" - ] - } - ], - "source": [ - "for idx, radius in enumerate(radii_per_timestep[timestep]):\n", - " if radius > 0.8:\n", - " print(idx)\n", - " break\n", - " " - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": {}, - "outputs": [], - "source": [ - "test_case = 990\n", - "radii = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights = np.load(f'{path}{test_case}/attention_weights.npy')\n", - "test_case = 5\n", - "radii_5 = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights_5 = np.load(f'{path}{test_case}/attention_weights.npy')\n", - "test_case = 21\n", - "radii_21 = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights_21 = np.load(f'{path}{test_case}/attention_weights.npy')\n", - "test_case = 513\n", - "radii_513 = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights_513 = np.load(f'{path}{test_case}/attention_weights.npy')\n", - "test_case = 125\n", - "radii_125 = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights_125 = np.load(f'{path}{test_case}/attention_weights.npy')\n", - "test_case = 99\n", - "radii_99 = np.load(f'{path}{test_case}/radii.npy')\n", - "attention_weights_99 = np.load(f'{path}{test_case}/attention_weights.npy')\n" - ] - }, - { - "cell_type": "code", - "execution_count": 9, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "(600, 1)" - ] - }, - "execution_count": 9, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "np.array(radii_per_timestep[timestep]).reshape(-1,1).shape" - ] - }, - { - "cell_type": "code", - "execution_count": 16, - "metadata": {}, - "outputs": [], - "source": [ - "import numpy as np\n", - "from sklearn.linear_model import LinearRegression\n", - "\n", - "X = np.array(radii_per_timestep[timestep]) #.reshape(-1,1)\n", - "# y = 1 * x_0 + 2 * x_1 + 3\n", - "y = np.array(robot_attention_weights_per_timestep[timestep]) \n", - "coefficients = np.polyfit(X, y, 1) # 1 means linear regression\n", - "m, b = coefficients\n", - "y_pred = m * X + b\n", - "\n" - ] - }, - { - "cell_type": "code", - "execution_count": 45, - "metadata": {}, - "outputs": [ - { - "data": { - "text/plain": [ - "(0.3463028, 0.5494572818279266)" - ] - }, - "execution_count": 45, - "metadata": {}, - "output_type": "execute_result" - } - ], - "source": [ - "radii[timestep], 1-attention_weights[timestep,0]" - ] - }, - { - "cell_type": "code", - "execution_count": 23, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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lVpjsXH8w+fKEc+4z2eZ1zn0Vf0EP/kSaM/kK8OtFFiff/G9P/n8d35wyK+ebIV1LvvyGIstRjGCioYxJTSrs5fjmRQCfcc6dyDajc+5T+CZ4AF9jZmuyzYuvZfhEjveDzbr2FlLQPL4/8PzjGd7/aOD5OyvweaWo1vH2m+7uplzB9UwCh5Mvt5tZZ4FlLUkVf//z+OArm0ofT4X4jsDzX3fOzeSY97/jLyTSl2t1N/E1sdl8KfD8Y8njNZOv4m9sQRnfb3L9qXNcIefXjzrnRrOsawHfLBZ8sLaz1HIBmNn9+OZr4G/MXUz7vOfxzRUBXmxmwWaDQa9g6W/7p9PXk+YD+CAgW5kGWWpy92mXf2D74Lk333nr13K89/lAucr9PQd/l1U9Nzjn5lnqJmFk74bxvSxl//64cy7TdxANPM/2XVfaXYmG8MHtHe7uyhLHJ1FMb8ZfrHzXOunn12x/4xy+1rFR1Ox4axXq4ygvDjz/mwLm/xuW+lm+BH+BkMlV59xwEeXIOb+ZrcDXGIC/kP/WApKSTSX/fyDnXDkkg6134P+o7sXfzcuWFSxjVrkKK/b7+luW0oe/BPjzLPMdTv4RzeZq4HlZWcXM7AGW/vB8yWUeIPuP8BdJ3cDbzew/ZvljXRVVPt7+Kc/7qX1t+D5jN/J9cBmq9fs/l+0CPqlix1MRCt5W59wlMzuD/y7vN7N+V/7g2b/O3QFzLqn+YLWW7zzwQuB5tu8e51zCzG7j7+Zn/X7NrAPff+qN+BqLtfg+RZl+bIWcXwv9bZGrXAUK9tH+aJZ5PsZSVu3vA/5dhnkOBZ7/Y64PdM7dMrPTLJ2b0n0NS9nyZ83s23Ktj7v7meU6b0VZCuAzlStmZiPk+b4L4ZwbN7Ov4n+vX2dmf4L/7XzBORfPvXRJfhf4/5LP32Fm/yUZ3AQVMnZjqpmm4fu778QnRnq2oqUtzt/gmxdfzDdjBa51XhR4/vd5Pi7f+zVTh+Ot6SlwbC63A88HKrTOYNr5cwXMH5wnV8r6qzneK2X+zSz9QXwE3wm9UCX9ITOzt+ATs6wocJH+/LOUrVrf10iO98D3V0sptxYsW1KcRc65STP7U3y/qnX4hCXZgt5qqObxVst9nU9djifn3FwgEK/2NqYEy1vIxdw5/MW04Y/BcgPHo865Py1kRjP732V+Vqlu53k/eGwWOm/G79fM9uNvEO0qrGgFnV9r8ttKJihLtUiYJXst7SfxF6FdwNvM7D9kuAG2IfD8QgEff4HsgeO2wPN3UFwis1znrdsZgql0Ob/vIv0IPrjoxydF+jZg2sz+GZ/c6u/wNx0Xyv0g59wZM/sKvvZ4Oz7Q/1zqfTN7FUu10191zp3Ksp7TZvYrwM/g++c+DjxuZpfxtXWfxyfVeb7cMgekJxpKJXJ5J75VyNfhj9P/es+SARW61gkex5luBi9yPjHRGJW7ji1XzY63VqCmqs3lWuD5VjOrROAfHMdpuoD5pwLPc40BlasZWCnzF3pCy6To7F3JPxafCHzuUXzztR/CZ3L89sAjJVRGGQtVre+rJifEtAuuGD75RTbBu/hZx3Sskmoeb430x6epj6cipcqbcJmzfKYrdFtbSTHfW8nfsZmtxF+MpYLGy8BvAj+Ov1n0HSydX1MX6oVcr9TquHs9Szci/tw5N55ppmQt9aeTL9cC35hhtp7A82iG99Pl+p2Wc95qz/FeTX/PzrnD+CzeH2Xp2qAH35f85/BB2Hkze1uFPjJYi/i9ae+9M8t893DO/Uf8sfvPgcmb8QnIPoAfd/evzCzrmIpFijrn/jTw+Lhz7nH87+pP8L+ZXzCzrFnVK3it05v8P5GtmWqaQv7e1EQdjremphrH5vIM/i7vKvwdzIdZ6g9VqmAflZ6scy3pDTzP1r+lGoIXcU8456odSDzO0oXKu51z/zfTTGZWyD6rpGb5vrJ5A772BvyFyp0CmoACfLOZrXZpKdCrqNbHW700+/FUjFR5w2bWXsDFTTNva1Aj3iD+UZaGLfgI8APZmqKb2X+qWakKFzwfvDnZv6zQ5f4sbVrwArqQwdFz/U6D5613Ouc+UmC5Gk6y68r3mtkP4WsDX47vt/cY/vpnG/AxM9vinPulMj/uD/B9OLuAN5nZjzrnppN/39+UnGcWPwxQvnL/CfAnZrYBnzn45fjxRQ/gWy+8AXi5mb3MOfdMmeXOVoa4mb0DPybyZuB9ZvbZLLWdj1OZa53UsVfo+bWW1055z4E1Pt6aWiP+QZEskk1Fgm3D355t3iJcDzwvpMlQcJ5rWeeqvGBT1qp2PDezdvwJH3yfn4wn0qSt1SxLBs3yfWVTagAWAb6nkgXJo2bHW501+/FUjFK3NZVJsZEEa0xz1RSBHz+u0Xxd8v8EfkDtXP2Xa32OzcnMVgHfUuLi32Rm6X1Xg7+jHQWsI9c8LXfecs7NOuf+0Tn335xzb8DfcEgNSQV+XM5V2ddQ0GdM4JtNg79hlAoW38RSa4M/cTnG4sywzmvOuT9wzv24c+4h/Jief5d8ewV5mo+Wyzk3BaRuunQD/y19ngpf6wSP45yJp5Lf10Ce9eVTlXNgLY63Zqcax+bza/hkAgDfZ2b/q8w288EEB19fwPzBzGtZkyNUmnNuJJkUYC/wqJltds5drtLHrWLpt5GzrT5+bK18Fpv5mJkV0Fckl/Tv6wN55g9+pzX7vjIxsyHgm5Mvx1kaoDqXbuCnk8+/L8MywSZUhVRdpubPOW+Nj7diFbvNuTTF7z+HYvbFV/F3+8Fva8a+SgBmthm4P/nyTAUS41TaWOD5hmwzJdUi23OxUpmhb+e6GDezg9QnSVAu38PSheqTBPrD5fBy/DEXAd4GvC/wXrDV0Gvwfc0ySgaduTI/fp6lBC1vTPapbJRm4wWde/NJBkT/3cxehA/sOvCJWf66vOLxu/jvBnxz1Y9QRDPVfJxzz5rZm/CtxkIsZT2tpk/gm1reB3y3mf1yWh/NSl7rBM+vX4tvIZfNa3O8V6ixwPOqnQOreLw1LdU4Nhnn3JeBv0q+7AP+n5kV3P/GzH7czF4eWN9FfJt2gIfMLGtKbjM7hD8hgB8P60gRRa+EVLObNuCXq/g5wX4mWe+cJff7TxawvmDzoXKbZ3yZpdqPbzKzrBcRZvYdLNWafNE5d7PMzy5X8ILrk865xwt4/H/AU8llDpjZI2nrLHbfpuYvZN5aHW/Fqtjx1GS//0yK2Rd/HHj+b/IMdfLTLP19/KMc89XL6cDzr802k5ltp/TasWpKnWPX5Pn79XO1KEyRgq0m/lMh5zGWbn6lLw8++UYq0dAbzSxXzc6PkOOGf/Icn7qg3Q28q5ANqpFizr2FuBh4XolKkH8MrPPVZvZqljLiXqYCmUCTfWFT2aarXnGTzJD835MvDfj5tFkqea0TTCD3o2aWsa+/+b4phVw35VPrc+DFwPNlXemmwLE5fS9wJfn8ZcAXzeyluRYwsxeZ2d/ga2zSq/V/NfD8ieT4VOnLb8G3708dM/8jT9r2avgA/oIV4HvM7H3JphYZmVm/mf2YmX1dtnkySZ7cU1kXD5nZt6fPY2a9+Ix5mwtYZXCYkfTApyjJfgOpu9Vh4JNmdk92SzM7wN13rn+lnM+tkOAFU6axG7MJZl5Nv+gqdt+m5l+VPKZzqcnxVoKKHU9JzfL7z6TgfeGcO44f3wx8c7/fzfR9mtnb8Rfo4Ps2/kYFyllRyVYmqTv6rzSzey6MkrVTn6KE5GA18C/J/w34xfQ3zfsFfHbDhmFmD+NzCwAMO+e+lH3uJc65p1kazmK/mT0aeG8OnxgIfEbSPzA/HFD6Z78OP8h8Pj/L0hiav54voYeZbTGz/2G5x/mthILOvWZ20Mz+s5mtzTHPEPDm5EsHHC+3cMmWQKmbhYavrUvVjn4kX81t8tz/r7IFTMl53sxSs8mnyyxyoT7CUjPSN5nZvtQblbzWSR7jqaa49wO/kUyGF1yX4f/e5LxeLUSlzoH1Ot6a2bKOmptVshnda/HDE+zGd7r+ivnUwX+LvzMyAazE30V6PbA/x/r+0Px4T2/FZ4o7amZPAF/BD+R9CH/nMpWC+W+ow8VUsrP6t+GbB/UDPwF8p5n9If6HPIGvhd2OH5PnNfhmBaX0Bf114P8kn3/KzH4Pf2d4EtiHb8KyAZ+FK1/K878Hfiz5/HfM7H34gCR14f2cyz9Qc9B78XfQXoFvtnTKzD6MrzkK48fy+l78tgP8X+fcXxax/opLNjl7KPnyEksDYxfiE/i7piF8c5t/F8iKGbwL/N+TfyjOsjQY9VXnXHD8sb8HvjX5/I/N7Dfxfd9SFwUnnHNXoebHWzGK3eacmuX3n8UX8BfJEeCnzScpOc5S/5c7zrlgk9p3438nq/EZAx8xs48Az+H73HwrSwOoA/ywcy7YN7KR/E/gd5LP/yh5Dvg8/mL3IP4mywD+ou/NmVZQR78BfD/+N/1jyYDsj/GtKTbjM6sexNcqzACPZl5NzZV68wv8DbBU7c/3cXeN/S8B/wo//MtLgNNm9jv47e/GN3P9TnzzvC+xVMNyTzDjnDtqZj8M/F/8+ehjZvZT+Oyuz+F/GwP4i/uvwZ+7DN8NppoKPfeuAH4B+Hkz+xK+lc05/N/elfhrme9OPgf4PefcpQqV8Ql8Lbdx9/A9TxSw7CP4fTiavEl/BN/ndAGfEO4bWGru6ahRKxbnx9j8X/jzRarWMXg+qOS1zg/jt7sf+AHgxWb2UXyN7Tr895Ya/3cT+ZuY5lOJc2A9j7fm5JzTo0kf+B/Eb+D/ELgCHteBfw2EM6wrjP9Dk28dnwS6cpQpNd/nCtyGouZPLrMHf/FXyDbPAq/PsI7HA/O8OsP7hr8wyLXuP8Vn28q5DfiLoy/kWM/jafNfTE6/mGMf9OJvHOQq3wL+j0JblnVsC8z7RJ59XvC8WZb/P4Hlf6mE5f86sPyb0977RI598ETavL34ICvb/O+s0vH2RGCebXm2Ne+8RW7z51Lv5fjMmv/+i5k3z3p+KUd571k3/mbbmTzbOQ28o5xyZfgu7zm2cix3sYBjwNLWn/6Yw1+8vTPP8b0t27GTYd7HA/O+usBtuJjl/R/G35jIVv7T+L5ZOY/fIstU8LwZlm3HjxOZWn53kctvCGzvHaAj7f2N+H632fbHHXzAGPy7NJjj874FH4gXct4aAYaK/Q6L/L4LOvcCryqwzA6fDTXr+ajE3+w/pH3GkwUu9+ECyzwFvL2M8m0LrCvv9xLY97eTyywA+wLvVexaJ7m+l+PHl8y2rpPAlgKOl8cDy2T8rVKBc2C9j7dmfKipahNzzo055/41vlbxJ4G/wA8OPIGvfbgNHAN+G3gjsNk59xsuQwY751zCOfeD+Kavv4O/MzmNv9s7jD+xvNY592bnXLFjNFaUc+4s/g70G/HNMM7ht3kef0f2afzdsXcC651zRXdidt7b8Hea/jG53hi+ifBfAG9xzn1bIfvC+SZ9X49vZvQVfB+Hspr5OeemnHPfgq9N/gS+BnMW/52dw3/nL3LO/RtX5+QIyeaA3x2YVOyderi7uer3p733dvxF6OfwF0BZMzQ639H9pfgMc0fxSXpy7p9aHG8lKHibC9FMv/90zo+d9lb8zYUb+N9prvnP4e8i/yDw2eQycfzv8ig+EN3lnPto1pU0AOever4Pv+3/gC//HP6C7MPAIefch+pWwDycc7+Jr/H6JEvfwU38Hf9/iy9/MS0xqu1b8MlEAP4leRwVzDl3Df89AQyS1gzX+dq2R/Db/lX8OSaKD7beCzzsnPuHQBnmk/Nk+7w/x7eGeA9+CJDL+N9zDH9h/xX8jcVvATY450aK2Z5iFXrudc59Hn+z7ofx4/yewQdbC8n/T+OP78ecc2+pwvnod/O8zuY9+GE3fgF/zXAV/3tM4M/RX8TX9u12zn0syzqqIrnv3598eVdfx0pe6yTX92V8zfmv4L+7meQ6jwD/H/BiV6Eau0qcAxvgeGs65ve7iIiIiDQqM2vDB9mrgePOD/MgIlIzqnEUERERaXxvYWl4kn+sZ0FEZHlS4CgiIiJSR2Z2yMyyDlVhZl/D0ri9C/g+ySIiNaWsqiIiIiL19R581ubPAv+M72O2gE+a83X4wdVTw0P8L3f3QO4iIjWhwFFERESk/vqANyUfmTh8hup/X7MSiYgELJvkOENDQ27btm31LoaIiIjIXWKxGGNjY0xMTDA7O0sikWB+fp5QKER7ezu9vb0MDQ3R3d1d76KKSJM7cuTIiHNudf4577Vsahy3bdvG4cOH610MERERERGRujCz50tdVslxREREREREJCcFjiIiIiIiIpKTAkcRERERERHJSYGjiIiIiIiI5KTAUURERERERHJS4CgiIiIiIiI5KXAUERERERGRnBQ4ioiIiIiISE4KHEVERERERCQnBY4iIiIiIiKSkwJHERERERERyUmBo4iIiIiIiOSkwFFERERERERyUuAoIiIiIiIiOSlwFBERERERkZwUOIqIiIiIiEhOChxFREREREQkJwWOIiIiIiIikpMCRxEREREREclJgaOIiIiIiIjkpMBRREREREREclLgKCIiIiIiIjkpcBQREREREZGcwvUugFTenfN3+Mp7v8Lxjx8nNhWjvbedA287wMt+6mWs3Lmy3sUTEREREZEmo8CxxTz7mWf55Js+yXx8noX4AgCxyRhHP3SUpz/yNG/+1JvZ9YZddS6liIiIiIg0EzVVbSF3zt/hk2/6JPFofDFoTFmILxCPxvnkmz7JnfN36lRCERERERFpRgocW8hX3vsV5uPzOeeZj8/zT+/7pxqVSEREREREWoECxxZy/OPH76lpTLcQX+D4x47XqEQiIiIiItIKFDi2kNhUrKLziYiIiIiIgALHltLe217R+URERERERECBY0s58LYDtEVyf6VtkTYOvP1AjUokIiIiIiKtQIFjC3nZT72MUCSUc55QJMRLf/KlNSqRiIiIiIi0AgWOLWTlzpW8+VNvJtIduafmsS3SRqQ7wps/9WZW7lxZpxKKiIiIiEgzUuDYYna9YRfvOf4eHn33o3T0d2BtRkd/B4+++1Hec/w97HrDrnoXUUREREREmow55+pdhpo4dOiQO3z4cL2LISIiIiIiUhdmdsQ5d6iUZVXjKCIiIiIiIjkpcBQREREREZGcFDiKiIiIiIhITgocRUREREREJCcFjiIiIiIiIpKTAkcRERERERHJSYGjiIiIiIiI5KTAUURERERERHJS4CgiIiIiIiI5KXAUERERERGRnML1LoCIZDcWjTE8Ms3ETJz+rgjbh3oY6G6vd7FEREREZJlRjaNIgxqLxjh2aZRYYoHB7nZiiQWOXRplLBqrd9FEREREZJlR4CjSoIZHpuluD9PdHsbMFp8Pj0zXu2giIiIisswocBRpUBMzcboiobumdUVCTMzE61QiEREREVmuFDiKNKj+rggz8fm7ps3E5+nvitSpRCIiIiKyXDVk4Ghmrzezs2b2nJn9hwzvrzCzPzezp83slJl9Xz3KKVJN24d6iMYSRGMJnHOLz7cP9dS7aCIiIiKyzDRc4GhmIeADwBuAvcBbzWxv2mw/Apx2zj0EvBp4r5kp1aS0lIHudg5uGaQ93MZoNEZ7uI2DWwaVVVVEREREaq4Rh+N4MfCcc+4CgJn9PvBG4HRgHgf0mZkBvcAdIFHrgopUmw8eFSiKiIiISH01XI0jsBG4HHh9JTkt6P3AA8A14ATw4865hdoUT0REREREZHlpxMDRMkxzaa9fBzwFbAAeBt5vZv33rMjs3WZ22MwO37p1q7xSJRJw8iRcvpx/XhERERERkRbSiIHjFWBz4PUmfM1i0PcBf+y854Bh4P70FTnnfts5d8g5d2j16tXll2xuDm7ehCNHYGSk/PWJiIiIiIg0gUYMHP8F2GVm25MJb74L+LO0eS4BrwUws7XAHuBCVUsVDsPBg9DZ6V8//7wPICcnq/qxIiIiIiIi9dZwyXGccwkz+1Hgs0AI+LBz7pSZvSf5/geB/wo8YWYn8E1b/71zrvpVgG1t8OCDEIvBiRN+2rlz/v99+6Cjo+pFEBERERERqTVzLr37YGs6dOiQO3z4cGVXOj0NZ84svY5EfGAZClX2c0RERERERMpkZkecc4dKWbYRm6o2j54eePRR2L7dv47H4amn4LnnYJkE5CIiIiIi0voUOFbCypU+gFy3zr8eH4ejR+Faek4fERERERGR5tNwfRyb2saNsGGDr3GcmIDr1/1jxw4YHKx36URERDIai8YYHplmYiZOf1eE7UM9DHS317tYIiLSQFTjWGlmsGsXPPywz8QKcOGCz8Aajda1aCIiIunGojGOXRolllhgsLudWGKBY5dGGYvG6l00ERFpIKpxrJZQCB56yI/9ePKkn/bMM/7/Awd8Ih0REVTbI/U1PDJNd3uY7nZ/SZD6f3hkmoNbdByKiIinGsdq6+jw/R93716advw4nD4NCwv1K5eINATV9ki9TczE6YrcnQ28KxJiYiZepxKJiEgjUuBYK319PoDcssW/npmBY8dgeLi+5RKRugrW9pjZ4vPhkel6F02Wif6uCDPx+bumzcTn6e9SyxgREVmipqq1tnq1f1y6BLduwZ07/rFpE6xdW+/SiUiNTczECbcZZ29MMDU3T29HiPUrOplNu5AXqZbtQz0cuzQK+JrGmfg80ViCPeuU1E1ERJaoxrFetmyBRx7xY0ECXLniE+iMj9e3XCJSU2Zw/Oo48XlHf2eY+Lzj+NVxzOpdMlkuBrrbObhlkPZwG6PRGO3hNg5uGVQ/WxERuYtqHOvJDO6/HxIJ3+/ROT+UB8DevdDVVd/yiUhNGA5wyVcu+VqkdnzwqEBRRESyU41jIwiHfe3j3r1L006f9n0gE4n6lUtEqs452L9xgEiojYnZOJFQG/s3DuAUO4qIiEgDUY1jI+nq8gl0xsbg/HmfdfXpp6G312dlVds1kZbT3xUhllhgz7r+xWnRWILuDt3XExERkcahK5NGNDDgA8iNG/3rqSk4ehQuX65rsUSk8rYP9RCNJYjGEjjnFp9vH+qpd9FEREREFilwbGTr1vkAcjCZ2e7mTZ9AZ2SkvuUSkYpRYhIRERFpBmqq2gx27PDNVp95BmZn4fnn/WPPHt+MVUSamhKTiIiISKNT4Ngs2trgwQchFoMTJ/y0s2f9//v2QUdH/comIiIiIiItTU1Vm017u2++ev/9S9NOnvTDecxrwHAREREREak81Tg2q54eH0DeuQPDwxCPw1NPwYoVsHOnMrCKtKCxaIzhkWkmZuL0d0XYPtSjvpAiIiJSE6pxbHYrV/oAct06/3p83GdgvXatvuUSkYoai8Y4dmmUWGKBwe52YokFjl0aZSwaq3fRREREZBlQ4NgqNm6ERx6B/uRYcNev+wyso6P1LZeIVMTwyDTd7WG628OY2eLz4ZHpehdNRERElgE1VW0lZrBrl+/rePIkJBJw4YJ/74EHoLu7vuUTkZJNzMQZTGuW2hUJMaoaRxEREakB1Ti2olAIHnrIZ2FNeeYZXwMZj9evXCJSsv6uCDPxuxNgzcTn6e+K1KlEIiIispwocGxlnZ2+/+OuXUvTjh+H06f9uJAi0jS2D/UQjSWIxhI45xafbx/qqXfRREREZBlQ4Lgc9Pf7AHLLFv96ZgaOHYOLF+taLBEp3EB3Owe3DNIebmM0GqM93MbBLYPKqioiIiI1oT6Oy8nq1f5x6RLcugW3b/vHpk2wdm29SyciefjgUYGiiIiI1J5qHJejLVt8BtaeZBO3K1d8/8fx8fqWS0REREREGpJqHJcrM7j/fp959fhxcA6ee86/9+CDvn+kiIiIiIgIqnGUcNjXPu7duzTt1CnfBzKRqF+5RERERESkYShwFK+ryyfQ2bnTv15YgKefhrNnfW2kiIiIiIgsW2qqKncbGPAB5I0bcPUqTE3B0aOwZg1s3lzv0skyMBaNMTwyzcRMnP6uCNuHepQ5VERERKTOVOMoma1b5wPIwUH/+uZNn0BnZKS+5ZKWNhaNcezSKLHEAoPd7cQSCxy7NMpYNFbvoomIiIgsawocJbcdO+DgQejo8K+ff94HkFNT9S2XtKThkWm628N0t4cxs8XnwyPT9S6aiIiIyLKmpqqSX1sb7NsHsRicOOGnnT3r/9+3bymolJpo5aacEzNxBtO2pSsSYlQ1jiIiIiJ1pRpHKVx7u2++ev/9S9NOnvTB5Px8/cq1jLR6U87+rggz8buPpZn4PP1dkTqVSERERERAgaOUoqfHB5DbtvnXsRg89ZQfB1IZWKuq1Ztybh/qIRpLEI0lcM4tPt8+1FPvoomIiIgsawocpXSrVvkAct06/3p83GdgvXatvuVqYRMzcboiobumdUVCTMzE61SiyhrobufglkHaw22MRmO0h9s4uGWwZZriioiIiDQr9XGU8m3cCBs2+BrHiQm4ft0/duxYysoqFZFqytndvvTTbbWmnD54VKAoIiIi0khU4yiVYQa7dsHDD0M4GdRcuOAzsEajdS1aK1FTThERERGpBwWOUlmhEDz0EDz44NK0Z57xAWS8NZpT1pOacoqIiIhIPaipqlRHZ6fv/zgxAc8+66cdPw5dXT4ra5vuWZRKTTmlWlp5qBcREREpj67epbr6+30AuWWLfz0zA8eOwcWLdS2WiNyt1Yd6ERERkfIocJTaWL3aB5BDQ/717du++erNm/Utl4gArT/Ui4iIiJRHgaPU1tat8Mgj0N3tX1++7API8fH6lktkmWv1oV5ERESkPOrjKLVnBg884JPlnDgBzvmhPMAn1ensrG/5RJpYqf0Ul8NQLyIiIlI61ThK/UQivvZx796laadO+T6QiUT9yiXSpMrpp6ihXkRERCQXBY5Sf11dvv/jzp3+9cICPP00nD3rayNFpCDl9FPUUC8iIiKSi5qqSuMYGPAB5I0bcPUqTE3B0aOwZg1s3lzv0ok0vImZOINpgV5XJMRogZlRNdSLiIiIZKMaR2k869b5AHJw0L++edMn0BkZqW+5RBpcqp9ikPopioiISCUocJTGtWMHHDwIHR3+9fPP+wByaqq+5RJpUOqnKCIiItWSNXA0s6Nm9tm0aa8ys5dWv1giSW1tsG8f7N+/NO3sWR9Azs3Vr1wiDUj9FEVERKRacvVxfBi4kTbtc8B1YGOVyiOSWXu7b746PQ1nzvhpJ0/66Xv3QiiUe3mRZUL9FEVERKQacjVVnQcydYyxKpVFJL+eHh9AbtvmX8di8NRTcP68MrCKiIiIiFRJrsDxFrDSzNbXqjAiBVu1ygeQa9f612NjPgPrtWt1LZaIiIiISCvK1VT1i8CbgM+Z2aeBVEaSXjP7uWI+xDn3CyWWTyS3TZtg40Z47jmYmIDr1/1jx46lrKzSFMaiMYZHppmYidPfFWH7UI/65omIiIg0CHNZmveZ2T7gS0AfkJrJAs8L5pyrewe0Q4cOucOHD9e7GFJN8/O+32MisTTtgQegu7vsVSuoqa6xaIxjl0bpbg/TFQkxE58nGksosYuIiIhIBZnZEefcoVKWzVrj6Jw7aWYPAT8E7Ae6gVcDceArpXyYSFWFQvDQQzA7C6dO+WnPPOP/P3AAIqWNZRcMaga725mJz3Ps0qiCmgoaHpmmuz1Md7s/JaX+Hx6ZVqIXERERkQaQq6kqzrmLwM+kXpvZAnDHOfeaKpdLpHSdnb7/48QEPPusn3b8OHR1wf33+yE+iqCgpvomZuIMpgXhXZEQo9FYnUokIiIiIkHFXUHDJeByNQoiUnH9/T6A3LLFv56ZgWPH4OLFolYzMROnK3J3a+uuSIiJmXiFCir9XRFm4vN3TZuJz9PfVVotsYiIiIhUVs4ax3TOuW1VKodI9axe7R/PPw8jI3D7tn9s3gxr1uRdPBXUpGoaQUFNpW0f6uHYpVGAu/o47lmnBEflUN/c6tB+FRGR5ajYGkeR5rV1Kxw8uJQs5/JlOHLEN2nNYftQD9FYgmgsgXNu8fn2oZ4aFHp58IPWD9IebmM0GqM93KY+pGVK9c2NJRYY7G4nlljg2KVRxtT8tyzaryIislzlyqq6pVIf4py7VKl1lUpZVeUu8bjv9xj04IO+f2QGqmGQZpMKboI15dFYYjEol9Jov4qISDOrSlZVYLjE8qRzeT5HpPYiEd//MRpdyrx66pTPzLpvH4TvPmR9jZgCRWkezZRwqJluzDTTfhUREamkXE1VrUIPNYeVxtXd7QPInTv96/l5ePppOHcOstTGizSDZkk41GxNP5tlv4qIiFRarprA7TUrhUi9DQz4APL6dbh2DSYn4ehRWLsWNm2qd+lEitYsCYeabbibZtmvIiIilZY1cHTOPV/Lgog0hPXr/ePCBRgdhRde8I9t22DVqnqXTqRgqYRDwyPTjEZj9HdF2LOu8RIONVvTz2bZryIiIpWmvocimezYAQsLcPo0zM35sR8vXoQ9e6C3t96lEylIM/TNbcbhbmq9X5upD6iIiLSusvofmjdUyQysIg2jrc0nytm/f2na2bN+CI9YY9aGiDQbDXeTW7P1ARURkdZVUuBoZo+Y2R8D48ALwIW09wfN7LfM7INmptui0tza233/xz17lqadOOEf8/PZlxORvDSGZ27BPqBmtvh8eGS63kUTEZFlpuimqmb2duBDQNZ2RM65UTPbDrwW+HPgL0suoUij6O31AeTt277ZaiwGTz3lE+vs2AFmdS6gSHNqhia19dJsfUBFRKR1FVXjaGYPAP8XHzT+H+AQMJJl9o/ih+N4YzkFFGk4q1b5AHLtWv96bMxnYL1+va7FEpHWo+E/RESkURRb4/hvgXbgA865nwAws2xt9f4h+f/LSiuaSIPbtAk2boRnn/XDd1y75h87dsCgUvNLY1GCleak4T9ERKRRFNvH8WsBB/xqvhmdc9eAKKDEOdK6zGD3bnj4YQgn78NcuOAT6ESjdS2aSIoSrNRWan8/efZm2ftZfUBFRKRRFFvjuAGYds5dKXD+GWBFkZ8h0nxCIXjoIZidhVOn/LRnnvH/HzgAETUrk/oJJlgBFv8fHplW38IKSwWN3e1hBrvbmYnPc+zSaFnBXjF9QFWzLCIi1VJsjeMc0G6WPwuImXUBA/jMqyLLQ2en7/+4a9fStOPH/XiQCwv1K5csaxMzcboiobumdUVCTMzE61Si1lXPLKiqWRYRkWoqNnC8iE+MsyvPfADfCISA00V+hkjz6+/3AeTmzf71zAwcO+azsYrUmBKs1E49g3QN3SEiItVUbOD41/hMqT+eayYzWwX8d3x/SA3FIcvXmjU+gBwa8q9v3/b9H2/erG+5ZFnZPtRDNJYgGkvgnFt8vn2op95Fazn1DNJVsywiItVUbOD4PmAKeI+Z/byZ9QXfNLMuM/tu4DCwHbgNfLAiJRVpZlu3wsGD0N3tX1++7APIiYn6lkuWBSVYqZ16BumqWRYRkWoy51xxC5h9M/ApfJPVOD74DAFngB344ToM3x/ym51zf1/JApfq0KFD7vDhw/UuhgjE477fY9CDD/r+kSLS9OqVoCaYmCc4dIduEtSHEhWJSCMysyPOuUMlLVts4Jj8wBcD7weyfegx4D3OuX8ppVDVoMBRGk40upR5FXxm1n37lob1EBEpkoKVxqAgXkQaVc0Dx8AHHwBegR+mIwTcAL7knGu4CE2BozSssTE4f37pdV+fz8qaP3mxiIg0oFR229TQNwDRWGKxmbiISL2UEziWVbXhnDsOHM87o4hkNzDgE+hcvw7XrsHkJBw9CmvXwqZN9S6diIgUaWImzmBazWJXJMSohkYRkSZWbHIcEamW9et9ADmYvBv9wgs+gc7t2/Utl4iIFEWJikSkFVWkM5WZrQG+C9iDT4pzFPgj59xMJdYvsqzs2AHz877/49ycH/vx4kXYswd6e+tdOhERyWP7UA/HLo0C3NXHcc86NVMVkeaVM3A0syHgX+PHY/zvzrm5DPN8E/D/gPRc4//FzL7ROXe2UoUVWTZSiXJiMThxwk87m/wp7d8P7UquICLSqFJD4AyPTDMajdHfFWHPOiXGEZHmljM5jpl9F/AJ4AvOuccyvL8dOAF04YfgSPcc8KBzru6jDys5jjS1qamlwBF84Lh3rw8wRUREREQKUE5ynHx9HF+Jr238gyzv/0cgOaI5vwBsBFYAPw7MAzuB7ymlYCIS0Nvr+z9u2+Zfx2Lw1FN3Z2MVkZpJDbfw5NmbHLs0ypiSnoiISIvLFzg+kvz/b9PfMLMQ8CZ8YPkR59zjzrnrzrlJ59yv48d5NOCNlSywyLK2apUPINeu9a/HxnwCnevX61oskeUkFTTGEgsMdrcTSyzUNXhUECsiIrWQLznOOiDunHs2w3sP4WsXHfDbGd7/TXzN44GySigi99q0CTZuhGef9cN3XLvmHzt2LGVllZajwd2rr5B9PDwyTXd7eHGMvtT/wyPTHNxS/vdRzPccHGh+sLudmfg8xy6NaqB5ERGpuHw1jmuBySzvvSj5/wzw1QzvP4dvrrqm2EKZ2evN7KyZPWdm/yHD+z9tZk8lHyfNbN7MVhb7OSJNzQx274aHHlrq63jhgq+BjEbrWzapuErWcqmGKrNC9/HETJyuyN39i7siISZmyu/OX+z3HAxizWzx+fDIdNllERERCcoXOC4AA2aWab5Up8qTzrmF9DeT08aBjmIKlGwC+wHgDcBe4K1mtjdt3f/DOfewc+5h4GeAJ51zd4r5HJGWEQ7Dww/Dgw8uTXvmGR9Axuuel0oqpFIBQqM1s2wkhe7jao7RV+z3XM0gVkREJChf4Hg9Oc+DGd77Gnwz1Uy1jSn9wFSRZXox8Jxz7oJzLgb8Prn7Sb4VPxyIyPLW2en7P+7atTTt+HEfRC7cc29HmkylAgTVUGVX6D7ePtRDNJYgGkvgnFt8vn0ofVSq6pUhRQPNi4hIreQLHFNB4b8JTjSzQ8D9yZf/mGlBM9uN70P5fJFl2ghcDry+kpyW6TO6gdcDf1TkZ4i0rv5+H0Bu3uxfR6Nw7BhcvFjXYkl5KhUgqIZqSXqTXTMK2sepMfraw22MRmO0h9sq1qew2O+5mkGsiIhIUL7kOE/ga/TeZWZx4M+ATcDPJ9+/A/xVlmVfk/z/eJFlyjQeZLbBJr8F+FK2Zqpm9m7g3QBbtmwpshgiTW7NGv94/nkYGYHbt/1j82Y/XZrK9qEejl0aBXygNxOfJxpLsGdd5mRI2RKspAKTVEIXWJ41VJmSykzMxHHEWdPXmXcf++Cx8slniv2eNdC8iIjUijmXLSZLzmD2hywNu7E4Ofn6x5xzH8iy3Ofw40D+kHPuQwUXyOxlwOPOudclX/8MgHPulzPM+yfAJ51zn8i33kOHDrnDhw8XWgyR1rKwAGfP3p00Z9cuXzspTaPQbJvBoCgYfBzc4oOPbO81SrBRi+yxqX6ewQA6Gkswl5inrzNSlc8u5vtT9lwREakGMzvinDuUf84MyxYQOLYD/xP4QZYS3USB/5YpmEsu8whwGJ9cZ7NzruBB5swsDJwDXgtcBf4F+G7n3Km0+VYAw8n15+2co8BRBJ8s53haI4AHH/T9I6VlZAuKUk0qGzkwyRX0VrKMT569yWB3O2ZLjVycc4xGYzy2p/I18rXaLhERkVzKCRzzNVUlmaDmx8zsP7LUr/Gkc242x2LPA/uBRDFBY/LzEmb2o8BngRDwYefcKTN7T/L9DyZn/XbgbwoJGkUkKRLx/R+jUZ80B+DUKT+cx759PkOrNL2JmTiDacFIVyTEaDJzarWaWVZCtcdITKl1k91abZeIiEi1FHyV6JybwtciFjLvbeB2qYVyzv0VaX0nAwFj6vUT+D6YIlKs7m4fQI6NwfnzMD8PTz8NfX2+Catl6moszaKZ+zHmC3orpdi+hOUYi8Y4emmUNqCvM8KGgS76OiNV2S4REZFqyZdVVURa2cCADyA3bPCvJyfh6FG4cqWuxZLyNHOmzVoNL1HNzKhBqSaqHeE2OsIh4vMLnL0xweRsvGmCeRERESigj2OrUB9HkQKcP+9rIVO2bYNVq+pVGilDI/djTMlURmj85D3FSPU3nV9wnL0xSWckhHMLLDjYONjVtNslIiLNqap9HEVkGdm50zdbfeYZmJvzYz9evAh79kBvb71LJ0Vo5H6MkHk4jGOXRjm4ZbClhpdINb01M/as6+Pa2AxTs44FFhQ0iohIU1HgKCJ3SyXKicXgxAk/7exZ///+/dCuC93lqNI1mLmTxQw2dNBbjGB/077OCHvWRRYz3CpoFBGRZqI+jiKSWXu77/+4Z8/StBMn/GN+Pvty0nJStYOxxAKD3e3EEgscuzTKWBmJXSZm4nRFQndN64qEmJiJl1vchtLM/U0bQerYe/LszbKPORERKY8CRxHJrbfXB5DbtvnXsRg89ZTvDynLQrB20MwWnw+PlD4aUq2S4NRbrZLwtKJq3LAQEZHSqamqiBRm1Sr/uHIFXnjBJ9E5csRnZF2/vt6lkyqqxhAZtRwOo94avb9po9LYlyIijUU1jiJSnE2b4JFH/JiPANeu+QAymI1VWko1agdVEyf5LJfmzCIizUI1jiJSPDPYvRsSCTh50vd5TDVdfeAB6O6ub/mkoqpVO6iaOMklmFgopRWbM4uINIuiAkczawfWATHn3I2093qBx4GvB+aBvwR+yTk3U5miikjDCYfh4YdhdhZOnfLTnnnG/3/gAER0gdcKUrWDuYbIaIZxI6W5lHrDQseiiEh1mHOu8JnN/jXw68BHnHPfn/bek8ArAEtOcsAXgNe4Yj6kSg4dOuQOHz5c72KItLaJCXj22aXX3d0+K2ubWsW3suCYjMEL/OXc9FTBS2UUux91LIqI5GZmR5xzh0pZttirudcl//9EWgG+FXglPlj8PeBDQDw57e2lFExEmlB/v8/Aunmzfx2NwrFj8Pzz9S2XVFU1sq42M2UDrZxUbfdje9YUFPzpWBQRqZ5iA8cHkv8fSZv+3fig8Vedc293zr0b+Al87eN3l1VCEWk+a9b4AHJoyL8eGfEJdG7erG+5pCqUxORuCl7qR8eiiEj1FBs4rgaizrnRtOmvSf7/ocC0jyX/f6iUgolIC9i6FQ4eXEqWc/myDyAnJupbLqmo5TImY6EUvNSPjkURkeopNnDsARaCE8xsGz6gvOycG05Nd85NA2PAyvKKKCJNra3NZ1o9cGBp2rPP+gBydrZ+5ZKK2T7UQzSWIBpL4JxbfL59qKfeRauLZgheUs1pnzx7s6Wa0epYFBGpnmIDxztAr5kNBKZ9bfL/L2eYPwxMlVAuEWk1kYhvvvrAA0vTTp2Cp57yw3pI09KYjHdr9OCllftg6lgUEameYsdxPIpPkPMu4L1m1pZ87oB/DM5oZquBXuCZCpRTRFpFd7cPIEdH4cIFPwbk009DXx/s2uXHiJSmozEZlxQyfEk9BftgAov/D49Mt8R3qGNRRKQ6ig0cnwBeD/yKmX0dvonqI8Ak8Mm0eV+Z/F+Bo4jca3DQB5DXr8O1azA5CUePwtq1sGlTvUsnUpZGDl4mZuIMpgWxXZEQoy1Q4ygiItVTVODonPtDM3sd8H0sDc0xC7zHOTeWNvtbyFATKSJyl/XrYd06X/s4NgYvvOAf27bBqlX1Lp1IyzGD41fHSMxDb0eIDQNdhNqsofpgiohI4ym2xhHn3LvM7MPAy/HJb/4umBQHwMzagXHgo8BfVaCcItLKzGDnTt9s9fRpiMXg4kX/2LMHenvrXUKRljAWjTExE2dqNk5/Z4RYYoGnr4yxabCLV+5anXfZ4ZFpJmbi9HdF2D7U0zDNb0VEpPqKDhwBnHNfAr6U4/0Y8O5SCyUiy1QoBPv3+8DxxAk/7exZ///+/dCui1SRcgyPTLO6r5OVPR1cG5thai5BX0eYFV2RnEFgKqFOd3uYwe52ZuLzHLs0qsQzIiLLSM6sqmb2v81sX60KIyIC+ADx0Ud9bWPKiRNw8iQsLGRfTkRySo0x2dcZYc+6fh7dupIDmwZwLvdywYQ6Zrb4fHhkujYFFxGRuss3HMePAU+b2VfN7IfMrL8WhRIRAXwT1Ucf9f0dAebm4NgxOH++rsUSaValjjGZCjiDuiIhJmbiFS+jiIg0pnyB4xRgwCHgN4DrZvYRM3t1lcslIrJk1SofQK5d61+PjcGRIz4jqyxq1UHdpXJKHWOy1IBTRERaR77AcS3wTuDJ5Osu4G3A35vZc2b2M2a2sYrlExFZsmkTPPKIH/MR/DAeR474QHKZa+RB3RXQNo7UGJPt4TZGozHaw20F9VMsNeAUEZHWYS5fx4bUjGY7gO8H3g5sTk52wALwWeB3gD93ziWqUM6yHTp0yB0+fLjexRCRSkkkfJ/H+UAtyAMPQHd3/cpUR6mgMTWYO0A0llgMDOolmFSlKxJiJj5PNJZQUpUmpKyqjUXfh4iUwsyOOOcOlbRsoYFj4MMM+HrgXcC3Ah34ABLgNn4Ijt91zp0qpUDVosBRpEXNzsKptNPNgQMQWV5N6J48e5PB7nb8KdpzzjEajfHYnjV1K1ejBrQizUw3ZESkVOUEjvmaqt7DeX/jnHsLsB6fQOcpfF/IIeAngeNm9k9m9gNmpgHYRKR6Ojt9/8ddu5amHT8OzzyzrDKwNmofNCVVEak8ZbkVkXooOnAMcs6NOefe75x7FHgY+HXgDj6IfBHwW4CyV4hI9fX3+wByc7IlfTTqM7A+/3x9y5VFpfv9NWoftEYNaEWaWaPdkFE/ZpHloazAMcg5d9w59+PABuC/4JuvGrA8OxyJSH2sWeMDyFWr/OuREZ9A5+bN+pYroBqJbEpNelJtjRrQijSzRroh08iJuUSksoru45h1RWZ9wFvxCXRelJqMb90ayrpgjaiPo8gytLAAZ87AzMzStF27fO1kHS23fn9K4iFSWY3Ux3G5nc9Eml1N+zhm+PDXmNnH8E1SfxN4MT5gvAW8F3iw3M8QESlJWxvs3euT5aQ8+6yvgZydrVuxGq2ZmYg0l0ZqYaDzmcjyEc4/y73MbAt+fMd3AltTk4F5mmBoDhFZZiIR33w1GvVJc8BnYg2FYP9+/38NpZqZBe/QN0K/v2rUDAZrRga725mJz3Ps0mhDNKMVaSTF/v588Fj/31Cjns9EpPIKrnE0sw4ze6uZ/Q1wAfh5YBs+YLwA/Cyw1Tn3zc65P1HQKCINp7vbB5A7dvjX8/Pw1FNw7hxUqNl+IRqx31+1+ilVK/ujknFIK2nmfoKNeD4TkerIGzia2SEz+wC+KerHgdcml5sFfg/4WufcLufcLznnrlW1tCIilTA46APIDRv868lJOHoUrlypycc3UjOzlGoFeNVoxlbIRbYCS2kmzTy8RiOez0SkOnI2VTWz4yz1UUyNKn0E3xT1E865iSqWTUSkutavh3Xr4MIFGBuDF17wj23blrKyVkmjNDNLmZiJM5h2odcVCTFaZsBVjWZswYtsYPH/4ZFpDm5pV/NYaSpj0RhHL43SBvR1Rtgw0EVfZ6Qiv79aabTzmYhUR74ax334gHEUP0bjw865FznnPqigUURaghns3AkPPwztyQufixd9Ap2pqXqWrKaqld6/Gs3Y8tViNnPtjdRePWunU5/dEW6jIxwiPr/A2RsTTM7G1U9QRBpOvsDx7/BDbGxwzv24c+54DcokIlJ7qUQ5+/YtTTt71geQsea461+OavVTCjZjuzwa5eLINNHYPMMj0wVdoGe6qM8X5CrLoxSq3n0LUzc5dgz1MpdYAIyOcBsXbk2pn6CINJycTVWdc99Qq4KIiDSEjg7f/3FqygeOACdO+Ol79/ohPlpQKsAbHplmNBmc7VlXmaadA93tbB/yF+lDvR2L484Fm49myigJZGxyumN1Lxdu+drg4Bh2e9b5MeNaJcujxr+svnzNnotV7HeWaiJuZuxZ18e1sRmmZh0LLKhptYg0nJKG4xARaXm9vT6AHBmB55+HuTk4dswn1kllZW0x1eynlOsCfftQ5gAx1GYZl7kzHcsZ5G4f6uHYpVEgc2DZDNL7ad6anOPI83dYv6KLDQNdCiIrpJJ9e0vpWxu8ydHXGWHPugjRWIL2cJu+XxFpOK1561xEpFKGhnwAuXatfz066puv3rhR33I1mVzNR7P1SXz25lTWZVI1pI/tWXPPhXkrZHkM7pOpuQSX7kQJmxGdSzTVUA2NIFcfxkr27S2lb62GshCRZqLAUUSkEJs2wSOPQF+ff331qg8gx8bqWqxmkesCPVtQabiSL+pzBZa1VGrileA+uTY2Q2ckRH9XO9OxeSX7KUK+PoyVDNxK6VvbCjc5RGT5UOAoIlIoM9i9Gx56yCfTATh/3geQ0Wh9y9bgcl2gZwsq71vTV7XamFpk0iwn8Upwn0zNzdMRbmMuMU9vh2+uq2Q/hclXC1jJwK3U2stGuckhIpKPAkcRkWKFw374jgcfXJr2zDM+gIzrYj6TXBfo2YLKA5sGqlIbU6tMmuUMCxLcJz3tbUzMxJiNz7NhoAtozmQ/9VBILWClAjc1OxWRVqfkOCIipers9P0fJybg2Wf9tOPHobsb9uxp2QyspcqWfCdfRtdKJ+ypdCbNbMpJvBLcJ90dYcZnE2xf1UNvR3gxIGmmZD/1UusMu6E24+S1cQzHfWv6VIMoIi1FgaOISLn6+30AefMmXL7sm60eO+YT62zdWu/SlaVWQ0JUM6Nrukpm0syl3KAltU8Obhlc/B4qPVRKIRp9WJBc5Sslw24p2xvMqPqirSsXP0dEpJXodriISKWsWeMDyFWr/OuREd989ebNolZTi/53xZSjXoOjV0slM2nmUsmmi/XqB9fox0C+8hXbh7HU7S2nWbKISLOoaI2jmX0z8PXAPPBXzrm/q+T6RUSawrZtsGULnDkDMzO+FvLyZdi1y9dO5lDKWHD51ldqbVGtmnTWWq3GeRzobmfH6l7+6fxtbk3Osrqvk5fuXNVQtXX5NPoxUEj5iqnNLnV7a1WLXaxGry0WkeZSVI2jmX2HmV0wsw9meO9/AZ8GfhT4ceCzZvY/KlNMEZEm09YGe/fCgQNL05591tdAzs5mXaySNRfl1haVMrxAM6jVEAhj0RgXbk2xbaiHV+1ew7ahHi7cmmqY2rpCNPoxUOnylbq+WtViF6PRa4tFpPkUW+P4rcBW4AvBiWb2CPATyZeXgBhwH/BvzewvnXOfK6+YIiJNKhLxzVejUZ95FeDUKZ+Zdd++pWE9kipZc1FubVGtE4vUUiG1UOXW1jRibV2x29Tox0Cly1fq+mpVi12MRjz+RKS5FdvH8UXJ//8+bfr3J///E2CHc2438AHAgB8svXgiIi2iu9sHkDt2+NeJBDz1FJw7B84tzlbJmotya2OW8/AClaitabTaulK2qdGPgUqXr9T11aoWuxjlHH+N0s9aRBpLsYHjaiDhnLuRNv0bAAf8qnNuITntl5L/v6yM8omItJbBQR9Arl/vX09OwtGjcOUKUNkL4XKD0Ea8GK6VSjQZbrTmi6VsU6MfA5UuXznrq1cCo2xKPf7UxFVEsim2qeoAMBmcYGar8M1SR51zX01Nd85dN7NpYH25hRQRaTkbNvjg8cIFGBuDF16AF15gYNu2nGMaFqMSzedqOUxGI6lEk+FGa75Y6jY1+jFQ6fI1+vYWqtTjL72J6/yC4+roDMMjUxzcslIJdkSWsWIDxylghZlFnHOptg6vSP7/lQzzN0bveRGRRmQGO3fC/DycPg2xGFy8yABw8P77oae8ACM4iHw9xv9rZpXoO9do+7/R+ys2glbKQlrq8Re8wTA5G+fsjQk6wm200bZY+9gINaoiUnvFBo5ngJcA34jPoArwFnwz1fSEOd3ACuBCmWUUEWltoRBjO/dw8eod5o+foKczzMbZE/R1RmD/fmgv/QKtVWpPaq1StYWl7P9qBS+NVgPaaCo9FE4jKOX4C95guDY2Q2ckBBi9naYEOyLLXLF9HP8Yn/DmQ2b2783sf+MDxwXgk2nzvig573C5hRQRaWWpC9a5UITIi1/E5JYdnLkxweRsHE6cgJMnYWEh/4qkYurVt6+a/csqsU2tnDSlkkPhNLNgP+vJ2TjOwWx8ng0DXUBjDcciIrVVbI3j+4G3AQfwyW8sOf3XnXPpNYvfga+J/HxZJRQRaXHpfYo6BweIHnyU4YlRDsyPw9wcHDvmE+uksrJK1RVTW1OpWsJqD6FQTg10rWvkgvvUklcbzlG1JqSVHAqnFI3STDbYxHUBWMCxZ12fbwGBmjeLLGdFBY7OuVkzewV+zMaXAWPAXzjn/l9wPjNrBx7Dj+n4NxUpqYhIi8p6wdrVD3vug8uX4eZNGB2FI0dg40ZYt65OpZV0Y9EYX3z2FmPROPH5BSKhNq6ORnnFrtVFX/jXO3jJpZbjAgaD1HCbcfzqOIZj/8aBqvWzq2cf0Ho3k80UtB7cMrjYvDnUZjjn1LxZZJkrtsYR59wU8It55okBD5dYJhGRZSXvBevmzbBpkx/zcWoKrl71j507YWCgPoWWRcevjHFlNMqKrna629uZS8xzZTTK8StjvGr3mqLW1cgJbAoJaqtR83r2xgQDXe2A4/r4LHvW9S/OU8mAtZ59QGsZlKd7/vY0f3v6BvMLsLI7QmLeMRaNLQatjZTgSUTqq6g+jma2xcw2FjH/BjPbUnyxRESWj4LGbjSDPXvgoYegLXnqPn/e10DOzNSn4ALAszen6O+M0BnxfeM6I2H6OyM8e3Oq6HWlHws3J2Y5cXWca2Mzde9TmG9cwEr2zwwOXj81N09HuI2OcIipuQRQnX52A93t7Fjdy8WRaT5/7iYXR6bZsbq3JkFScHtTatGXcCwa429Pv0DYjNW9HSQW4NKdKAsLLPbtbLTxKUWkfopNjnMR+Gq+mQK+hLKqiojkVFTSknAYDh6EBx9cmnb6tA8g40pYUQ+GY6nL/9JUP704wWPh8miU4dtTbF/Vw+bB7oomyiklyU2+GxyVTC4TDFJ7O0LMJRaYS8zT2+Fr4qpRCzsWjXHh1hTbhnp41e41bBvq4cKtqZoE6/mC8moZHplmfmGB/q725E2PEJ2REHem55QAR0TuUWzgCPf+daz0/CIiy07Rd/U7O+HRR+G++5amHT8OzzzjM4hIzdy3po/x2Tiz8Xmcc8zG5xmfjXPfmr6S1pc6FjYMdLF/4wBr+jsrmuWz1JrBfDc4KllrFgxS16/oZGwmxvhMjPUrOjPXyFdAPbOqFtTqoAomZuKs7PbNq1M6wm3cicYbonm0iDSWovs4FqkTSFT5M6quUTKdiYjcY8UKH0C+8AJcuQLRKBw9CkNDsHVrvUu3LBzYNMD4TJzxmTgTM/OEw8amwS4ObBooa73VSpRTTn+6XFlZK9k/M9i3bjY+z4MbfL/GxIKju6OtKv3sJmbihNuMszcmmJqbp7cjxPoVncym1QRWQ736EvZ3+T6Nl+744LgjHGJiJkaojaoHrSLSfKoWOJrZBmA1cLNan1EL9c50JiJSkLVr/ePiRbh9G0ZG/GPLFli9ut6la2kD3e28ctfqit9grFainGoFpJVOLlPO0CGlMIPjV8cZ6GqnvzPMXGKB41fHF4PWaqv19oL/zsaiMbas7OHO9By3pmYJtbXx9XvX1S2bq66tRBpXzsDRzF4FvDptcq+Z/VyuxYAB4BuTz/+5jPLVXT0znYmIFG3bNh8snjnjk+ZcuuQfu3ZBf20ugJejalz0VyvLZ7UC0lbIwOn7paaaeruS+qk2k+B3Fg4Z963tuyd4q1ZwpxvzIs0nX43ja4Cfh7vOnD3JafkYMAv8cmlFawyNPKaWiEhGbW2wd69PlnP8uJ/27LP+/wcf9P0jpeFVKxArNSAtJICoR61ZpTgH+zcOcH18lonZOL0dYfZvHCCxUHzw2Ew1abm+s2oGd9luzB+/MkZfZ6Qp9p3IcpMvcLwIPBl4/RgQB76SY5kFYAI4CXzEOfdcOQWst0YeU0tEJKdIxPd/jEZ90hyAU6d8ZtZ9+yAUyr281F01ArFSAtJWqR3KFdD1d0WIJRYWx4kEiMYSdHcUl0ewVfYVVLfVVaYb84n5BZ66NMpLdgw1/b4TaUU5A0fn3EeAj6Rem9kCcMc595pqF6xR1HNAYBGRiuju9gHk6ChcuACJBDz1lG+6et99vnOXLCvFBqSt0G0jX0BXqb/39dhX1arhrGarq0w35odHplnZ29HUx5lIKys2Oc73ActqpOlW6LMhIgLA4KAPIK9dg+vXYWLCZ2Bdtw42bqx36aTBBIOR87cm2bP27j6yteq2UamgKF9AV6m/94UGW8HtSt27cY6s25htP1SzhrOara4yBep3pmM8uvXuQF3dg0QaR1GBY7IGctlp5j4bIiL32LAB1q/3tY9jY3Djhn9s2warVtW7dFID+YKx9GCkPRTi+NVxHto0QF+nDxpq0W2jkkFRIQFdJf7eFxJsBbcr3GYcvzqO4di/cWBxXM3gNubaD7kC4u1DlBV0r+xp529P32B+AVZ2R1jZ00FbGxVpdZUpUH94ywDh0N1Ng9U9SKRxFNdwX0REWoMZ7NwJDz8M7ckLyYsX4cgRmK7+gOdSP6kgJJZYYLC7fTFQGQsEUMFgxMzYsboXw3FhZKqmA9SnlyP1fHik+GM0FdAFVSMo2T7Us7h/su2r4HZdH59loKudFV3tXB+fzbiNufbDxEycrsjd/ZW7IiGujc3k/Z5zGYvGuHBriu2relnZHeFONMbw7Wl2rO6tWKurVPD42J41HNwyyIFNA3n3nYjUT0mBo5m92sx+y8y+YmZnzexCjsf5ShdaREQqJBSC/ft9spyUM2d8ABlT87BWVEgwlh6M9HVG2L9xgLnEAqPRGO3htpokLMkWFE3MxIteVyEBXSWkgqH2cFvWfRXcrqm5eTrCbXSEQ0zNJYB7tzHXfsgWEE/NJsoKulPHyZr+Tu5fv4KX71zN/o0ruDNdvfNCIftOROqnqKaqZmbAh4F3pCYVsFhrD4IkItIKOjp8/8epKTh71k87ccJP37vXD/EhLaGQJpuZmluGQ208smWQg1tqlxyukn3sapmzIF+T1+B29XaEmEssAI7eDr+d6duYaz9kS+rT2xnOGGwW2l+wXsORqXuQSOMqNjnOvwG+N/n8CPBnwDUgUclCiYhInfT2+gByZASefx7m5uDYMZ9YZ8eOepeuaTTyOH6FBGONklG80uVolKAkuF3rV3Te1cfx5sQsw7enWL+ia3HeXPshW0A8PDJdVtCt4chEJJ05V3iFoJkdAw4AH3LO/VDVSlUFhw4dcocPH653MUREmsvly3Dz5tLrjRt9FlbJKpjIJHiR3yhN7gotX6MEv41SjkrLlFV1cjbB9fFZtq/qYXVfBzPxeW5NztLfFWFyNsHUrK9J3DDQlXc/jEVjfOHZW4zPxEkkHOGwsaIrwit3rS5o/9X7OG7V712k3szsiHPuUEnLFhk4TgOdwJBzbrSUD6wXBY4iIiVyDs6d881YU3buhIGBuhWpkaUSkgRraqKxxGJ/rUagi/LGlH7sTM7GOX5llN7OCAc2DhQVvI1FY3zx2VuMRePE5xeIhNoY6I7wigIDx9Q66nGc1DtoFWll5QSOxTZVnQVmmy1oFBGRMpjBnj2QSPh+jwsLcD6Z92zvXujqqm/5KqRSF8n16htWjEZpsil3Sz92ro3N0N8ZITbPYoIbWBp7MpfhkWlW93WydVXv4rRoLFHQsin1Ok7yjbkpIvVRbLaDE0C/mfXmnVNERFpLOAwHD8KDDy5NO30ajh6FePFZLhtJIUNUFKpWwz5I60k/dnyWVaO3YynJTaFZZSuZkbbWmrnsIq2s2MDx/UAI+P4qlEVERJpBZ6dPoHPfff61c3D8ODzzjH/ehCo5XmCthn2Q1pN+7ITbjPHZOBsGlmr1C7kJMRaNcWN8lq9cuM3ZGxNMzsYLXrYR6OaLSGMqqqmqc+5TZvYB4FfNbNQ597EqlUtERBrdihU+gHzhBbhyBaJRX/s4NARbt9a7dEWpZPPSWg77UAz1a2x86cfOllXdjM/ECbUZzrmCssqmas+HejuYnoszNRvnzI04W1f20NZGRTLjlnIsFbNMo2T1FZG7FZsc58PJp28EBoDLwL8AkzkWc865d5VawEpRchwRkSq7eBFu3156vWULrF5dt+IUoxkS2pSjkZONtEpAW63tKHa9wWN5cjbOtbEZbk/PMdDVzuv2rSu7TKUcS6Uu0wrHhUijqWVWVT9CLVgBs6fmc865UL6Zq02Bo4hIDSwswJkzMDOzNG33bujrq1+ZCtDIgVUlNGpg3Cr7vZG248mzNxnsbsds6VLNOcdoNMZje9aUvf5SjqVGPf5ElqNaZlX9KD4gFBERuVdbm8+0Go/7fo/gh/IA2LcPOjrqV7YcGrV5aaU0aqbXVsmeWc/tSK+ZM/P9AYNBWiX7B5ZyLDXq8ScixSm2j+M7q1QOERFpJZGI7/8YjfqkOQAnT/rMrPv2QajuDVHu0cpDVKSSjVQrmChVqwQUld6OQptpBms6w23GqavjXB2bobs9xN71K1jd11Hx/oGlHEv5llGzVJHmUGxWVRERkcJ1d/sAcscO/zqRgKeegmefbdoMrM2oUTO9tkr2TDM4fmWMI8/fWcxiWup2FDM0TKqmc37Bce6FSUJtxubBbjoibQzfnuLyaHSxOWilArFSjqVcyxSyval5njx7s+RhckSkfAocRUSk+gYHfQC5fr1/PTHhM7BevVrfci0Tqaa47eE2RqOxigcTpWrEgLbYIGUsGmN8Js7kXIL2UBuxxDzHr4xya3K2pO0oZmiY1HiH18Zm6IyE6IyE6YyEaA+F2b9xgA0DXRm/53ICsUKOpfT1A1mXybe9lRxjVUTKU2wfx0Vm9q3A64CtQJdz7rWB93qAh/CJcb5SdilFRKQ1bNjgg8fz52F8HG7c8I/t22HlynqXrqU1YlPcRutbGmz6Odjdzkx8nmOXRnMG2cMj06zp62RVTwfXxmaYmpuntzNCf1ekpO0otNlraqzGMzcmuTU5y9ZVPkidSyzQ2xHK2lS2lG1Ml+tYyrX+TIlw8m1vq/SDFWkFRQeOZrYZ+GPgkdQk7k2YMwf8P2CTmT3snDtRVilFRKTpZO23ZAb33Qfz83DqlE+kMzzsH/ffDz31bT4ptdVIAW0pQUoq8DEz9qzzTVNTWUxLUUgfwvSxGp2D525OsmVlD3OJeXo7wnzlwggDXe2MRWN3BYSVCMRy9Uksdv35trdV+sGKtIKimqqaWTfwN8CjwFXgA8A9bSeccwngQ/ig8o3FFsrMXm9mZ83sOTP7D1nmebWZPWVmp8zsyWI/Q0REqqeg5mWhEBw44JPlpJw5A0eOQKwyF4XqG9U4muG7SDX9DOqKhJiYiWddptL9NLcP9XBrcpanL49y+OJtnr58b7PXVHC2pr+T+9evYMuqbmZiCS7dnsYtOBYWHJFQG0O9Hffs60zbmJhf4NilOwV9N/l+28Xuw3zNlWvVD7YZjk+Reiu2j+OPAHuAo8ADzrkfA6ayzPvp5P/fUMwHmFkIH5C+AdgLvNXM9qbNMwD8BvCtzrkHgTcX8xkiIlJdxfTToqPD93/cvXtp2okTPgvrwkLJZVDfqMbRLN9FKUFKNfppOgAD8//c06wrGJz1dUZ4ZMtK3vjwJkJtbYTDIXo7I9y/rp81/Z33/O7St3FyNs7xq+O0h0IFfTf5ftvF7sN8fSZr0Q+2WY5PkXortqnqm/Dnr3/rnMvw1/8uJ4EEsDvPfOleDDznnLsAYGa/j6+1PB2Y57uBP3bOXQJwzt0s8jNERCSpGqnwS2pe1tfnA8iREXj+eZibg2PHfGKdVFbWIqhvVONolu9i+1DPYjKXrkiooKEsKt1PM9Vnctuq3sVp0Vjirn2VqXlnONTGppWdHNq6CjNbnJ7+u0vfxgsjUxiOHat7FwPBVDkyfTf5ftuZ9uHNyVlWdEX4y+PXmJpN0NsZZsNA1+K5Jldz5Wr1gw2e926MzzLU29Hwx6dIvRVb47gHmAe+lG9G59wCMA4UO3DQRuBy4PWV5LSg3cCgmX3OzI6Y2TsyrcjM3m1mh83s8K1bt4oshohI66vWnfaympcNDfkAcs0a/3p01DdfvXGjqDKU0uxQqqNZvotSs8+mlntsz5qys9UWsq/Sa+FuTsxy4uo40dgCx6+OMTm7NG/67y59G+cSC+zfOEBfZyTr5wXl+23fu/55DIgnHC+MzzATS/DCxCx3pmIFn2squX/h3vPe2EyM5+9M37XfGvH4FKm3YgPHDmDGOTefd06vB58opxiWYVp6K40wvp/lN+Ezu/5nM7unZtM599vOuUPOuUOrV68ushgiIq2vqCalRahI87LNm+GRR6A3WfNy9aoPIMfGClq8VcYIbAXN9F1UOkgpViH7KhicXR6NMnx7iu2reji4eYCp2ThPXxljYiaW9XcX3MZHtgwSDrXl/LygQn7bwfX3dUZY3dfJlbEot6ZiXBufZWRyjqtj0Yqca0qRft5b1dNBG3BtbGZxnkY9PkXqqdjA8SbQm+xjmJOZPQR04msMi3EF2Bx4vQm4lmGev3bOTTvnRoDP44f/EBGRIlSrJqhi4waawZ498NBD0Jb8k3X+vA8gZ2ZyLtqIYwQuV/ouClfovkr9xjYMdLF/4wBr+jvp72rnwKZB+jrCnH1hoqDfXbHfTbG/7YmZOIn5Bc7dmKDNoKcjjAFnb0yQmF+oS61e+nlvw0AXC85xezqm41Mkh2L7OH4Z+M7k47fzzPuf8DWFxWY8/Rdgl5ltx2du/S58n8agTwPvN7Mw0A68BHhfkZ8jIrLsFZL6v1QVHWYhHIaDB32weDrZ5f30aR9YHjjg38/4+Y0zRuBy1urfRSX7CRe7r9L7HPZ1RjiwaYDRaCzjuInlft7SMoVtX39XhFNXx+nvbsdowzDM2ljR1c7wyDQPblxR0HoqKf2819cZYeuqXkam5lry+BSplGIDxw8CbwEeN7MvOudOp8+QHLLjf7CUSOeDxXyAcy5hZj8KfBYIAR92zp0ys/ck3/+gc+4ZM/tr4DiwAHzIOXeyyG0REVn2SkkGUlddXb7/4/g4PPccOAdPP+3HftyzxweSAY00RuBy16rfRbYB73es7uXOdKykYLLYwKzcmz/V/G62D/XwhXO3GOpu5/r4LLFEGws41vV3cGc6VpdavUznvbY2eN2+dQoWRXIw59K7D+ZZwOz/Au/Cj9/4l8A34vsy/gdgP77f4QC+r+L7nHM/VcHyluzQoUPu8OHD9S6GiEjDqUZW1Zp54QW4EugRsXo1bNlSv/JUSFN/J8tMKslKMHC7OTHL8O0p9m8cuOuGTDX6TAYD12p/Vqk+f+4ml+5EmZxNEJ1L0NUepr8rzJaV3bxq95qqfGa+35B+Y7JcmdkR59yhkpYtIXAMAe8F/g1LiWyCK7Hk6/cBP+2K/YAqUeAoItLccl7oXbwIt28vzbxliw8im1AzBAKy5MmzNxnsbr9rCIwz18e5E43z8p1Di9OiscRif8BKa4QgKFcZan1M6zckkl1NA8fAhz4I/ADwNcAGfLPSG/ihOv6vc+7pklZcJQocRUSaV0EXggsLcObM3Ulzdu/240M2kUw1WNUMOqqhEQKZWsn0fX35/C1Wdrdz//ql/nvOOUajMR7bU50atnoq5PdZy2OiFX5DItVSTuBYbB/HRc65U8BPlrq8iIhIoQoaQL6tDfbuhXgcjh/3086d8//v2wcdHbUudknyDbDe6LL1+WvV2p5M/eVCbW2s7Ln7eKvm8A71DtQL+X3Wso9rs/+GRBpVscNxiIiI1FxRw4ZEIj6Bzv33L007edIn0ZkvdBji+mmmMQ8zqdbYoI0q0/AUX793LW1t1GT4kfTB7GOJBY5dGmUsR5CUWubJszfzzluIag3rk0khZW/235BIo1LgKCIiDa+kC8GeHh9A7tjhXycS8NRT8OyzPhtrg2r2MQ+rHURUOuiphOCA9we3DLJ1VU/GsQ6Bipe92EC9lEAzn1oFaoWWvdl/QyKNqqimqmb2jiLXPwuMAaecc1eLXFZERAQoc9iQwUEfQF67Btevw8QEHD0K69bBxo1VLnnxmn3Mw2qODdpMzWDTm2ZWq+zFNsssqNl3Brmaw9ZqWJ9Cy97svyGRRlVsH8cnuDuDasHM7BTwK865T5SyvIiILF8VuRDcsAHWr4fz5/04kDdu+Mf27bByZfUKX4JmHvMwWxCxbkUvxy6NltQPLxW0HLt0h/ZQiB2rexdr1yB/0NMISg3Y8ik2UC+l/1++oLdWgVoxZW/m35BIoyo2cLyEDxxXA93JaQlgBD8Mx6rAOqeB28CK5GMf8DEzO+Sc+7dllltERJaZilwImsF99/m+jqdO+UQ6w8P+cf/9vnmrlCVTELFuRS8Xbk2VVNsWDFraaKPN4OyNCfas66evM5IxcKh3sphMqpWwpdjavlJqhBsl+U01a7NFJL+i+jg657YBv4IPDv8ReC3Q65zb4JxbD/Qmp/1Dcp7/6pwbBHbjaysN+HEze02lNkBERKRooRAcOOCzraacOQNHjkCs/n3mml16n78707GSE+YEg5bezjBmbXRGQlwb88OupAcO1ejDVwnV6geYKTlProC8lP5/tUx+k4v6LorUV1GBo5l9LfAB4I+Br3PO/aNzbvFM7JyLJad9HfAnwAfN7BXOueecc98PfAQfPP5g5TZBRESkRB0dvv/j7t1L006c8LWRCwv1K1eLKSfwCC67YaCL2fg8zsHkbDxj4NCoWV2rGfSkB+q5aleLDTShcbKUllL2YjRi4iWRRmKuiMxyZvaXwOuBLfmS3ZjZJnzT1r9wzn1rctoe4BngUrL2smYOHTrkDh8+XMuPFBGRZjMyAs8/v/R6cHAxK2sjNn9sFuUMyJ6+7ORsnAsjU8wlFnhky+A938OTZ28y2N2OmS1Oc84xGo3x2J41Fd6y4jTrMRRsLhxsDpsK2pp1u4LybaNIqzCzI865QyUtW2Tg+AIQds6tKnD+O0DcObc2MG0KaHPOdWdfsvIUOIqISMEuX4abNxdfjg+u5misQxeVJSrnonwsGuOLz95iLBonPr9AJNTGQHeEV+xanXHZYgNNKUy24LBVAq5ybm6INJNyAsdik+P0AW1mFnHO5WxfYmbtQA+QPtpyHAjdu4SIiEiD2LwZNm2Cc+dgaorrz5xnKLFA265dLLSvaKpsno2g3KybDsDA/D8507sHk8Uk5hc4fnUcw7F/48Bif8dGDGoavdYuW/KbamWLhdruk2olLxJpJcUGjheBPcB34/sr5vJWIAJcSE0ws158htUL2RYSERFpCGawZw8kEkxfepL+9hBcHAZgbtceujo7dVFZhFKzbg6PTLOmr5Ntq3oXp0VjiayBSTBIPXVtjL6OMDtW99LXGblrndUM+IsNeBppfMpiy16tgKsa+yTXtiljq0h+RSXHAT6JT27zATN7a7aZzOy78El0HPCHgbcOJv8/W+TniojUjBIkyF3CYdoefYTR7fctTup49ix27Cj9EcuxoFRCKYl1UsHjztV9HNg0cFfQWO1soKVkdS00oc9YNMbnz93kw188z+988QKfP3ezouenUspercQ5lU5ylG/blLFVJL9iA8dfxSe36QY+bmbnzex3zey/mdkvmtmHzew88HvJec4kl0l5R/L/vyu34CIi1dCoqfylvrYP9TDdFuHO/fuY27qN2XiC2XiC+66f98N4FJEvoBTL+WZGOYFJPbKBlhLwFBIcj0VjfOHZW5y6NkFnOExXuI3T18aT/T8rczyUUvZqBVyVGAIk+Lv57MkbLCyQddtSNxvmEvMcfv42J6+NE2rTjSGRoKKaqjrnomb2auCjwOuA7cC2tNlSv7K/Bd7hnIsG3vufwPuB8yWUVUSk6qrZX0eaV7D54+1wF/0HH2H3/BR9d27C9DQcPQqrV8OWLRX/7Eo22Wv0fnSZFDvAfaWWLVUpTTcLaSY5PDLN+Eycga52OpMBlZkxFo1nPD/l+64zvV9K2cvtv1rOPskl/Xdz5sYE07EEXe2hxRroTNs2v+B4cMPA4vHSqH1iReqh2D6OOOduAW8ws68B3gw8AqzGB4w3gaPAp5xzX8ywrJqoikhDU4IEyebePnqDsH0zDA/DnTtw65Z/bNnig8gKqdTNjEbqR1eMcgKTagU1uZQS8GQLcNet6OXYpVEmZuKcvzXJbHyBdf1di8t1hEOMz8TuqYXL911nez/UZiUFa6X2X82l3KA//XezqqeDqdk418Zm2LPOb0+m4Lyc31oz3pgRKUbRgWOKc+5LwJcqWBYRkbpTggQp2vbtsHUrPPMMzM7CpUv+sXs39PWVvfpK3cxo5tr0cgKTagQ1uZQS8GQKcNet6OXCranF4K49FGL4VpSOcIiVPR0AzCXmiYTa7jk/5fuus70/l/BlLabs5cgVaJUb9Kf/bjYMdHHmeozb0zGccxm3rZzfWrPemBEpRsmBYyHMLAR8i3PuT6v5OSLNTHcoG0s9mrZJC2hrgwcfhHgcjh/3086d8//v2wcdHSWvulI3M5ZzbXotz7OlBjzpAW4qCEl97ztW93JrcpaLd6aTff8cE7NxNg1239OfMN93ne392fh8zWpoCwm0ygn60383fZ0Rtq7qZWRqLuu2lfNba+YbMyKFqkrgaGb3A9+PT4YzVK3PEWl2ukPZeOrRtE1aSCQCjz7q+z2eOeOnnTwJ4bAPIEPFD2NcqZsZy7U2vR7n2UrUcqYHd32dEV68fRXHLo8xm0jgMPZuWMGBTQP3bEe+7zrX+7Wqoa12oJXpd9PWBq/bty7r917Ob20535iR5aNiAZ2Z9QBvAd4FvDQ1mdzj9Iosa7pD2Zhq3bRNWlBPjw8g79zxfSATCXjqKejvh/vu82NEFqhSNzPSL4pvTc4xfHua9Ss6F99vxRskmc6zU7MJPnvyButWdDZsS49MwV041MbX3DfEwS2Di7WoT18eu2cb8gVAjdCy4trYDNG5BNOxBXo7QmwY6KK3I1yxQKuU3005v7XlemNGlpeyA0czezk+WHwz0MNSVtVLwKe4exxHEQnQHUqRFrdypX9cuwbXr8PEhM/Aum4dbNxY8GoqcTMjeFF8eTTK9fEZtq/qZXVfR0u3dgieZydn4zx7c5Kz18eJhENsGuxaHHKn0bLU5gru8tWiFhIAhdqMU9fGcBi71vTW9Lsfi8a4Pj5L2KC/q525xAJnb0yyZWU3K3srV4ZSfjel/ta2D/XwhWdvMT4TJ5FwhMPGiq4Ir9xVuURZIvVWUuBoZmvxzVC/H9idmoyvXfw14Pedc/9ckRKKtDDdoRQpTtP2Cd6wAdavh/PnYXwcbtzwj+3bfWBZI8GL4qHejqq2dmiU7yp1np1fcJy9McHNyTl6OiJEQiHOvTDFnnV9i+P5NVKW2lzBX3r/x0zfX7YAKFjuQ1tXLQaktTQ8Ms32VT1cujPNXGKejnCIuXiC4dtTPLptc03LUkkG4MDhwBkaBVJaTVuhM5pZm5l9i5n9Kb428VeAPcAc8AeBWf+TgkaRwlRr4GSRVpS64I0lFhjsbl+sKarU4OdVZ+abqT78sO8LCb4Z65Ejvk9kDVVicPVcGum7Sp1nL9yaoiPcxkxsHoexYaCLzkiIa2MzJW17sAlspgHlKyEVPD62Z81dAWk5318typ3PxEyc1X0d7FnXTyTUxsRsnJ6OMOtXdDXHjaAMhkemWd3XyUObBzm0bRUPbR5kdV9nTferSLXlrXE0s90sJbpZy1JT1C8BHwH+0Dk3YWbfVbVSirQoJWIRKVzL9AkOheDAAZib84lzYCmRzv790F79bal2a4dG+q6WzrNTtNFGX2eYge4IPR1hnHNMzCbqlqW21FrZcr6/RugikSp/X2dkcUzFaCxBe7jg+oyGs9Rnc57ejnDOPpuNUhsvUqycgaOZfR74GpaCxWHgY8BHnXMXqlw2kWVBiVhECtMIF7wV1dHhE+hMTi4N3XHiBHR2wgMP+CE+qqTayVEa7bvy59mVxBILi01WZ+MJnINwiLpkqS2nqWs531+w6e61sRmm5uYJh2DLyu6Cyl0JjZCcp5J8n80ZwmbJPpvznL0xwZaVPff02VQ2dWlm+f4qvSL5/8eBx5xzO51zjytoFBGRWktd8Aa1RJ/gvj4fQG7d6l/PzsKxY74Za5WkauHaw22MRmO0h9sqeuHaiN9VqslqqM3YvbaP+QXHyNQcW1Z2l7Tt5XY1KKfJaDnf3/ahHm5OzvL0lTFiiQXaQzA1G2diJl6zpsTVPv5qzffZ7MVhzCUW6AiHMGD49vQ9x0MjNBUWKVWhyXG+EZgws1nn3L9Us0AiIiKZtFotxT2Ghvzj0iW4dcsP5XHnjs++um5dxT+umq0dGvG7CnYNmI3P8+DGFWU1ESy3q0G5tbKlfn8D3e2s6IowHo0Tm1+gtyPMgU29hNosY1PiajWrbKXWNqk+m13tvs/sxGyCno4w3R3he/ZVo9XGixQjX+D4o8D3AY8CPwz8sJmdAz4KfNw5d7nK5RMREQGWUZ/gLVtg82Y4e9Ynzbl61T/uuw9WrKh36QrSqN9VpYOVctZXz6zazsGBTQNYYDxR59w9wUujNqssJpg9f+c87/3Ke/n48Y8zFZuit72Xtx14Gz/1sp9i58qdFSlPMX02lU1dmpk55/LPZHYA+AHgu4GV+GE3HPAkPkHOHwGTyWl9zrlotQpcqkOHDrnDhw/XuxgiIiI53XVRHDHuuzFMX0cgg+bevdDVVdjyLZB4o9W2JyUYlAVrZWsRlKUy3gaDl1Sgc3DLYNHz1VIx++0zz36GN33yTcTn48QXljLORtoiREIRPvXmT/GGXW+oaZnq+b2LAJjZEefcoZKWLSRwDHxQO/AdwLuAr2Vp7MYo0JN83u+ca7iG2gocRUSk0WW9qFzdycDF55ZmNPOZWcPhwpZv0ovSVtuedKmg+NrYDFOzCcx8bWBvp8/KWa0gudD9+uTZmwx2t2esmXxsz5qqlCvfTYJcwez2oZ7F5cfjV3jrp19JNJG9LqM70s3x9xyvSM1jMTc4WvVmiDSHcgLHolK2Oedizrnfd859PbAd+K/AZXzQmPKcmb3fzB6z4JlGREQkg9RF7JNnbzbXuIxVkDVxxvSCT6Bz331+Rufg6af9MB6BG8Ctlnij1bYn3UB3O9uHeuhuDzHU28HUXIKZWIIXxme4MxWr2u+h0OQ0tUxyVOjYn9nGsLw2NnPX8h858X7m5nPvu/h8nPf90/sqUv5sY26WO69IIyk517dz7pJz7ufxAeTrgE8CMfxYjz8M/ANwzcx+vRIFFRGR1tNIA8U3grwDu69Y4QPITZv86+lpOHrUJ9QpZPkm06zbU8zNkFRwPBqN0RUJs6K7g67k62oGyYUELyt72jlxdZwvn7/Fmevj3JyYLSpzbDaZ9k+hNwmyBbNTs4m7lv/s8KeYd4mc5YgvxPnY8Y+VtS0iy0nZg0Q572+dc28BNgI/CZzAN2NdC/zrcj9DRERaU6vXKBWr4BqetWt9ALlypX996xYcOcLK6HjFa4iCF/mfP+cftaodbsRhPfIp9mZIKjiempunI5lMpSMcYmouUdcgeSwa48KtKbav6mFldzt3onGGb0+xY3VvWTVk2fbPtbGZgm4SZBsGpbczfNfy0fhUQeWZihU2n4hUIHAMcs7dcc79mnPuYeDFwG8DE5X8DBERaR3NWqNULUWPDbh9Oxw8CJ2dAGyL3qbt2BFm74yWNLZguuBFfrjNOH1tnFPXJgi3WU1qh8sdK7Eeir0ZkgqOeztCzCUWAJhLzNPbEa5rkJzajjX9ndy/fgUv3znE/o0D3Jku7/vOtn+mZhMF3STI1sx2w0DXXct3R3oLKk9ve2HziUiFA8cg59xh59x7gPXV+gwREWluzVijVE0lDYze1gYPPgj799PXGeH+df30XR4m/tV/oWM+XlYfquBF/vXxWVZ0tTPQ1c718dma1A5Xc6D4avWtLfZmSCo49sNdJBiPzjGTfF3PILlaN3Wyrbe3M1zwTYJMzWzTbzK8bvubCFnuUecibRHefuDtZW2PyHKSbxzHsjnnZqv9GSIi0pwacaD4eit5bMD2dnj0Ufqmp7n/zBk/beIqzNz0gWUolHv5DIKDlU/NJejv9AH9xKzvO1aLgcurMVB8NccnLHacvuCYl7MJ31evtzPMyt72umbbrNZ4g9nWm8oiW+rYn+ljh37v/h/lMxf+gJlE9n6OkVCEn3zpT5a1PSLLSVHDcTQzDcchInVx/jy8973w8Y/D1BT09sLb3gY/9VOwszKDTzc7paavkjt3YHh46XV/v8/KWkTC8+DQB2dvTBCfXwCMSMjYs66/7mP6laqa4xNmGuri5uQsK7oiOEfVj/FK/Z6qNRRKLYdY+cyzn+FNf/gmYvNxEq564ziKNJOajePYzBQ4ikjNfeYz8KY3QTzuHymRiH986lPwBl20SJVdvQo3biy9XrcONm4saNHgRX5ifoETV8dwGAc2rmA2vsDw7SnWr+iq6piD1VDt8QmDwZuZr7ld3ddZ9UCp0kFZtW7q1OJmUeoznrn5LJ8+/9t85sInmY5P0dvey9sPvJ2ffOlP3jN+o25iyXKgwLEAChxFpKbOn/cDtEezDz5NdzccP66aRylLQRe7zvljcnx8adr27UtZWQtcfyrOmpxNcH18lu2reljd11HVYKgaqlnjuFw+q5rKDeBKCaBrWRMqUk/lBI5VS44jIrKsvfe9d9cyZhKPw/sqM/i0LE8FD/1g5pupPvywr+0G34z1yBE/FmQOwUQkr9rtHxsGuti/cQVr+jubchiVWmZrrWXm4HpmKa5UsqFKjO1ayjA/GhpIJD8FjiIi1fDxjxcUOLqPafBpKd3xK2NcHZvhmeuTnHthkvkFl/tiNxTyNeH79i1NO3PGB5Cxwi/MMwUoifkFjlYhS2k1VDNba7paZg6uV5biSgR7KZUI4EoJoDU0kEh+Vc+qKiKyLE0VOKj05CRj0ZiaQknRxqIxnro0xlBvB/2dfgzAszcm2b22l9m04OEeHR3w6KMwOQnnzvlpJ0748SAfeMAP8ZFDembMydk4J66O0dsZqXiW0mqpRrbWTGqZObheWYqDwR6w+P/wyDQHt7QX1fQ0mMk3pdjsvYVkhE0vkxlVySIr0kpU4ygiUg29hQ0qPd/Tq6ZQUpLhkWlW9rRjBmZGZyREZyTE8O3pwi92+/p8ALlli389OwvHjt2djTWD9KaeF25N4TB2DPWqmV+aWtZu1vKzgq6NzXDp9jRHnh/l7I0JJmfji7V1xdZGpteaTs7GOX51jOduTRVci5mvKXKmMk3MxLk5OVuT5ssizUo1jiIi1fC2t8GHPpSzuepCOMLYd3ynmkJJSSZm4mwf6uHcC5MAdIRDOLfAnam5rBe7WWt+Vq/2j0uX4NYtP5THnTuwaROsXXvPetLHzIvNz3Ng4wr6OpcC1lqM8dgsalW7WcvPSh1L18Zm+JeLd1jT28G6FV2LNd9bVnazsrc9b21kumCtaWJ+geNXxzEc+zcOLAad+YLh9OMzfUzITGVa3dfJXGJ+MegudhxJkeWg5MDRzF4GHABWAjlvbTrnfqHUzxERaUo/9VPwkY/k7ucYiXDlne9RUygpSX9XhFhigT3r+rk2NsPEbJxwm/Fwlovqgga937IFNm+Gs2d90pwrV/zjvvtgxYq71hcMUFJlCVIzv9YVPJaicwnW9HXw3K0pbk3PEbE25nFMzcV5+8u28fTlscWmp5Ozca6NzTA1m2CBhYxNVoNB36lrY/R1hNmxuveumxLZgs5711Ncc9jZ+Pxi9tmlmyxjGppDJKnowNHMvh74LWBrEYspcBSR5WXnTj9OY4ZxHBfCfhzHc+//MKPrN3OwCZpCaXyzxpOqmeluD7N7bd9if7YDmwYyzl9wzY8Z3H8/JBJ+uBjn4Lnn/Ht790JXV9ayQG371kl9BI+l6dg8/Z0ROkJtjEXjDPW0E2mzxeamqaan8wuOszcm6YyEaA8bCy6UtfYwFfSlArzgeJuVqMnO1weyoJssIstQUYGjmb0Y+AuWahiHgWtAosLlEhFpfm94g7/wft/74GMfg6kpXG8vt7/tzVx427tp37OLg00QgOkiqjHla46XruikI+EwPPIIzMzA6dN+2unTPrA8cMC/X2JZpLkFj6XejjDnb02xsrudqdg8PR1hxqIJOiI+6++BTQMcuzTK1bEZOsJtgGMuWVMearOctYeFJLkpRb4bHcU2ry1WKTfidPNOGoE55wqf2ezPgW8CzgDf6Zw7Wa2CVdqhQ4fc4cOH610MEZGm0yqDii93ZX+P4+NLNY8APT2wZ48PJGVZCR5Lk7Nx/vL4NUJmjEXjrFvRxQKOdf0dRGPzvOPl2wD4o6NXaAP6OiNsGOiirzOCc47RaIzH9qzJ+DnBm1bBAK8SN61yBWJPnr15T01nvrIW87nFblM194MsP2Z2xDl3qJRli82q+jLAAW9vpqBRRERKp/HNWkPZg96vWOEzsG7c6F9PT8PRoz6hjhQlFQg0w5iXmQSPpd6OMFuHurk5NUdPZ5iu9hDbVvXQ0xFmZY9PjjM+E+f2VIwzNyZ4/naUqTnfUC1f7WE1s8Sm1v3YnjX3rLOa42GWMk5lJca2FKmEYvs4dgNR59yRahRGREQaT7Wai0ltVaw56bp1/jE87DOv3rrlH1u3wtBQdQrfQurV9LuSTR3Tj6X71/UzOh1j82A3nZEwc4l5ZuPz7F7bx7MvTHJ9bIbe9hCxjgiTMzH+8ZkbvOy+1fR1hvP2g61lRtqUavbZLWWcykqMbSlSCcUGjs8DW6pREBERaUxKfNI6KnoRvn27DxafecaP//j88/6xe7cfHzKP5dpnq5j+c5XaR9UIVjMdS5duR5mYjftayFU9hNqMi7ejrOltZ0V3B/1d7dyanOP21Axnbkzy7lftaMjvPBUYH78yxslrfjiQ+9bkP6YLUcqNuPRlJmfjXLg1RWx+fln9dqT+im2q+kdAp5m9qhqFERGRxlOvQcWlCbS1wYMPwv79S9POnYMjR2BuLutixQ4K30oKbfpdyD4qtMlrLZo6Htg0wMbBLh5Y38/utX2E2oxoLIHB4lAaPR1htg31cHDLSrojbQ1/DplfcOzbsIJDW1fREQ5V5Bgtpcl4cJmJmRjHr4wyOZdgz9r+ZfXbkforNnD8FeAC8AEzW1WF8oiISAPK1R9IhPZ23//x/vuXpp086bMKz8/fM3slA5lm6y9YaP+5fPuomOC7Fv2Us91g2rKym8nZuz9ncjbO6r7Oin12NVQr2C7lRlxwmTMvTNLbGeGhTQP0d7Wrv6PUVLFNVR8B/jPwAeCUmf028M/AZK6FnHOfL614IiIi0jR6enwAeeeO7wMZj8NTT/nEOjt3LmZgrVSfrWYcKqbQpt/59lExTV5r1U85U/PVl+5cxZ8evQL4msfJ2TjjM3Fe88Dain52oQpt/lvNfoWlNBmv9tiWIoUoNnD8HD6rasp/KmAZV8LniIiISLNaudI/rl6FGzf8UB5Hj8L69bBhQ8UCmWqPt1cNhSYpyrePigls6tlPeeuqHr7tkU380/nbXB+fYXVfJ695YC1bVxWYzbeCirnR0KhJwRq1XLI8lBLQFTtgkwZ4EhERWQburc1ZzcCGDX78x4kJuH4drl9nx9qNHI35y4NyAplmzTZZSI1TvmCvmACiYhl1S7R1VU9dAsV0xdxoqESwXY0EUEpWJvVkzrn8c7WAQ4cOucOHD9e7GCIid1mumSWlOup5POUdpHx+Hk6d8s1XSWaGXLWJMWsvuazBgehTorHEYr+xSm5bPfZrrs/VoPDFe/LszXuaeTrnGI3GeGzPmnvmL+d7r+b3o78bUg4zO+KcO1TSsgocRUTqQxd+ElTuxWC9j6eCg7i5OZ84J2j/fp9gp0i12OZ679d8ZSs3gFgOQUhqG49dukN7KMSO1b2LmV6rcaMBandTQ6RY5QSOxWZVFRGRCqlFinxpDpUYnqLex1PBmTs7OnwCnd27l6adOOFrIxcWivrMWgwVU+/9mku52Y7HojG+8OwtTl0bZ/jWNKeujfOFZ281fGbaYgR/W3vW9jM5l+D4lVEmZmIFDYVRzGcEM/vWIpOtSK0paY2ISJ00a/8sqbxKJHmp9/FUdNKOvj4fQN66BZcuwewsHDvmk+ps317w55aSobIY9d6v1ZCqgfvyc7e4MTHHtlU9DHa3M5dY4MroDMevjPGq3fc23Sz1c+pZm5n+23po0wAXRqY488Ikj2wZLLuvZ7aEO6E2q2oSm0bYt7L8lBw4mtkm4OXAJqCHHElwnHO/UOrniIi0KmXHk5RKBCe1OJ5yXayWnLRj9Wr/uHTJB5F37vjHpk2wtj5DNgQVu18b4YK+0L6Ro9NxOsNt3BifoSMSoqc9zAoX4bmbk2UHjo0yVEr6b6uvM8KBjQOMRmMVaTKa7abPXMIf/1D5JDaNsm9l+Sk6cDSzIeCDwLeRP2Oq4YfjUOAoIpJG2fEkpRJBX7WPp3wXq2Vn7tyyBTZvhrNnYXoarlzxj/vu8+NA1kkx+7URLuhzlQHgsydvMDYTZ1VPO7OJeVZ0tmMGI5Oz9KzqBRyuyIT4mQLVRhkqpdo3VLLd9JmNz1ctk22j7FtZfooKHM2sBz+W4wNADHgaeHHy+VeBdcB9ydnvACcqVVARkVZT7xT50jgqEfRV+3gq5GK17GajZnD//ZBIwPHj4JwfygNg717o6iprG0pRzH5thAv6bGU4fmWM+QXH2EyMoZ4OYvM+OeLt6TlW9XYwPZdgNp5gYjbO3g2FB+rZAtVobJ7Ng913zVuPJr7VvqGSKzCtVjPqVmw+Lc2h2BrHHwH2AmeA1zrnrpvZAnDHOfcqADPbCvwq8Cbgr51zv1rJAouItJJq98+S5lCpoK+Sx1N6LdK1sZnaBQLhMDzyCMzMwOnTftrp09DW5jOwhmuboqHQ/Zq6oJ+cjXNtbIapuXl62tvo7ghXJZNmppq+bEHFyWvj7NuwglU9HcTmF+iMhNk+1MvwyBSziXlwjvkFx6bBbg5sGsj4OdfGZpiaTdDbGWbDQFfOmsWbE3MN0RS/2jdU6tFyRN0cpF6KPfN+O77p6c84565nmsE59zzwXWb2CeCXzOywc+7vyyyniIhIS2ukmwiZapGuj8/QGQ6xpr9zcb6qX6x2dfkEOmNjcP68z7r69NPQ2+uzslpxTSqrrb8rwq3JOS7didIZCdHfGWZiJsb4bIKxaKyirQmKTcpiOLoiITYMdHH2xgQAA10Rhno76O0Ms35F12IwGCxn6nMWFuCFiVnagOm5OJ3hEGPRWNaaxd7OcNX6+BWrlN9WoX1V69FyRN0cpF6KGsfRzEaBfqDbOTeXnLYA3HbOrU6bdztwHvgz59y3VazEJdI4jiIiIoXJNAbdzYlZhm9Ps3/jivqNZ3jjBly9uvR69WrfN7JBjEVjfOrIZcJm9He1M5eYZzY+z5aVPazsba9orWO2cQLnEvPML7h7xp0MtRkd4RDd7WEmZ+M8e3OS8zenCIWM1+xZw4FNAxm/x9TnXL4TJT7v6IyEmI0niITaGOxu58ilUVZ0hVnV08GGgS76OiOL4xWmaiSbLfNnI4/dmdIISZikOZUzjmOxNY6dwFgqaEyaBXrTZ3TODZvZOL4PpIiIiDSw4IXo+VuT7Fnbf9f7q/s6mE3ML46ZWJc+uevW+cfwsM+8euuWf2zdCkNDtStHFgPd7axf0UV0zvcV7O0Is3VVD70d4Yo36S02KQuwWEvlnGMmlmD9QBcHNq4gHGrLmsQn9TlTc/P0d/rLxo5wiBsTs0zMxmkPGZFQG1Ozcc5cj7F1VS9tbSweG41Qi15skFXrvqqlBIGNsm9leSk2cHwB2Ghmbc651Ci9t4BNZrbJOXclNaOZhfDDdHRnWI+IiIg0iPRmj+2hEMevjvPQpgH6On1T1Jn4PBsGuqrSV69o27f7YPGZZ/z4j88/7x+7d/vxIetow0BXxprASjfpLSUpSyqgPHltnN7OCDuGehe/X8gcGKU+p7cjxFxigc5IiLnEPDOxBN2RdjYNdrNhoItrYzPcno4xMjXH6/ata5ghSErJdFvL5DONkIlXpFBtRc7/fHKZDYFpTyX///a0eb8VH5jeLKlkIiIiUhPBGhYzY8fqXgzHhZEpnHNEYwmisQTbh3pqXrbUhfWTZ29y7NIoY6mL97Y2ePBBnywn5dw5OHIE5uYyr6wGtg/1LO6vSuy7bNtfyuek+uPdt7qXAxsH7goauyIhJmbiWbfHBzUJxqNzzCSbvi44t9g8dc+6fl62YxXrVnTWJWhMNakd7G4nllhY3Ffpx3bq+fDIdNb1pYLloGz9ebMenwUqpXwi9VJs4JhKcvO1gWl/gB+v8ZfN7KfN7OvN7N8Bv4tPpPOZ8ospIiIi1TIxE6crElp83dcZYf/GAeYSC4xGY7SH2+pSAxIMCMJtxqlr43z0y8N8/tzNpQv09nafQOf++5cWPHnSD+cxP595xVWUCs5STXrL2Xe5AqJyPqeYwCj1OSt721nb30lXe5i1K7pYv6KLravurrGsV2bPXMFX+rEN2YPklEKD8lzfT6FKKZ9IvRSbHOcgcAT4W+fc65LTDB9QvhofKC7ODtwADjnnrlWqwKVSchwREZHMsiVaSQUj9S7X/ILj7I1JOiMhnFtgwcHGwa7MgdKdO74PZMqKFbBzZ8NlYC1Etb6XSiR/aaQEMk+evclgdzsW+I6dc4t9PEvZh+lNX1f2tHNnOnZXU9jhkWnuTMUYjcaYmvPNeQe724tKhNSovz1pXeUkxymqxtE5d8w515YKGpPTHPBNwC8Dw0ACuA18HHhpIwSNIiIikl2lm1dWSqo25trYDJ2RUPIRJpHMGpqxOd/Klb4Gct06/3p8HI4ehWvNdzlSrdqoStSKVrJmtVy5alBLPbZT2/fYnjVsH+rhwq2pe2oWn31hkufvTBOfd4Ta4MKtaf7+zA2+9NxIwbWOjfrbE8mkqBrHZqYaRxERkewqnd6/EutL1cY8c32S/k7fDDE1FMTutX2MRmM8tmdN9hU4B889BxMTS9O2b/fBZRNQbVRh8tV+Fnssps8/ORtfHMokJRpL8OS5W6zpbSccCvH8nWk6QiHm4nHa2kK8dOfKggNpDa0htVROjaMCRxEREamoSjVjTK3n6tgMbRhmMBufZ8+6fkJtVngANT/v+z0mEkvT7r8fehq7VqeRmoM2ukoFX5n2+T9fGOHRrSvp71pan3OOz566waqeCCNTMcwMA2YT86zq7eCRZG2sAnxpNLUcx1FEREQkp0qNg5dqLhhqM566NMbKnnZ2r+0j1GZEY4nF8QnzCoXgoYd8ttWTJ/20M2f8/wcOQKT2CV0Kkdr+9DEZFTTeq1LjGmY6dlf2djA8Ms1Dm5fWPxOfZ8vKboZ6O7g2PoIBPR1h1vd0saIrUvDwHaptlGZScuBoZhuAA8AgkPOM65z7aKmfIyIiIs2lkuPgDXS386rdaziwaWDxAru7o620AKqjw/d/nJz0Q3eAz77a2QkPPOCH+GgwGui9tjIdu9tX9XDk+VGiscRdNb8v3bmKC7em2DbUc1eN+IaBroIyzGoMR2k2RQeOycyqvwZ8TYGLOECBo4iIyDKRa3D6UlU0gOrr8wHkrVtw6RLMzsKxY77v4/btlfkMaTpj0Rg3xmc5c2OSVT3ti2NUhkNtPLxlYDERULDmd0VXpOQa8UrVzIvUSlGBYzJo/DzQjR9uYw4YwWdSFREREWH7UA/HLo0C3FVDU3DT0lpZvdo/Ll3yQeSdO/6xaROsXVvv0kkNpWr/hno7mJ6LMzUb58yNOFtX9tDWRtZawHJqxCtZMy9SC8XWOP4i0AOcB94NPOmcW6h4qURERKRpNV3fvC1bYPNmOHsWpqfhyhX/uO8+Pw5kmVqxH1urbVOw9q+r3Q8Bc3t6jpGpOV63b13ebSulRrwaNfMi1VRs4Pg1+Kan3+mcO1aF8oiIiEgLaLq+eWY+02oi4fs9pobyANi7F7q6SlptK/Zja7ZtKiTIDdb+9XVG2LMugnOO0WisatvUNDXzIknF9gI3YFpBo4iISHNLXfw/efYmxy6NFjxgeb3XXXXhMDzyiA8WU06f9n0gE8X3zAnWZJnZ4vPhkekKFrq2mmmbUsdiLLHAYHc7scRCxmMyVfsXVO3av1TNfKrvZGr4jkYMvkWg+MDxOSBiZqFqFEZERESqJ3UR/ZfHr/GpI1e4MxXLeTFdzmfku1BveF1dPoHOzp3+9cICPP20b85axBjYEzNxuiJ3XzZ1RUJMzMQrWdqaaqZtKjTI3T7UQzSWIBpL4JxbfL59qLpjfaaCx8f2rFHQKA2v2MDxCaAdeGPliyIiIiLVEgzoonMJwgaX7kwzNZeoaI1RM9VGFWRgwAeQGzf611NTcPQoXL5c0OL1qMmqtmbapkKD3EJq/5q6Jl2kAooNHH8D+Dvgt8zsZVUoj4iIiFRBMKCbji3Q39VOZ8QnAYHK1Rg1U21UUdat8wHkYLL/2c2bcOQIjIzkXKxeNVnV1EzbVEyQm6v2r2Vq0kXKUFRyHOfcvJl9C/A/gS+a2ReAfwEm8yz3C6UXUURERMoVTP7R2xFiLrFARzjExKwP6CpVY9TymSJ37PDNVk+fhrk5eP55/9i9248PmabpMswWoJm2KV8CmkKzw2rMRZHis6oCfB3wzfhEOa9MPvJR4CgiIlJHwYBuw0AXZ29MMhdP0NMRXqwxqkQ2x/QL9VuTcwzfnmb9is7F98sNMOo+FERbG+zbB7EYnDjhp5075//ftw86Ou6avekyzBagWbYpV5BbTHZYjbkoUmTgaGavBP4UCOGH5TgPvAAUn2Ys9+e8Hvi15Od8yDn3K2nvvxr4NDCcnPTHqtUUEZFGV8+AJxjQ9XaE2bKym+HbU3R3hGkPFzZgeSGCF+qXR6NcH59h+6peVvd1VGTYhuDFfrjNOHVtnC+cu8nDWwY5sGmgtgFke7tvvjo9DWfO+GknT0IkAg8+CCHlEmwE2YLcYmoRW74mXaQAxdY4/lxymcPAW5xzw3nmL1oyY+sHgK8HrgD/YmZ/5pw7nTbrF5xz31zpzxcREamGSo19V2rwmV7zsrK3nUe3ba5KoBW8UB/q7aho877Uxf78guPcC1N0RkIM9XZw6XaU+QVXn8yUPT0+gLxzB4aHIR6Hp56CFSt8Vlaz2pZHClJMLaLGXBQpPjnOI/iaxu+pRtCY9GLgOefcBedcDPh9lMVVRESaXCWyjZaboKPWqf+rkSgntc5rYzN0RkLJR5jEgqt/9taVK30AuW6dfz0+7jOwXrtW86IoA2h+pSTO0ZiLspwVW+MYAiadc89WozBJG4FgjusrwEsyzPcyM3sauAb8O+fcqfQZzOzdwLsBtmzZUoWiioiIFKYSfaRqnaCj3Ka11Wjel1rn1Nw8/Z1+vXOJeXo7wo3T52zjRtiwAZ57DiYm4Pp1/9ixYykrK9Vrulyp2u1M661n39JKf36hiXOujc0wNZugtzNMX2cYM/97Hh6ZZvsQCh5l2Si2xvEZoMvMOvLOWbpM7TnSR9o9Cmx1zj0E/Dq+3+W9Czn32865Q865Q6tXr65sKUVEZFkrtkanEmPf1XKoi0oMP1CNYRtS6wyHYDY+z2w8wWx8ng0DXY3V58wMdu2Chx+GcDJwvnDBD+ERjVZ1eIdqjKVZ7+EoqvH5uWoRU593ZyrGC+MzzMQSXByZ5vDFUU5fGyfcZhqSQ5adYgPH3wIiwNuqUJaUK8DmwOtN+FrFRc65CefcVPL5XwERMxuqYpkANfsQERGvlIvYSgRRtRx4vRLBRzWa96XWuWVlNyNTc8wvOHav7SPUZo05luD/3969x7mVp/Wd/zy6lerqqvKt2na72+623Vf3ZTwMCZceksAwbJYJAZLJEiaB2Z0MCQmQZDdkyQIbliVks1mSHcgsO5mdwLIhMCEEwmUyGUIPgRDG3e52X6u7x9XtW/tSrpLrIql0++0fRyqryrrrHOlI+r5fr3qVS3WO9Ds6R2U9en6/54lG4YknvGqrFa+9xrX/+PtMmvM1uKsI4gOGIILRMDx+venblcdbTecYT8TYMzHG5laBQtGxZzzBu7ezO8bQ6ntEvZeUQdZW4Oic+wzwL4B/YmYfDmREXl/IE2Z2zMwSwIeBX6vewMwWzLyV5mb2FXjHcSug8QD9/6RNRETCo5M3sX4EUb1svO5X8BHEusrZiQRfe/IAH/nj9/Po4T0USi78a87Gxrz1jydPArCZLTD31uuMvfG61xcS/7LHQXzA0Mtsdxgev/J4G1sFxmLe4+aLjkLR63+6sVXYHsPVVKal94h6LymDrt12HJ/GmzaaA37BzH4Cr8LqeoPdnHPuo60+hnOuYGbfC3wOb03lp51zr5jZx8u//yTwbcD3mFkByAAfds7tns7qKzV+FRGRik7XK3bb+66XjdcHof3AoPQS3GF6Gt7zHhKRN8levEgymyX58nmKs7PcXjjiy/MbRAVQv6+Hdtcr9vp6rDze1FiMrUKRZDxGPGqAba+prYxhI1toqXqw3kvKoGu3OM5fxgscK+sQ7yt/1VLZzgEtB46wPf30N3fd9smqf38C+EQ799ktNX4VEZGKfgZVvQqWhq39QL8Lu+x276n7ODc+w+zyNaZur5K/uUzk3escf/phoLvnOIgPGPy8Hjop3tPr67HyeHMTCd65tcFWvsjkWIytQonbmRyPH57dzvhPJWM1s6G73yMO63vJsL22JDjWTqLOzD7D3YVqmnLOfVe7+/jtzJkz7uzZsx3vX5laUP0mIZ0rbE+NERGR0VH9xrf6TWyop0qWtfMmb1jeEIb1fG0/v+kc+6++zb1jjulk+cOHBx/0+kCGiF/XQ6fvqXY//vxkgpXNXGDXZ72qqgDOsf2YS8ubLR3PML6XDOtrS+ozs+ecc2c62jfgGZ6h0W3gqBeGiIhUG8SgalT/LxuYN+yFApw/70UlFSdPetNbh8izizeYm0hQLlcBgHOO1XSOZ04daOk+wnQttzqWMI3ZLwPz2pJt3QSO7U5VHVm9XFciIoOnF0HEIAYqw2wQ19eN6hqrgZkiGIvB009DJgOvvurd9sYb3vfHH4eEP+eo339L/Jjq3e61XOuYK9t3+zy0+h5x93ZmEI0YL15KDezf9IF5bYkvFDi2YRDfJIhI8IJqtt3rx5Bwa+XNfrNtRvVN3iAU+tlhfNyrwHrtGly54t320kve96eegki73dR2Trt893aGY3un2D891vLfEj+DzVbWK/p5Ldf6+/mf3ryJAw5MJ335m9rqe8TKdrWyj+curnJ8/1Sg02/9NnCvLelK+395RERkh170N+t3DzXpr1bK+LeyTS/7QIZJL9uY+GphwQsgq9c6njsHL7/c1t1UXxvprQIxMy6upNnYKrT0t8TvNhLNWtP4fS3X+vt59XaGl6/c5rV313nj+jrFkut7X8pSCT7/6vWBatcxsK8t6Ui77TgudPAYzjn3QAf7iYgMhF5kcUY1UySeVqbltbLNsFVKbdXALzd58EFv3ePzz3s/b23Bc8/B/v1w9GjT3auvjc1ckZnxBFuFEldTGU4txJv+LQliinOjDF2713KhWGLp1iYrG1s8eXSOVDp3V3YyFjEWr62xsVXADBbfXWc6GWcm6VVKXby2zsmDU2TLwWjQ03lr/U1f2dyiWCr5+jwHbeBfW9KWdqeq3t/idtUtO0aj+o6IjKxeTNXRdKDR1soHB61s0883ef1eVzfwy03MvOxjsQgvvODddvOm93X//bB3b91dq6+NSl/CsViUtazXxL7Z35Jef3DVzrV8/nKKFy6mmJ9M8J775olFI3dNOTWDl66k2DOeYCYZ580b66xnC8yMe9m+ZLmVxtKtTR49tKcnSwNq/U1fSeeZH8APCAf+tSUtazdwbNZWYw/wPuDPAhvADwPpDsYlIjIwepHFGdVMkXha+eCg1Q8X+vEmr5drdPsdoAYuGvUCyOoCOm+/7X09/DBMTNy1S/W1cWh2nMVra9t9CStTCxv9Len1B1ftXMvTyTjvO753x7Zwd5bOYVRyGplckfnJBPlCiWy+wFgsinMlVja2tttrBF1Eqtbf9GgE5ifHdmynDwglTNoKHJ1z/6KV7czsYeDzwHcA729/WCIig6MXWRxNBwqXZsGJ38FLKx8chPnDheo34uvZPFdTGW5tbnFjbYsPPLagIlKdqBTQWV2FC+WVRK+95n1/4gmvQmtZ9bUxNRbj6PwkS7c2mRiLkYhFmv4t6fW11e401GbZSefg9OE9vHs7y1q2wHQyxpG5JPkSxKMR1rLeVNYny9fJWiblW4a13t+CWn/Tv/6RBS7c3CCdK4TuNSwCAfZxNLMPAf8G+B+cc/8okAdpQ7d9HEVEZPh0EuA168UWVK82P6qq9kulb9/GVoHFa2sk41ES0QjLmzlOHpxq6blp5dhGuqfc5ctw/frO255+2punSffXRq+vrVQ6t2Ma6rF9k8SikbteS62c893brGfznL+8ylQyzunDs3e9Rv26jjr5WxDW17AMj276OAYZOMbwpqsuOueeCORB2qDAUUREqnUa4DV7UznswUsnb2wrz8nr19a4djtLseSIRYyFPUlOLcw0fW5aPVd+NJYfeK+9BumqVUJTU3DqVNd328559yv4aeW11Mq1UWubm+tZZsbjOMddY/Trw59h/1sgg6mbwDGwdhzOuQKwBaiiqoiIhE6nLU7WMnnGy8U0KsbjUdYy+ZZ+P8g6bctwbN8kN9ezvHIlheGIRyNs5gpsZAsUiqWmz02zc1UZ11s3Nzh/JcV69s79jdwasYcf9jKNFRsbXgXWq1c7vst2zrufrTtaeS01a+1Rb5uvPrGfrz15gGdOHWhp+05mDAzz3wIZTe0Wx2mZmZ0EpoHbQT2GiIgMpjBMx+q0UmSzwh3DXAG306IhsxMJZsbjzE2Okc479iQjnDgwQzTi7fvo4T1194XG56o6O/TQwWleupLixcspTh/esz21ceTWiFUqsObzcP68d9u773pfDz64sy9kC9o5734WlvGz4FO7RaH8KCI1zH8LZDQFknE0s8PAZ/BacWh+qIiIbPO7mXin2mkgXq1Zw+thbojdTQbFOfjaE/u5b36ChT1JJhJRnIOVzVzT56bRuaoOVGbGE5w+Msf0WIzF62sdZ4qGRjzuBZAPPXTntrfe8jKQ2WzLd9POefczyzbor6VBH7/Ibm1lHM3s0002SQL3Au8FKv/z9r0wjoiIhEcvSt23otNKkc0q3A5zBdxuMigz43FyhRKnFqa5msqwli0Qi8KTR2ebPjeNztWLl3ZWwJxOxjl9ZJbVdE7ryComJ70AcnkZ3nnHu+2VV7zvTz7ptfhooJ3z7meWbdBfS4M+fpHd2iqOY2YlvCyiNdsWrzDO9zvnmgWbPaHiOCIi4RCmAiZhmDI7SLopGtJtwZF650oFSDrw9ttw69adn6NRL4Cs451bm3z+1esUSyXmJxLMT44RiVDz3AVVVVhE/NGzqqpm9hm8wLGeArAKvAj8unNurZNBBUGBo4hIOPTijb4CwuB089wGcV4UqHTh/HlvHWTF3BwcP75jk8rzWyrByuYWK+k80Qh8/SML3Le39pRLvf5EwiuU7TjCRoHj6NJ/YCLhEvQbfQUSo0d/57tQKsG5cztvu/deOOBl/5XRFRkuoWzHIRIGYSnCISJ3+FXqvp5O22zI4KpcU7VaK0gTkYi3/vGxx+7cdumSV0BnfV0tJURkW2DtOETCICxFOERkJz9K3dfTaZsNkZE2NuYFkGtr8Oab3m1vvMHBa2usPfAQ41MT25uqpUR/KLMu/aaMoww1fVIqMno6bbMhAndmqjy7eGM0Z6jMzHgB5OHDAByeHcdeeQmeO4srFtVSok80g0rCoGHG0cx+x4fHcM65P+nD/Yi0Tc13RUZPp202RKrXx85NJMjki5y7uDpQ0199y0otLMDCAtNvvslDwJVUhs2zzzGzZ5JTf/xM6J+PYcvOaQaVhEGzqarvp377jUpVnXqtOSr7jUb1HQklvYEUGT3qnSadGvQ354EEvidOMP3ggzz0/PN3bnvtJdi/H44e9WfgPhuGDwB20xR8CYNmgeMXqR/4/fHy/s/6OiIRH+kNpMhoCnINpfRHLzJIg/7mPLDA18ybvloswgsveLfdvOl9HTsG8/NAeLJ8g/4BQC2aQSVh0DBwdM69v97vzOxd4IBz7uv8HpSIn/QGUkRksPUqgzTob84DD3yjUS+AzGTg1Ve925aWYGmJ1H0PcG55KxRZvkH/AKAWzaCSMFBxHBEREQm1XrVYObZvcrv4i3OOG2tZXrpym6upzEAUIulZYajxcS+APH58+6Zr/+Uc+xZfZiJC39vgDGOBrKDbGIm0Qu04REREJNSCyCDVm1ZZWd5waTXNu7czHNs7xf7psYFYJ9fzrNTcnBdAXr7M5tsrzCTj8OrLAGQff6JvWb5hzc5pBpX0mwJHERGRPgrLurAw83sKabOpr5U35/umxmqukzu2j1Ces76t6z9yhEhpkvTrrzNR8ALF5Esvkh5LMnPiZLCPXcOg1zdo9DdBfy+kn8y5zoqeVq1xjDbdOATOnDnjzp492+9hiIiIbKsOYKozI2HOavWD389TpR9edSCazhW2p/8BPLt4g7mJBGZ3isc757i0mmYiEQ3snA1qYLB9juJR5l9/mWyhSLZQ5KGFGaaPHYVDh/o9xIHQ6FoHun4dDOr1Jf4xs+ecc2c62VdrHEVERPqkV2v3Bp3f67vWMnnG4zs/9x6PR1nL5Ld/rrdObiNbCOycddLkvbLPs4s3fF2H2e79bp+jeJSrDz5C4bHHvaAxGYd334XnnoPbt30Z2zBr9Deh278XnVxfItU0VVVERKRPel39cZCzDX6u72pl6mu9dXJTyVjNoNOPc9ZuG4mgqs12er93naMHDsDmJrz+uvfzW2953x99FJLJjsc3zJr9Tejm78UwtimR3lLGUUREpE96Wf1xVLINrWTKdldPrfz72L7J7W3qZTkPzY4Hds5ayYRWCypj7ev9Tk56BXSOHr1z2yuveBnIYrH+fiOq0d+Ebv9etHt9iezWMONoZh9p8Ovx8jbfCViD7XDO/Vz7QxMRERluvaz+OCzZhmaFQ1rJlLVaPKVWlvPYPgI7Z+0WAQoqYx3I/e7f7329/TbcuuXd9sILrOdKvHX4wYHMggeh2d+Ebq69Qe9TKv3XsDiOmZWAzqrn3OGcc32fEqviOCIiEka9mj5ar9jLajrHM6cO+P54QWhWJKeVojd+jSOIc9ZuEaCgjrcnz+P586yvp3n92hrJWJT43r3cPnSvikMRXFVVFeMS6K44TisBXcNsooiIiHSml2sOw5Rt6PS4m2VNe7VmNKh+eu22kQgqY92TTPjp07z19i2Syy+QjMdg7Tbza7eJ7TvI0nLw/QrDvN630fXVzbU36G1KpP+aBY7HejIKERGRERNUYZN6wtIUvZvjbhYYhik47lQ7gUFQgUCvAoy1rSJzT7+HrVyOscXXAJi5eY21S5dg/o/B1JSvj1fR69demAT1oYeMhoaBo3PunV4NREREZJT0es1hWLIN3Rx3rcDw5voWyxtbPLt4AzMvuNw/nexrcOy3RtmxYLOfwV4b2+dzbIybJx/lxuUbFN94k+mxGOsvvuy18nj8cUj4O45hWe8r0mt9X3soIiIyinrdigPCkW3o5rh3Z01vrm/x8pUUjx2e3c4cOfJsFYpky5nGMEzF82tdmt/ZsX5P16ycz41sgXdWNonEkpQefowDpTSvX3vX6wP50kvexk89BRF/mgH047UnMgzUjkNERKQPetmKI0y6Oe7dLTKWN7Z47PAsB2aS220jDkwnmU7GeebUgVBMPWylDUqjFiJBtdwIQ3uWyvlc3tgiXywxlYzz0D17mH3gKKWn3sOlQlV+49w5r42HD0b1tSfSLQWOIiIifdBKL8Fh1O1xV4KNZ04dYGFPkv3TYzt+36gvXSs9Hv3WLPBrFsAF1XsvqIC0XbMTCRb2JPljx/dxamHGm55KOaO8cBSefvrOxtms1//x0qWuHnNUX3si3VLgKCIi0gf1Gsz3O0MWND+Pu53MUb8ybM0Cv2YBXFDZsTA1g294jGbwnvfAE0/c+eWNG14AubLS0eON6mtPpFta4ygiItInYVhzWEvQa9/8Ou56lWIX9kxx7uLqjvH3qyBKs0qvjdbbpdI51rN5XriYYn4ywbF9k8SiEV8K/oSpAm1LFX9jMS+AzGTg1Ve925aWvK+HH4aJibYeM6yvPZEwU8ZRREREtoVh7VuramWOju+f4sLNjbvGfzWV6UuGrdm0yHrZNjM4d3GVsViU99w3BwbPvbPCVqHoS3YsTNM128oAjo97AeTx43due+01LwNZKDR9rH5MVxYZFuac6/cYeuLMmTPu7Nmz/R6GiIhIqFWCxupMVDpX2H4zH3b1xv/28ib375vsy3E1yuBWV02tzrZFI8ZYLLo93vVsngvLG2wVSjx9dM6XLHC/q6r64vJluH59521PP+1Ncd2l3nOtaaoySszsOefcmU721VRVERER2RaWVgWdBjX1xj+VjJHOFbZ/7mWPx0bTIuv113zxUmo7Q7qezbN4bZ2xWIQIbGdRWwl4+tEDsqeOHPG+Xn3Vm8YK8PzzMD0NJ0/u2LTb6cpDEWiLdEGBo4iIyAAJ+s1rP9a+7T6m+ckEF25udNS7sN74D82Ob691rA7QwvDGv1YAV30cV1MZkvEo4JhOxlsOeILsARk6jzwCznlBI8D6ujd99dAhUnv2srS8ye+/eZODM0kOz03sqN5a/aFIvddXq8+lgksZZlrjKCIiMiB6sf6w12vfah3T51+9RqlER60iGo2/upVH2IOn6uPYyBZwrkS2HABDa+szw9Jyo2cqFVhPn96+af3CO7z5W79LYX2DgzNJNrcKLF5bZz3rPXfVH4o0en218lwO0vrgbmid6OjqKHA0z581s182syUz2zSzjfK/f8nM/oxZjcnlIiIi0rFeBAK9blVQ65iKJVjZ3NqxXauFbIal1UL1cZQoUXLs6HPYShY4TC03eioe9wLIU6e4ksqQjEWZfecCJ6+8CYU8huPKavquD0Uavb5aeS4b7T8swdaoBMdSW9tTVc3sIPBZ4I9Xbqr69X3AUeBbgd83sz/nnLvW9ShFRESkZ+sPe7n2rdYxzU/EWdl1TO1Mlx2KtXvcOY5Ku4poxHDOtbw+M0wtN/piaorrDz7K3mIW3l5iIhHjqdRl3t1yvDV/hAcPTu+Yrtzo9dXKc1lv/0uraVLp3FBMGe5XWxsJh7YyjmaWAD6HFzQa8CXgx4HvKX/9OPBH5d99FfBb5X1ERESkS0E1g++nWsc0PzlGNBIJRauIMOg0i+rXtONBzpbNjMfZTE6SPf0k+UOHmUjEOJw0/lTuXZ4q3d7xHDZ6fbXyXNbbfyNbGJopwyObxRag/Yzj9wCngTXgLzrn/l2Nbf4nM/sm4P8rb/tx4J92NUoRERFprVE64S7QUa8QDtw5pky+wKHZJK9cTeEwThyYGsjsTC2dnptOsqj1Kra28zwOeoGdHa+ZvftYn5mjuLTE48kC3Lrlfd17Lxw40PD11cpzWW//qWSsZrDV60rFfhj5LPaIa6uPo5n9PvCVwEecc7/QZNvvAH4e+M/Oua/qapQ+UB9HEREZBs0CjzD3qqs3tuP7p1jZzLGWyWMGtzN5DkwnQzf+boX53NQz6H09oc5rJhmDxUVIp+9seOIEqViyqw9daj3W0vLmwD+HFYN4DctO3fRxbDdwXAEmgCnnXKHJtjFgA0g75+Y7GZyfFDiKiMgoCPMb/VbGFubxd8vvY+tFZvnZxRvMTSSornnonGM1neOZUwd8fay+yOfh/Pmdtz36KCSTvj3EsAVbYZ7RIM11Ezi2O1V1HC8QbBg0AjjnCmaWLu8jIiIiPdCrAjqdaGVs3Y4/zG9q/Tw3vZpCOvRTEysVWNNpeO0177ZXXoFoFB57DGLdtzz3Y8pwmAxL8SlpX7uvhuvAvWZ21Dl3sdGGZnY/MAs03E5ERET8E8Y3+pVg7ss310lEoxzfP1W3rUQ34w/7erx6x2bmZSPbCXZ7Vd2y0bq/MAfpbZuY8ALIVAq+/GUoFuHFF2F6Gk6c8HpEtmmonh8R2u/j+EW8iqn/R6M+jeXf/WPAAc92PjwRERFph1+VNP1S3fft1MEZ1rcKnL+8ylomV3Ns3Yw/7A3vax3bzfUstzP5tvvi9aq6Zb2KrsBw9vObnfUCyEOHvJ/X1+H55+Hy5bbuRv0OZRi1u8bxSeC58o+/B/wY8EXnXL78+zjwDPD3gK8FSsAZ59wL/g25M1rjKCIiYRREViJMmY7d6/rWs3kuLG+wVSjx9NG5mmPrdPyDsB5v97GtZ/OMxaJtr3vs91rQIB4/TNfttgsXYHX1zs/33w979zbdrd/nR6Senq1xdM69YGZ/Cy+b+DXAvwcKZraMl13cX77Pyl/svx2GoFFERCSMgppaGdQapE7e2O9e1zedjHP68Cyr6VzdN9Cdjj+M03R3231szy7e6KhVQ6utWYLi91ra0E4zPn7cm7b62muwtQVvv+19nToFU1N1dwvzWmORTrU7VRXn3E8B3wy8jhcgxoF7gEPlfxvwKvBfl7cVERGRGlqZWhmW5uudTr1r1FTdb2GbptuKTp+felNIexVk+X1eQz3NuFIo5/HH79y2uAjPPQe5u6//VDrHtdtZ/vOFZRavrbGe9aYPh+1DDJF2dVQqyjn374B/Z2aPA2eAyvyPG8BZ59xLPo1PRERkaDXLSoQpC9NpMZZeZsbqVa+E9ovP9Eonz8/uzO8T9872/Hj8Pq+dZuh6Or01kfDWP25seIEjwEsvebc/8ghEo9uv2X1TY2zmCmxk87z+bo779k4RidCzjLBIENpa4zjItMZRRETCptk6qDCtk+pm/WA/164NQg+9dp6fZsfTy+faz8fq5Frv+7m9dcubtloxO8u52By5omMiEWM9m+dqKsOtzRyz43E+8NhCaK65ilCuK5VA9WyNo5n9MLDhnPvHLW7/N4BZ59zf72RwIiIiw6xZ1iZM66S6WT/Yi75v9d4A786UFkuOK6sZlpY3eOrofCjeKLfz/DTK/B7bR08z1LvHXQnkOglCOslg9qolSV1793pfly/D9euQSlF6+wLT991LceEeppNxTi3Etz9g6fd1tluYZjTIYGh3jeOPAn+7je1/APiRNh9DRERkJDRbp9bL9YHNhHn9YKP1l9VtK9azeRavrRExiBAZyBYJjdpw9HOdYLftJzpZs9mrliRNHTkCTz8N09NMJmMUr1whef4FIqkUEN61jbWul1IJPvfytb6vqZZw6miNo4iIiPijUbap35Uzq1Xe2J+/nOKVqykcxokDtatK9nr6W6PMU3Wm9GoqQzIeBYyppN2VrRuEKXuNMr/9zFD7kf1rNzMdqiq6ZnDyJAsLR3jzC/8Z8gWS7yyR/XKR7NHjnDp12PeH7PZ1tvt6Wc/meWdlk3yxxMP3zCgDKXdpu6pqm+aBbMCPISIiMpT6XTmzlmLJ8eihWd573zxjsehdWYl+ND5vlHmqzpSuZ/M4B9l8kUOz49vbXU1lao75nVubgVW07bRabqPMbz8z1P3I/oUxCz47M8GJD3wNxYcfYS2bJx6L8HT6OrOvvQR5/54LP15nu6+Xq6kMEWDv5Fj4KttKKAQWOJrZtwPTwMWgHkNERCTM/GilUQkenzl1oO9BYytTIfsxXbJRwFQdfJeAEo5TC9NMJ+Pb221kCzWn7H3+1euBBMDdvOlv9GFCPwOpfgStYfxgpTKuJ0/ew3u+9et56Gves32tcf48vPoqlEpdP4Yfr7Pd18utzRwl57Y/VIE+Tf2V0Go4VdXMvg/4vl037zezC412A2aBGcABv9HNAEVERAbRMBaeaGUqZD+mSzab0luZAlnZLhoxnHPb200lY3dly1Y2tyiW7lT59LPwSrfTOutN6azXjqST663daZD9mlbdi8JLXZmZ8Vp43LgBly5BJgPnznlFde6/v+O79eN1tvt6mR2Ps29q7E6gS3jXZ0p/NFvjOAvcv+u2aI3b6vkCoIqqIiIycvpe8TEA9daUmd3pk3jtdpZC0XFgJrljm15knpoFTPW2W1revOu4VtJ55gMKgIMIrv3s7djJhx5+Bq1D6cAB7+udd2B52WvlcesW3Huvd3ub/FrfWR14V857Olfo+5pqCadmgeOvAm+X/23Ap4HbwPc32KcErAEvO+e+3N3wREREBlOYWmk002p2qVZW6eZ6FgeMxaLMTSQoFB0vX0nxGLPsnx4LXeap1naVNhZw57iiEZifHNuxnV8B8O43/evZPBeWN9gqlNoucpJK5zh/OcULF1PMT3pZ1crU11qBXivnutMPPUKf/WugZwWd7rvPCxYXFyGd9rKQly7BiRNedrJFQWR4FfxLM+aca31jsxJwzTl3KLghBePMmTPu7Nmz/R6GiIiMiE4amvdDu03Ud7/BXs/mGYtFdxznjbUsyxtbLOxJ+v4mvNkb/E4DgN37zU8muHBzo+Xnpd1jqDznhWKJ81duYzgePzxLLBpp+XEq93MllSGCYeYV/jm1MEM0Yndda62e62cXbzA3kcDMtm+r9CJ85lTj7Jhfz38vq9q2+xrwTT7vrXus9uijkEzW3n6Xfj5nMrjM7Dnn3JmO9m0ncBxkChxFRKSX+vZmtE3dBrjdBBntavac+v2cB/nGvHLf5y6ukIhGOb5/anttWavPf+XcvfbuOjNJr0hKNl8gHo1w8uD0Xeeg1XPd6TXR6fPf79dK3z/kSafhtdfu/ByNwmOPQUxd88R/3QSOuiJFREQCMCjTvrqdUtvLXnrNplBWfl8sOd64vs7GVoFYxIhGjK892X4QG+TUy8p9V57/6sC71ee/su/UWJStQolkPEqx5PjyzTVubW4xO+4F05VrrtVz3ek0yFrnZyNb4HMvX2uYfQ5yPXArwX/fp5VPTHgFdFZX4cIFKBbhxRdhetqbwlp1bYj0U9B9HEVEREZWmFpp1NNtG4VetoBo1itwLZOnUCyxeG2NfLHETDJOxOCFgPtIdqOb57+y76HZcbL5IiubW7xxfR3nIB6NsG9qbEebj1Yfq9M2F7vPz3o2zzu3NkiVA7N6bUeC6gHZatuTfva/3GFuzgsgD5VXhK2vw/PPw+XLvR2HSB0KHEVEREZYt4FfL3vp1XuDX6nq+tbNDb74xk1KzpGMe1M3zSLMT42Ftol5N89/Zd9oxDh5cIob61my+SL37Z3goYUZDswkd/T2a+exOvnQo2ZDeTPG4xHeuL7Oa++ucWU1w/nLqYb7gT+BW6u9DvvZ/7Kme+7xAsjZWe/n69fhuee8KqwifaTAUUREZIT5Efj1KrNa6w3+jfUsa5k8uUKJh8rr+i6upNnYypPNF8nmixzbOxnaJubdPP/V+xZKXguUDz15mKeOzm+vlywUS5y7uMKzizdYWt7k+P6pwIL8uxvKb7GZK7KRLTTMAAcVuLWayezlhx9teeABePJJSJTH8fbbXgC5sdHPUckIU3EcERERGRjNqro+f3GFiytpDOOhhWkOzY7XrDA6jCrTMoslx9VUhhvrW7y7luHeuXG+8ti+nhSdqT4/125nuZ3JMZ2Mk4x75yebL1J0JR49tOeuiq9+FyLqe9EbP+Vy8NJLO297/PE7QaVIi1QcR0REREbC7oI1zy7e2JFVOnFgmmKxRL4EJw9OD20T81qB1rF9k/zemze5vJphTzLOeiZHqViiUHRsbBW2s5B+FJ2pZ3dD+Z/7g7eZGvMq7W4VSmTzRU4enKqT9fN3TEH0OuybRMKbvrqx4fWABC+QTCTgkUe8SqwiAdNUVREREamrUmDk2cUbNQuL9Nvu9XHTyTj37Z1idjwermmHPqpX9AVgz3ic6bEYuWKJfMnx0D17mJtIcDWVARoXnfH7XM9OJHjy6CwlHGvZAvGocWphmlg00pPCM6GdgtqNqSkvgLz/fu/nXA5eeAG+/OV+jkpGhDKOIiIiUlN1f725iQSZfJFzF1dD9ea7VlYpEoEPPLYQmjH6rVH7Cufg9JFZzIypsRj5omMsFmEt6wWL9YrOBHWuTx+ZpVhyd/Vo7FXWL8iWKn21d6/3dfmyVzwnlfLWPx465BXXEQmAMo4iIiJSU6tVKfvJr6xSPzOr7T52o6Iv1RnYSpuOtUyOyUS0YdGZoM71UGb9wuTIEXj6aa/nI8DVq14Aubra33HJUOo442hmEeAEMA80nG/gnPtip48jIiIi/dH3xugt6jar1M/MaiePXQkOq4u+VDKJ1RnYqbEYR+cnWLq1wcRYjEQswqmF2vcb5Ln2K+sXRAGdoWAGJ09CoQAvvwzFIly44P3u4YdhYqK/45Oh0XbgaGb3AD8BfBsw3sIurpPHERERkf5qFKAMk0ZTP4Oe5tjJYzcq+lLJ8C0tb7KazjE/leA999/bNMAK+7kehGnTfReLee07sll45RXvttde876fPg3xcJxLGVxtTVU1s0PAHwHfCUwA1sKXpsOKiIgMoNA1Rg9Iq/3+wvLY9aZ/gteC4sVLKQCeuHe25cAq7Od6EKZNh0Yy6RXQOXHizm3nz3tBZKnUv3HJwGs3E/ijwGFgHfgh4N8CV51zxUY7iYiIyODZnb2aGY/Xneo4yOpl28y8QMzvqZG7ex0Wio4DM8kdj90s07d7+me3Gbmwn+tBmTYdKjMzXgB54wZcugTpNJw75xXVqVRlFWlDu4HjB/Gmnn7UOffZAMYjIiIiITK0VSmr1Jr6eWM9iwFjsaivUyN3B3iFouPlKykeY5b902MdVx31Y7pt0Oe6mzWKYZ9KG2oHDnhfb78Nt27d+br3Xu92kRa1O410P1AAftX/oYiIiIj0Xq2pn3vG4+yfTvo+NXL3lMsDM0keOzzL8sZWV1VH+zndthX1ek+2Wr027FNpB8L998NTT90plnPpkleBdW2tr8OSwdFuxvEGMOOcKwQxGBEREZF+2J1te3bxRs1ArNupkbWmXO6fHiMWNZ451Tz7Uy9rF/aMXLcZ0bBPpR0YkYhXaTWf99Y9Arz5pvf90Ue99ZEidbQbOP4H4C+Z2Qnn3JtBDEhERESk34IKxLq530brGBtVWm1HKp3j/OUUb97YwHA8eGCa00dmuw7Q/FijOMjTpkPXSiQe99Y/ptN3Kq++8gpEo/DYY16FVpFd2p2q+r8Cm8BPBjCWbWb2jWa2aGZvmdkPNtjuvWZWNLNvC3I8IiIiMlqCmhrZzf02qixar9JqO8FJKp3jP715k1ev3mY8FiEZi/HK1TV+782bLU8pracSMFcLU0Y0SN1O0w3UxIQXQB4/7v1cLMKLL8Ibb4Bz/R2bhE5bgaNz7i3gm4FnzOzzZvZ1Zubr5HIziwI/jVeI5xHgL5jZI3W2+0ngc34+voiIiIgfgZjf99tsHWPlvp85daCjsS4tb5JK59kznmA8EWc8EWN2PMHtTL7rtZ2jvEZxIFqJzM15AeShQ97P6+vw/PNw+XJ/xyWh0lYe2syqPyr6E+UvzKzRbs45187jfAXwlnPuQvm+fxH4EPDqru3+OvCvgfe2cd8iIiIiLQlqamSn9xv0Osa1TJ58scRE4s7YxmIR1jLFrovsjPIaxYFqJXLPPaRm5rny/Ctkb9xi8toah9+5zPRDJ7w2HjLS2p3A3DBC9Mlh4FLVz5eB9+0YhNlh4FvwAte6gaOZfQz4GMDRo0d9H6iIiIhItSDXsjVbx1hZn/jWjXUcxokDU22tT5wZjxOPRtgqFEnGvbeIW4USsZj5EpzWCphDt/YvAGEvXFQtlc5x7lKKicP3MX7vfeRee5XXr63xEG8ynXwbTp2Cqal+D1P6pN3A8esCGcVOtYLT3ZOsfwr4O865YqNsp3PuZ4GfBThz5owmaouIiEhgGhWv8SMYapS1S6Vz/N6bN7m8mmFPMg44Xr16m7VMnq8+sb+lxz+2b5Irq2kur6ZxzgHG7WyeI3PjgUwpDfr5Cgu/Chf1wu7qtzx+Gre+yZULizy0EIfFxfLtj0NieM6RtKatwNE592xQA6lyGbi36ucjwNVd25wBfrEcNO4DvsnMCs65X+3B+ERERES2VbJmz19cZSwW4fi+qe21bNB6y4lW1JvmurS8ye1MntnxBMl4lM1cgdvZAleXVtjcKvKBxxaaBmOzEwm++sT+HVVVHz0040tV1Vq6bdExKAZpmm6tabXJqQmuP/goDx2euBM4vvSSFzg++qjX4kNGQhhr7X4JOGFmx4ArwIeB/6Z6A+fcscq/zewzwL9T0CgiIiK1BDkdsjprFgEiGIvX1jm1MM10Mt6ztWxrmTyFgmNiPMJmrsA7y5skYhESUSOVyfOf3rzJzHgc52j4HMxOJPjakwf42pPNe0r6MeaBWfvXpUFpJdJwWu3UlFdA59YtePttyOXg3DmYnYUHHujbmKV3uv6IwMyiZrbfzPaVK512xTlXAL4Xr1rqa8AvOedeMbOPm9nHu71/ERGRQVUJUp5dvBGecv4hF3QrhOqs2XQyjhkk41GupjJA79ayzYzHicWMrUKJ5fUsY7EoBiRiUcbjES6vprm4kg5VO4hRbtERVi1Vv9271wsgDx70fk6l4Lnn4Nq1voxZeqejwNHMJszsb5rZl4A0cA24DqTN7I/M7PvNbKLTQTnnftM5d9I594Bz7sfLt33SOffJGtv+ZefcZzt9LBERkUEQ6l5wIRZ0K4TqFhmHZsfJ5os4V2IjW+hpy4lj+ybZMx4nlcmR2sxTckXWs3mmkl7maCYZp1AkVO0gRrlFR1i11S7myBF4+mmYnvZ+vnLF6wMpQ6vtqapmdgr4deAB7i5kE8dbf/ge4HvM7L92zr3R9ShFRERG3KisB/Nb0NMhq6f2TSfjnFqY4cLNDUqUSMQiPVvLNjuR4GvK6xNvrmfY3CrywIEpHjwwzRvX1wFjauxOviAMU0IHae3fKGlrWq0ZnDwJhQJksxDtevKhhFi7fRyngX+PV7ymAPwK8Hm8gjbgFbL5U8C3AieAz5nZ4865Dd9GLCIiMoLCuB5sEFopBN0KYXfFzGjEODw33pfKoJX1iaePzG6vuxyPR4lFvOqoTxyZ3d42LFNCg1z7F/Ta1rBf+z0Vi6lNxwhod6rq9+MFjVeBr3DOfdg598+dc58rf/1z59xfwOuteBU4CnyfryMWEREZQWFbDzYoU2eDng7Z1tS+Htk9pvmpBIViiZeu3Ob1d29zYy079FNCg7w+B+XaF/Fbu4Hjn8HrqfhXnHMv1NvIOfci8DG8qax/ttPBiYiIiCds68GCXjvol14EdpXHeObUgZbuuxdFjipjeuLeWcbjUR65Zw/zE3FW0jmWbm1yfP/UUGfIgrw+B+XaF/Fbu2scHwS2nHO/0cK2vwVky/uIiIhIF8K2HiyMU2frCVMrhF43va8Ocg7MJAFI5wqsbOa4b+/wZhyDvD4H6doX8VO7gWMcaOlV4ZxzZpYDwvGXWkREZMCFKQAKeu3gsOp1kaNRDXKCvD517cuoaneq6mVg2swebbahmT0GzHCncI6IiIgMibBNnR0U1e07KsbjUdYy+UAeL2xrY3slyOtT176MqnYDxy/grVv8GTNL1tuo/LufwVsP+R86H56IiIiEUb+KwvRifWCQeh3IhTnICfJcBnl9hrEgkkgvmHOu9Y3NjgOv4E0/fQv4h3jB5JXyJkeAPwn893jtOLaAR51zF3wcc0fOnDnjzp492+9hiIiISIeq1weOx6Nk8kXSuUJf37S325ahH8cQxtYRYTyXIqPAzJ5zzp3paN92Asfyg/054Ofx1jvW29mAPPCdzrlf6mRgflPgKCIiMtgqLRCq15alc4XtjE+vdRr8hCmQ69dYwnYuRUZFN4Fju8VxcM79kpm9Bfw48A14QWK1EvDbwA81atkhIiIi0o6wFXrptNBNO0WO2gnsWtm2ehsz7zndP53sSYXXamE7l90I0wcBIkFqO3AEcM49D3zQzPYATwMHyr+6ATzvnLvt0/hEREREAP+qWfr1Rj/I4CeVznH+cooXLq4yPzXGsb2T243mawV2rbT52L3N+SspNrJ55ifHtvsRQnAVXqtVzmWx5LiayrCxVSQWhaPzE4E+bicaXS+9bq8i0k/tFsfZwTl32zn3H51z/6r89R8VNIqIiAyWQSk440ehl8qx5gol5iYS28FYJ8ccVKGbyhgv3kqzb2qMqEV44/oGxZKr22i+lab0u7cpFGEmGedqKrO9TZAVXqsd2zfJjfUsL15OkSuUSERhI5tnLZMP1fXX7Hpp5XkPYjxhf63KcOoqcBQREZHB5mcgFTQ/qln6+UY/qIqllTEWSo5kPEYyHiUZj3I1lakb2LXS5mP3NlNjUcDY2Cps39arVh2zEwn2jMeZHouRK5ZIxKKcPjLH/ulkYEFXJ5pdL71srzJIr1UZTh1NVRUREZHh0OuG9N1qZ31gLX5OL60EskvLm6ymc8yMxzm10P0UxcoYp8ZibBWKJOMxxmIR1rKFuoFdK9N4d29zaHacFy+nmB6L4ZzbLu5zaqE3xWmcg9NHZjGzqttcoOsc252m3Ox68Wv6dCsG7bUqw6du4GhmlRYabznnvmHXbe1wzrkHOhmciIiIBGuYipS0wu83+t0GsrVUxnhodpzFa2uAF2TFotQN7I7tm+TcxVWAHRVeq7fdvU00YhyZG2fPeNzXwLdVvQy6oLP1iM3G2Mrz7pdRe61K+DTKON5f/p6tcVs72uv3ISIiIj3T6zfv/dbLN/qdqoxxIhHj5MFplpY3WdnM8eTRWU4fmd1RmKU6e3Z8/xQrm7m6QeDsRILj+6f4wy/f4uZ6lv3TSb7ygb3ct3dy1/2lelIdtBfnovo5unY7y76psbYyds3GGFTWuZZRe61K+DQKHL+r/P12jdtERERkCAxCIOWnXr7R71T1GLP5Io8e3nNXEFcre3bh5kbD7FkqnePCzQ3u3zfJw/fMbO+zpxx49Lo6aNDnYvdz9Pq1dTa38ownokwnvWNulrFrZYxBZJ1rGbXXqoSPOTcaCcEzZ864s2fP9nsYIiIioaM+dIOnUiSlOvuUzhW2Cwa1uw/Q9v2F3e7jXby2xkY2z1QyzqmFGWDwjlGvVemWmT3nnDvTyb4qjiMiIjLiepUxEf90st6t2T7Dtn5u9/Eemh3n9Wt5bm1u9aUYkB/0WpV+aitwNLNPAynn3N9scft/COx1zn20k8GJiIiIDKKgM0OdrHdrts+wrZ/bfbzTyTj3zU+yvLEV2mnKImHWbh/Hvwx8uI3tv728j4iIiMhI6EW/vU56SDbaJ6ielP1U65giEfjAYws8c+pAoOs3RYZR0FNVrfkmIiIiIsOjF/32Oiks02yfIArVdJp59SNjOwiFkEQGSdCB4z4gHfBjiIiIiIRGr/rtdbLerdE+fq+f66RvYjf71aI1gcFRoZ7R0+5U1ZaY2R4z+1vABHAhiMcQERERCaPK2rpqg75esF2pdI7PvXyNN66vc2klzcZWYTsLu7S82XDf6oytmbW8X60xnLu4yrOLN3yfKjzqejEdW8KnYeBoZj9iZsXKV/nmg9W31foCVoB/CDjgswEfg4iIiEhoDON6wXZUgopUJs++yTHyxRKL19Z4N5Xh4q1Nfv/Nmw2DjLVMnvF4dMdt4/Eoa5l822NQYBMMv4J7GSytZByt6svt+rnRVx74NPAPfB+1iIiISEhV1tYlYhFW07ntPoGjMo2vElTsnUyQKzqS8Rgl5/gvS7fY3CpwcCbZMJDzI2OrwCZYfgT3MniarXH8DPC75X8b8Dt42cRvbbBPCVgD3nDOZbocn4iIiMjA6XZt3SCvH6us8Tw0O87itXUAbqfzZAtFHHB4bqJhwaBj+yY5d3EV8IKRTvot9mqdaT+E4dropB2MDL6GgaNz7h3gncrPZnYRuO6cezbogYmIiIiMIj+Lw/RDJaiYTsY5tTDN1VSG6+tb7J8a49TCDNNJL7ioF8j5UQ01DIFNEAFeWK4NP4J7GTxtFcdxzt3vnHtfUIMRERERGXWDPs2yeo3n1FiMe+cnOHFwiqeOzm0HjdA4kKsEj532W+z3OtOg1liG5doY9enYoyqQqqoiIiIi0plBXz9WK6j4+kcWiEToWSDX78AmqAAvTNdGt8G9DJ6O+zia2SHgcWAeaJj3d879XKePIyIiIjJKwjDNslu11njuGY93Nf3UjzH0SlBrLIfh2pDB1XbgaGaPA/8n8DUt7uIABY4iIiIy0HpVlGRY14/5GciFoUBMI0EFeMN6bchgaCtwNLNTwO8B03hVVnPATaDg/9BEREREwqGXRUn8KA7Tb0EGdp2ci14HmkEFeMNwbcjgMudc6xub/UvgzwNXgY8Dv+WcKzbeKxzOnDnjzp492+9hiIiIyACqFDqpziClc4XttXNyR3VgVx00+RVkt3sugh5PPWHPispoMrPnnHNnOtm33amqX4c39fQjzrnf6eQBRURERHrJjzfww9wXsJ5On7fqwjBAw56NnWj3XAQ9nnr6ucZSJAjtBo57gC3gd/0fioiIiIi//JpiGuaiJGHrFxhEkF19jNduZykUHQdmktu/b3Qugh6PsokyKtptx/EuUHTOlYIYjIiIiIif/GqL0O++gPWEsV9gJciu1k2QvfsY902N8fKVFDfWsi2di6DH49dzLhJ27QaOvw5MmNlTQQxGRERExE9+9b3rVV/ASlDy7OKNloKRIPoFemNY4bWrayxeW2M96z1XrT5vfgfZu4/xwEySxw7Psryx1dK5CHo8fvVoFAm7dqeq/jjwYeCnzOwbnHNbAYxJRERExBd+TjENup0E0Pb0UL+nYVYC10Q0SsQgX3QsXlvn1MI00Yi19Lz5Xfmz1jHunx4jFjWeOXWgp+OpBNURIkwlYxyaHWc6GR/69a4i0H7gmAS+C/h54Hkz+0fAHwHrjXZyzl3sbHgiIiIinQtj37t66wejkTvZK2itiIvfay8r2bTj+6dYvLZGMm6MxSJcWN7g8Ox4y8+bn0F25RiLJcfVVIaNrSKxKMxPJjh3cbWldYZ+jMePoFpkkLUbOC5V/XsW+FQL+7gOHkdERESka35lm/wshrK0vEmpBJdW0mxsFZkaizI3keDC8gbvvW9+x7bNMll+B8aV7J6ZcWphhqupDOvZPCUIvH1FPcf2TfJ7b97k8mqGPck4iSi8s5LmubdXuG/fFIf3JCkUHal0LtAx+hVUiwyqdgM66+AxOtlHRERExBfdZpv8qsxacTWV4fpalvF4jJlkjK1CiXdWNsnkim1nD/2eFlqdwZxOxjm1EN/ukdivqqGzEwn2jMe5nc6TK5Ywg82tAnuScVzJUSg5Lq5scnR+MtAWG1dTGdJbBTZzRSIRI1csUSq5vgbVIr3UbuB4LJBRiIiIiISU330AN7IFIkCyXLQnGY+ylS8wmYiSzhWAndnDhT1TDadk+jktNIxTewGcg9NHZjEzFq+tEYtGmB2Pk86VSMa987GyuUUsGky+IpXO8e7tDDEzZsYTbBWKZPNFjs5PMj+VGJigUW1EpBttVVV1zr3TyVdQgxcREREJml+VWSumkjFKzpHNe1U+s/kCJef1JdxdufX4/iku3NzoWeuHXlWPbVd1S42NcrYxvVViIuG9lR2LRVkpZ1yDsLS8ybG9UziMrUKJsVgUA5Zubfa9JUur1EZEuqW1hyIiIiIN+F2A5tDsOMmYt3ZxLZtnaizGgb1T25mr6uxhZYqsX9nOVviZwfRLdSZ0MhElvRXh5voWB/dM4ZxjLZMjGokEFsStZfLsnx5jPBHlairDWrbA5FiMibFY34PqVvmdOZfR01XgaGb7gfuACefcF/0ZkoiIiEh4+D1989i+SVLpHPfOT+y4v1pBj9/tNgZV9VrOibEYiWye9x3fS65Q5ObGFtEIvO/Y3vI0zJTv0zArHx5U1n0C22s/B4WuJelWR4GjmX0z8KPAE+WbdlRONbM54F+Wf/xW55w6ooqIiMhA8rsATTv353e202+9XDNXyYQ+dXRux+M+eHCa+ckEF25u+FbAaLewrv1sR9ivJQm/tgNHM/tB4MdpUC3VObdqZmngQ8A3Ab/c8QhFRERE+szv6Zut3l+YAxa/q802e6zdAepTR+88B0FP6fX7w4N+CPO1JIOhrfy6mb0PL2gsAD8A7AOu19n8/8ULLr+5mwGKiIiIjKqwFKupBInPLt7YLqhSvWbOzLb/vbTs70SzVoq6+F3AqJbKuXjm1IG+FgyqdS5aEZZrSQZXuxnH7yt//wnn3D8BMKubeHy2/P29HYxLREREROh/sZp3bm3y+VevUyyVmJ9IUCg6Uukc6VyRe+cmdmwbxJq56gB1PZvnairDrc0tbqxt8YHHFpidSIzMNMxus7z9vpZksLUbOH51+fsnmm3onLtlZhvA4bZHJSIiIiJ19WptYSqd4/OvXiNmxvxUkq1CkYsrmxydn2QjW2g7WOtk3GuZPLGI8fzFFd64tsbMRIJDM0lSmfx20DQq0zBVGVX6qd1SUAeAdefccovb5wFdxSIiIiI+6WU/vvOXU1xaSXMlleXiyiZFB8l4lJXNLaaSMdK5Aumc14+y8u96LTE6HbcZvHQlxbXbWWYnEkSJ8NaNTcbjke2psaMyDbMXU3JF6mk3cEwDE2bWdD8zmwFmgdUOxiUiIiIiNfRybeELF1NMxGMkYhEKRXhneZNiybGSznFodrytYK2bcTuMTK5IPFp+C1peKVUdNIVlDWKQKlNyqw3jlFwJp3anqr6Bt2bxNPBCk22/Fe9l/WL7wxIREZFB0Mt2DOLpVT++peVN5icTbI0Vuba2xVg0SiIaYenWJvfsGd8+161Okex03M7B6cN7+MOtAqlMnj3JBA8emKJYGr2gaVSm5Eo4tZtx/HW8YPAHG21kZg8C/wCvv+OvdjQyERERCbVeTpmUO3qVdVrL5Dm2b5KIGQszY0QjsJnLk97K8/WPHGz7A4JOxz0zHicWjfDHHtjHffMTLOwZI2pGLErDqbHDaFSm5Eo4tRs4/p/ADeDbzez/MbOHqn9pZsfN7H8EvgTsB94GPu3HQEVERCRcejVlUnY6tm+yrbWFnaoEbKcWZtgzniCZiDIWi3F4bpKVzVzbHxB0Ou7KftGIcfLgNMWSY3lji6PzEyMZNI3ClFwJJ3POtbeD18vxt4GZXb/KAOOVzYBbwJ9yzoViquqZM2fc2bNn+z0MERGRofHs4g3mJhI7WnM551hN53jm1IE+jmz4BTFFePd9zk8muHBzg4lEjEKxxEtXUjiM04f3EItGSOcKbQcunY572KZED9vxyOAws+ecc2c62bfdNY445/6LmT0J/CPgW7iTtaw08qlMT/1bzrmlTgYlIiIi4dfv3nmj/Obb7358tfoDXri5wfH9U6xs5nj56m2mknGO75tiOnnn/LbbBqKTcQ/bee62F6NIv7Q7VRUA59w7zrlvx5uO+qeBjwHfgxdILjjn/qyCRhERkeHWqymTtWh9pb/qTTt+55Y37TizVWAsuvNtYy/aQAzjedYUbxlUHQWOFc65VefcbzrnPuWc+7+cc//WOXfTr8GJiIhIePWzUIfefPurVn/AQrHEC+Wg7eBMks2tAovX1lnPesFiL7LLw3ie1YtRBlVbU1XN7IeBDefcP25x+78BzDrn/n4ngxMREZFw83vKZKt61ZJiVNSadry0vMn81BgTiRiH5yZYvLaG4biymubo3smetIEYxvPc7yneIp1qN+P4o8DfbmP7HwB+pM3HEBEREWlIjdD9VWva8cpmjmN7vWnH08k4pxZmmByLcX0tG3h2uTJF9cs31zl/ObWd5YQ757myzbOLNwZq+mo/p3iLdKOrqaoiIiIi/aA33/6qNe34yaOzxKrWNU4n4xzdO8lXndjfk6AxVyhx6uAM61sFzl9eZS2T2z7P85OJ7W1iEeOVK7f5uT94my++cSOUAWR1kLu0vMnx/VPqxSgDp+2qqm2aB7IBP4aIiIiMmEqgs7S8yWo6x8x4nFMLevPdjd3TjivBDnjTQzP5Yk+mp1avawR44sgsF5Y3eP36Ok8fnePUwtz2NsWS443r6yTjUfZNjXFxJU2x5EIViNWrWBumMYq0IrDA0cy+HZgGFoN6DBERERld/VpfOSr6FZzvXtc4nYxz+vAsq+kcTx2dK2+TYm4isR00JuMxnHOsZQvbxXPCcm3sDoQr38M0RpFWNAwczez7gO/bdfN+M7vQaDdgFpjB6+n4G90MUERERET6o9fBeSqd49rtLK9fW2fvZIJDs+NMJ+N3rV+trHHd2CowU+4ruVUoMTUWDV3xnGEs8COjqVnGcRa4f9dt0Rq31fMFQBVVRURERKShypTOfVNjbG7l2cjmef1anvvmJ4lE2DFF9ti+Sc5dXCUWMbL5AmYRsvki9+2drlskKZXOsbS8yVomz8x4nGP7JnsyVVRVVGVYNAscfxV4u/xvAz4N3Aa+v8E+JWANeNk59+XuhiciIiIi/dDrQKt6Sud4IsrVVIZbm1ssb2zxgccWmJ1I7BhTNGLsnRrjzetrzE+NcfLgFNGI1VyHWWud4bmLqz1ZZ1gJcqG3a0VF/GbOudY3NisB15xzh4IbUjDOnDnjzp492+9hiIiIiIRedaBVHewEGWg9u3iDuYkEZrZ9m3OO1XSOZ04dqDum4/unWNnMNQxwKxVYq7N+6Vxhu6Jp0PqV7RTZzcyec86d6WTftorjOOfUvkNERERkyPWjoEuzKZ1Ly5uUSnBpJc3GVpGpsShzEwlWNnNNg79+rzNUIScZBm0Fgmb2O2b2y21s/y/N7AvtD0tERERE+mUtk2c8Ht1x23g8ylomD+zsS3ju4qovvRMb9eZMpXP8/lvLfOG1a1y4uUE0Avmi452VTa6mMk3vuxKUVtM6Q5H2tJtBfD/wVW1s/5XlfURERERkQDQKtCpBY65QYm4iQa5Q8iV4rLT/SMQirKZzO6aRnru4yno2z+RYnIgZF29tUnSOCLCRLTS970ZBqYi0JrA+jmURvJYcIiIiIjIgGhV0aTaNtZv1fLWmdFbWNc5OJLi1vgUYiViEK6tp9k8lmEo2fzvbr56UIsMksMDRzKLAAWAzqMcQEREREf81CrSuppZJbxXYzHl9Ew/NjjM1FmM1nQukemllfeL+qTES0Qjr2TzpLUcJx317p5if6jwoFZHWNQwczWwGr5djtaiZ3YvXnqPmbuV9vgsYA853N0QRERER6bVagVYqnePd21liBjPjCbYKJRavrXN0foL5qUQgRXUq02YPzY6zni1wcGYc50qUHEQiaLqpSI80yzj+APDDu27bx53ejs044OfbHJOIiIiIhNDS8ibH9k5ycWWTrUKRsViUrXyBpVsbvOf+e3nxUsr36qWVabMTiRgnD06xdGuTlY0tnjw6x+kjswM53VTtOWQQtTJVtTqz6KifadztCvBJ59wn2h6ViIiIiITOWibP/ukxxhNRrqYyrGXzTI7FmBjz1iA2a6nRiepps9l8kUcP7RnoQCuI6bwivdAscPwp4DPlfxtwAbgJfEWDfUrAmnPudreDExEREZHwqASG08k4pxa8YDCdK5CIeYX6GxXV6UY76xM7zeb1KgvYjx6ZIn5oGDiWg7/tANDMvggsO+feCXpgIiIiIhIuzQLDflcv7TSb18ssYKXYT7Vup/OK9EJbVVWdc+9vdVsziwD/FfBR59yfaW9YIiIiItKuoLNmrQSG/axe2mk2r5dZwCCm84r0gu/tOMzsJPDdwEeAg37fv4iIiIjcrVdZszC3taiVzSsUS7xyNdUwmO5lFjCo6bwiQYv4cSdmNmFmf7k8lfU14L8HFvDWRb7ux2OIiIiISH3VWTMz2/730vLotNSuZPMq1rN5zl+5TSIaZW4iQa5Q4tzFVVK7AsLd+0FwWcBK1jYRi7CazpGIRVQYRwZCVxlHM/tKvOzinwemKjfjBYu/DPyyc+7lrkYoIiIiIk1p7dzd2bwLyxsYjuP7p7aDabh7Cmqvs4BhztqK1NN24Ghm+4HvBD4KPFS5ufzdAe91zj3nz/BEREREpBVaO3f3GsytQonHD88ynbzzHNQKpvtd1EdkELQUOJqZAR/ECxb/dHk/AzLArwL/Avjt8uav+T5KEREREWlIa+c81dm8mfE4uUJpx+/rBdPKAoo01jBwNLMH8Kai/iXgHrxg0QH/Cfg54Jecc+vlbYMdqYiIiIjU1U3WrFc9DHutOpguFEssLW+yspnjyaOzpNK5oThGkV5plnF8Ey9QNOAC8PPAzznnloIemIiIiIi0p5OsWS97GHaim6C2Ekyfv5zihYurzE+N8Z775ohFI6E6RpFB0GpV1X8KPOKc+597ETSa2Tea2aKZvWVmP1jj9x8ys/Nm9oKZnTWzrw56TCIiIiLDKMzVWCtBba5QalgVtZHZiQTTyTjvO76PJ47MMTOeCNUxigyKZhnHHJAA/jrwF83sXwE/75z7w6AGZGZR4KeBrwcuA18ys19zzr1atdkXgF9zzjkzOw38EncK9YiIiIhIi/pdjbVRRrE6qAXqVkVtxu9jHNapvSKNNMs4LgB/AzgPzAPfA/x+ORv4P5rZ0QDG9BXAW865C865HPCLwIeqN3DObTjnXPnHSbzptCIiIiLSpl72MNytWUZxLZNnPB7dsc94PMpaJt/W4/h5jH5kQZvd97OLN3y7TxG/NAwcnXMp59wnnHNPAe8B/hlwGzgB/Bhwwcx+x8y+y8cxHQYuVf18uXzbDmb2LWb2OvAbeAV87mJmHytPZT178+ZNH4coIiIiMhyO7ZsknSuQzhVwzm3/+9i+ycAfu9k0Wb8CPj+PMaipvUEGpCJ+aHWNI865c865v4ZXXfU7gWfxiua8H/hU1abfYGZt94esUqs8610ZRefcv3HOPQT8GbwgttaYf9Y5d8Y5d2b//v1dDElERERkOFUKyCRiEVbTORKxSOBFYypB0u+/eZOLtzZZz97JIFZnFFsN+Jpl6vw8Rr+yoLuFea2pCLTYx7Gac24L+AXgF8zsGF5vx48AR/CCvn8N3Dazfwv8MvDvnXOFNh7iMnBv1c9HgKsNxvNFM3vAzPY555bbOxoRERER6WUPw+oqrgdnkmxuFVi8tsaphRmmk/EdGcVWWoy0WhXWr2OsZEEr6y3Bn6m9/V5rKtJMyxnHWpxzS865vwfcB3wT8CtAAZjFCyZ/Hbje5t1+CThhZsfMLAF8GPi16g3M7EErN440s6fxCvjc6uJQRERERKQHqjNrh+cmcBgGXFlN18woVoLHZ04dqJkl7HWmLqipvf1cayrSim6mlG4rF6r5beC3zWwfXtD4XcCjeEFkO/dVMLPvBT4HRIFPO+deMbOPl3//SeBbgY+YWR7IAH++qliOiIiIiITE7gqkV1MZ7p2bAGA6GefUwjRXVtNcX8vy4MHpuzKKzfQ6U9dKFrQTx/ZNcu7iKuCN/+b6Fku3Nrhnz/j271W5VfrJgoy3zOwrge92zn0ssAdp0ZkzZ9zZs2f7PQwRERGRkVE9jXQ8HiWTL/LSldsc2zvJgZnk9nbpXGF73WG7KgVlqqeOdnN//VQJsq+mMrx7O8uxvZPsnx4jky+SzhUCX3sqw8/MnnPOnelkX18yjvWU+z0G1vNRRERERMKrVh/GY3snWbq1wVTyTjCZzhU4tdBZkLc7U9ft/fVT9TrMfVNjXfevFPFToIGjiIiIiIyuWtNI90+PkS0UtyucdjvVM6ipo37ZPVW3lSmnKpQjYaTAUURERGQEdBLAdKteBdJDs+O+TiOtVTG1H8e7W6sVX3eP+a2bG4zFIhzfN8V00iuOk8kXMfOm5vbzmGR0dVVVVURERETCr1/N5asrkK5lcrx4aZX/cuEW69l8oI/dr+PdrZ2Kr9VjfujgNBvZPC9eTrGWyZHOFbi5nuV2Jt/3Y5LRpcBRREREZMj1q7n87ESC4/uneOVqis8+d4lLq2lOLUwzFosGGvQsLW9SKsGllTTPX0xxaSVNqUTgx7vbWibPeDy647bxeJS1TP6ubavP0cx4gtNH5pgei7F4fY1ELMLMeJwD08men0ORCgWOIiIiIkOunQDGT6l0jgs3N0hEo7z3/nnu3zvF1VSWYskFGvRcTWV4Z2WTfNExk4yRLzreWfGqlfZSO70Zd5+j6WSc00dmeWD/NE8dncM5+nIORSoUOIqIiIgMuX41l69k0QolRzIeIxmPkoxHuZrKBBr0bGQLRIBkPIqZkYxHiZRv76XqqbrOue1/H9s3ede2zc5Rv86hSIUCRxEREZEh104A06nKGr1nF29sT0OtZNGmxmJsFbygZywWYWOrGGjQM5WMUXKObN473my+QMk5ppK9rQtZqfhaqSBb6S1Zq6BNs3PUi3Mo0oiqqoqIiIgMuaBbVtSrHhqN2HYV1cVrawA4B7EogfZaPDQ7TjLmta9Yy+aZGotxYO8U81O9r0Baq+Jr/e3qn6Owtx2R4afAUURERGQEtBrAdKK6sAvcaVi/VSiSzhWYSMQ4eXCapeVNVjZzPHl0ltNHZgMLeo7tmySVznHv/ATj8SiZfHEgsnPNzlGQ51CkGQWOIiIiItKVeg3rs/nidpYsmy/y6OE9Pek92IvsXBj6RHZrGI5BekeBo4iIiMiICCpQqBRuqWQa4U7hln5lyeo9rh/PQb2pufXWL4bRMByD9JaK44iIiIiMgOoG8343kB+Uwi1+PQf96ovpp2E4BuktBY4iIiIiIyDIQKGd6qH95Ndz0K++mH4ahmOQ3tJUVREREZERUG8d4qoPGUcYjMItfj0HjabmDophOAbpLWUcRUREREaAGsg3fw5q9aKsZVCm5jYyDMcgvaXAUURERGQEKFBo/By0s/5xUKbmNjIMxyC9Zc65fo+hJ86cOePOnj3b72GIiIiI9I3aL9R/DipBY/XUzXSusB1QiQwDM3vOOXemk321xlFERERkSDQLDP1ehziIgWi95yDoNaAig05TVUVERESGQJDtNsLweEHTGlCRxhQ4ioiIiAyBXvflG7Y+gFoDKtKYpqqKiIiIDIFeT7UctqmdlWIxS8ubrKZzzIzHObUQXLGYQZzmK6NNgaOIiIjIEOh1X75h7APYq16UlWm+E4kYcxMJMvki5y6uqqqphJqmqoqIiIgMgV5PtQzq8VrtpTjIhm2ar4wGBY4iIiIiQ6DXffmCeLxhK7hTz1omz3g8uuO28XiUtUy+TyMSaU5TVUVERESGRK+mWgb1eNWZOGD7+9LyZk+PK2jDOM1Xhp8yjiIiIiISCpVM3Ho2z+K1NZ57Z4WLtza5msr0e2i+UgVXGUQKHEVEREQkFGbG49xc32Lx2hr5YomZZJzNrQLv3s4M1XTVXk8rFvGDpqqKiIiISCgc2zfJc++sEjMYi0XZKpRwGMf2Tg7ddNVeTysW6ZYCRxEREREJhdmJBPfsSZLeKrCWLTA1FuW+vdNMjcUGtj+kyLBQ4CgiIiIioXFodpxcobSjcEw6V+hL4ZhUOsfS8iZrmTwz43GO7ZvUdFIZWVrjKCIiIiKhEZbCMaPSGkSkVQocRURERCQ0wlI4pro1iJlt/3tpebOn4xAJC01VFREREZFQCUPhmLVMnrldwep4PKq1ljKylHEUEREREdllZjxOJl/ccVsmX+zLWkuRMFDgKCIiIiKyS1jWWoqEhQJHEREREZFdwrLWUiQstMZRREREREZavbYbray1VMsOGRXKOIqIiIjIyOqm7YZadsgoUeAoIiIiIiOrm7Ybatkho0SBo4iIiIiMrLVMnvF4dMdt4/Eoa5l8oPuKDBoFjiIiIiIysrppu6GWHTJKFDiKiIiIyMjqpu2GWnbIKFHgKCIiIiIjq5u2G2rZIaNE7ThEREREZKS10nYjiH1FBokyjiIiIiIi/ZL7Mlz7q/DGDLwe8b5f+6ve7SIhosBRRERERKQfNn4Llk5D6lNQWgec9z31Ke/2jd/q9whFtilwFBERERHptdyX4cq3gUsDu9t35L3br3ybMo8SGgocRURERER6beV/B9ek36PLw8r/0ZvxiDShwFFEREREpNfW/l/uzjTuloe1n+/FaESaUuAoIiIiItJrpQ1/txMJmAJHEREREZFei0z5u51IwBQ4ioiIiIj02sxfBOJNNorDzHf2YjQiTSlwFBERERHptfm/BdYkcLQ4zP9Ab8Yj0oQCRxERERGRXks8AIc/CzbB3ZnHuHf74c9624mEgAJHEREREZF+mPogHDsPsx+DyAwQ8b7Pfsy7feqD/R6hyLZYvwcgIiIiIjKyEg/Awie8L5EQU8ZRREREREREGlLgKCIiIiIiIg0pcBQREREREZGGFDiKiIiIiIhIQwocRUREREREpCEFjiIiIiIiItKQAkcRERERERFpSIGjiIiIiIiINKTAUURERERERBpS4CgiIiIiIiINKXAUERERERGRhhQ4ioiIiIiISEMKHEVERERERKQhBY4iIiIiIiLSkAJHERERERERaUiBo4iIiIiIiDSkwFFEREREREQaivV7ACIiIiIy2FLpHEvLm6xl8syMxzm2b5LZiUS/hyUiPlLGUUREREQ6lkrnOHdxlVyhxNxEglyhxLmLq6TSuX4PTUR8pMBRRERERDq2tLzJRCLGRCKGmW3/e2l5s99DExEfKXAUERERkY6tZfKMx6M7bhuPR1nL5Ps0IhEJggJHEREREenYzHicTL6447ZMvsjMeLxPIxKRIChwFBEREZGOHds3STpXIJ0r4Jzb/vexfZP9HpqI+EiBo4iIiIh0bHYiwVNH50jEIqymcyRiEZ46OqeqqiJDRu04RERERKQrXvCoQFFkmCnjKCIiIiIiIg0pcBQREREREZGGFDiKiIiIiIhIQwocRUREREREpCEFjiIiIiIiItKQAkcRERERERFpKJSBo5l9o5ktmtlbZvaDNX7/HWZ2vvz1B2b2RD/GKSIiIiIiMgpCFziaWRT4aeCDwCPAXzCzR3ZttgQ845w7DfwY8LO9HaWIiIiIiMjoCF3gCHwF8JZz7oJzLgf8IvCh6g2cc3/gnFst//iHwJEej1FERERERGRkhDFwPAxcqvr5cvm2ej4K/FatX5jZx8zsrJmdvXnzpo9DFBERERERGR1hDBytxm2u5oZmX4cXOP6dWr93zv2sc+6Mc+7M/v37fRyiiIiIiIjI6Ij1ewA1XAburfr5CHB190Zmdhr4FPBB59ytHo1NRERERERk5IQx4/gl4ISZHTOzBPBh4NeqNzCzo8CvAN/pnHujD2MUEREREREZGaHLODrnCmb2vcDngCjwaefcK2b28fLvPwn8MLAX+BkzAyg45870a8wiIiIiIiLDzJyruXxw6Jw5c8adPXu238MQERERERHpCzN7rtOEWxinqoqIiIiIiEiIKHAUERERERGRhhQ4ioiIiIiISEMKHEVERERERKQhBY4iIiIiIiLSkAJHERERERERaUiBo4iIiIiIiDSkwFFEREREREQaUuAoIiIiIiIiDSlwFBERERERkYbMOdfvMfSEma0Di/0eh0gd+4Dlfg9CpAZdmxJWujYlzHR9Slidcs5Nd7JjzO+RhNiic+5MvwchUouZndX1KWGka1PCStemhJmuTwkrMzvb6b6aqioiIiIiIiINKXAUERERERGRhkYpcPzZfg9ApAFdnxJWujYlrHRtSpjp+pSw6vjaHJniOCIiIiIiItKZUco4ioiIiIiISAcUOIqIiIiIiEhDQxc4mtk3mtmimb1lZj9Y4/dmZv+0/PvzZvZ0P8Ypo6eFa/M7ytfkeTP7AzN7oh/jlNHU7Pqs2u69ZlY0s2/r5fhkdLVybZrZ+83sBTN7xcye7fUYZTS18P/6HjP7dTN7sXxtflc/ximjx8w+bWY3zOzlOr/vKB4aqsDRzKLATwMfBB4B/oKZPbJrsw8CJ8pfHwP+WU8HKSOpxWtzCXjGOXca+DG0sF56pMXrs7LdTwKf6+0IZVS1cm2a2SzwM8A3O+ceBb691+OU0dPi382/BrzqnHsCeD/wv5tZoqcDlVH1GeAbG/y+o3hoqAJH4CuAt5xzF5xzOeAXgQ/t2uZDwM85zx8Cs2Z2T68HKiOn6bXpnPsD59xq+cc/BI70eIwyulr52wnw14F/Ddzo5eBkpLVybf43wK845y4COOd0fUovtHJtOmDazAyYAlaAQm+HKaPIOfdFvOutno7ioWELHA8Dl6p+vly+rd1tRPzW7nX3UeC3Ah2RyB1Nr08zOwx8C/DJHo5LpJW/nSeBOTP7XTN7zsw+0rPRyShr5dr8BPAwcBV4Cfg+51ypN8MTaaijeCgW2HD6w2rctrvfSCvbiPit5evOzL4OL3D86kBHJHJHK9fnTwF/xzlX9D48F+mJVq7NGPAe4E8C48B/NrM/dM69EfTgZKS1cm1+AHgB+BPAA8Dnzez3nHNrAY9NpJmO4qFhCxwvA/dW/XwE71OedrcR8VtL152ZnQY+BXzQOXerR2MTaeX6PAP8Yjlo3Ad8k5kVnHO/2pMRyqhq9f/1ZefcJrBpZl8EngAUOEqQWrk2vwv4B85rmv6WmS0BDwF/1JshitTVUTw0bFNVvwScMLNj5cXHHwZ+bdc2vwZ8pFxN6CuB2865d3s9UBk5Ta9NMzsK/ArwnfqkXHqs6fXpnDvmnLvfOXc/8FngrypolB5o5f/1fwt8jZnFzGwCeB/wWo/HKaOnlWvzIl4mHDM7CJwCLvR0lCK1dRQPDVXG0TlXMLPvxav4FwU+7Zx7xcw+Xv79J4HfBL4JeAtI430aJBKoFq/NHwb2Aj9TzuoUnHNn+jVmGR0tXp8iPdfKtemce83Mfhs4D5SATznnapagF/FLi383fwz4jJm9hDc18O8455b7NmgZGWb2L/Eq+e4zs8vAjwBx6C4eMi97LiIiIiIiIlLbsE1VFREREREREZ8pcBQREREREZGGFDiKiIiIiIhIQwocRUREREREpCEFjiIiIiIiItKQAkcREZEQMrMfNTNnZr9b43efKf/uM+38TkREpFMKHEVEZCRVBWa7v7bM7KqZfc7M/lszi/d7rCIiIv2mwFFERASuV30VgHuAbwD+b+APzGyuj2Or5V1gsfy9nd+JiIh0RIGjiIiMPOfcQtXXJHAfXtAIcAb4p/0b3d2cc3/XOfeQc+7vtvM7ERGRTilwFBER2cU5d9E59zHgC+Wb/pyZTfVzTCIiIv2kwFFERKS+z5W/J4AT1b8wswNm9t1m9itm9pqZ3TazjJm9ZWafMrNHm925mX3QzD5vZikz2zCzF83sf2i2rlLFcUREpNcUOIqIiNRnVf+O7vrdPwT+OfAtwEPl22LAA8BHgefM7Fvr3rHZjwK/CfwpYA+QBx4BfhL4D3jBqoiISCgocBQREanvA+XvDlja9bsl4H8BngKmnHN7gDHgMeAXyv/+F2Z2aPedmtk3Az9S/vGXgaPOuTlgBvhrwFcC3+PvoYiIiHQu1u8BiIiIhI2ZHQX+HvAnyjf9unPuVvU2zrn/efd+zrkS8ArwF81sFvivgO/GCzCr/UT5+7PAh8v74ZzLAD9jZkXgk/4cjYiISPeUcRQRkZFnZteqvjaBd4D/rvzr14G/2sHd/kb5+1fveqzTeFNSAf6XStC4y/8NXOngMUVERAKhjKOIiAgcrHP7zwF/xTmXrfVLM3sC+Ct4weH9wBQ710UCHNn185ny9wLwe7Xu1zlXMrPfBb6j2cBFRER6QYGjiIiMPOecAZiZAQvANwP/APgI8DLwv+3ex8y+F/gn3Jm944DbwFb553G8NYuTu3Y9UP6+7Jzbor7LbR+IiIhIQDRVVUREpMx53nXO/V941VId8JNm9ieqtzOzh4Gfwvt/9JeBrwCSzrk559yCc24B+JuVzes9XBDHICIiEgQFjiIiIjU4534X+Hm8wO8TZlbdjuPb8NpzvIZX3OZLzrncrrtYqHPXN8rf95vZWIMhHG5/1CIiIsFQ4CgiIlLf3weKwMPAX6q6/d7y9xfrFLcBrz9jLWfL32PsKpxTYWYR4P1tjVRERCRAChxFRETqcM59GfhX5R//JzOLl/99u/z98fK6yB3M7IPUCfycc+fxMpUAP1QOEnf7bu4uqiMiItI3ChxFREQa+wm89Yj3Ax8t3/bb5e+PAj9tZvMAZjZpZn8F+Cxwi/p+qPz964D/z8yOlPdPmtnHgU8AKR+PQUREpCsKHEVERBpwzr0M/Fr5xx8yszHn3BeAXyzf9j3ALTNbxctEfhIvo/ijDe7z3wA/Xv7xzwOXzGwFWAf+GfBH5e8iIiKhoMBRRESkuUqQdwSvbyN4PRa/HziP14IjCrwE/F3gq4CNRnfonPt7wJ8GfgdYA8bwAs4fBP4ksLvYjoiISN+Yc6oGLiIiIiIiIvUp4ygiIiIiIiINKXAUERERERGRhhQ4ioiIiIiISEMKHEVERERERKQhBY4iIiIiIiLSkAJHERERERERaUiBo4iIiIiIiDSkwFFEREREREQaUuAoIiIiIiIiDSlwFBERERERkYb+fxFWzmWTVt7SAAAAAElFTkSuQmCC", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "timestep = 16\n", - "scaled_distance_agg = (dist_per_timestep[timestep] - min(dist_per_timestep[timestep])) / (max(dist_per_timestep[timestep]) - min(dist_per_timestep[timestep]))\n", - "scaled_human_attention_weights = (human_attention_weights_per_timestep[timestep] - min(human_attention_weights_per_timestep[timestep])) / (max(human_attention_weights_per_timestep[timestep]) - min(human_attention_weights_per_timestep[timestep]))\n", - "plt.figure(figsize=(15, 12))\n", - "# plt.plot(radii_per_timestep[timestep],scaled_human_attention_weights, 'o', label='Highest attention weights', alpha=0.5)\n", - "# plt.plot(radii_per_timestep[timestep],scaled_distance_agg, 'o', label = 'Dist. robot - human with highest attention', alpha=0.5)\n", - "plt.plot(radii_per_timestep[timestep],robot_attention_weights_per_timestep[timestep], 'o', alpha=0.2)\n", - "plt.plot(radii_99[timestep],1-attention_weights_99[timestep,0], 'o', c='purple',label='Episode 99', markersize=10)\n", - "plt.plot(radii[timestep],1-attention_weights[timestep,0], 'ro', label='Episode 990', markersize=10)\n", - "# plt.plot(radii_5[timestep],attention_weights_5[timestep,0], 'o', c='purple',label='Episode 5')\n", - "plt.plot(radii_21[timestep],1-attention_weights_21[timestep,0], 'o', c='green',label='Episode 21', markersize=10)\n", - "plt.plot(radii_513[timestep],1-attention_weights_513[timestep,0], 'o', c='gold',label='Episode 513', markersize=10)\n", - "# make dots with larger radius\n", - "\n", - "plt.plot(X, y_pred, color='red', label='Linear Regression', alpha=0.2)\n", - "\n", - "# plt.plot(radii_125[timestep],attention_weights_125[timestep,0], 'o', c='black',label='Episode 125')\n", - "\n", - "# plt.plot(radii_per_timestep[timestep],discomfort_per_timestep[timestep], 'o', label='Robot attention weights', alpha=0.5)\n", - "# plt.plot(radii_per_timestep[timestep],entropy_per_timestep[timestep], 'o', label='Robot attention weights', alpha=0.5)\n", - "\n", - "plt.xlim(0,1)\n", - "# plt.ylim(0,0.2)\n", - "# plt.yticks([0.2,0.3,0.4,0.5,0.6,0.7,0.8], [\"0.8\",\"0.7\",\"0.6\",\"0.5\",\"0.4\",\"0.3\",\"0.2\"])\n", - "plt.xlabel('Radii', fontsize=25)\n", - "plt.ylabel('Attention to Human Agents Vs Self', fontsize=25)\n", - "\n", - "plt.title('Correlation Attention to Human Agents Vs Radius', fontsize=30)\n", - "# plt.legend()\n", - "plt.show()" - ] - }, - { - "cell_type": "code", -<<<<<<< HEAD - "execution_count": 34, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", 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" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "import seaborn as sns\n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Given data\n", - "data = {128: [10.94,11.37], 2: [12.04, 14.81]}\n", - "\n", - "# Convert data into a format suitable for seaborn\n", - "# You can use pandas DataFrame for this purpose\n", - "import pandas as pd\n", - "\n", - "df = pd.DataFrame.from_dict(data, orient='index', columns=[ 'Hyp$^2$Nav', 'SGD3QN-ICM'])\n", - "df.reset_index(inplace=True)\n", - "df = df.rename(columns={'index': 'Group'})\n", - "\n", - "df_melted = df.melt(id_vars='Group', var_name='Value', value_name='Score')\n", - "plt.figure(figsize=(15, 12))\n", - "plt.rcParams.update({'xtick.labelsize': 14,'ytick.labelsize': 14}) # Change 14 to your desired font size\n", - "\n", - "# Plot using seaborn\n", - "sns.barplot(x='Group', y='Score', hue='Value', data=df_melted, palette='pastel', width=0.4)\n", - "\n", - "# Add labels and title\n", - "plt.xlabel('Embedding Dimension', fontsize=25)\n", - "plt.ylabel('Navigation Time', fontsize=25)\n", - "plt.title('Navigation Time w/ different embedding dimensions', fontsize=35)\n", - "plt.gca().invert_xaxis()\n", - "\n", - "# Add legend\n", - "plt.legend()\n", - "\n", - "# Show plot\n", - "plt.show()\n" - ] - }, - { - "cell_type": "code", - "execution_count": 35, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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- "text/plain": [ - "
" - ] - }, - "metadata": {}, - "output_type": "display_data" - } - ], - "source": [ - "import seaborn as sns\n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Given data\n", - "data = {128: [97.9,96.8], 2: [99.3, 63.3]}\n", - "\n", - "# Convert data into a format suitable for seaborn\n", - "# You can use pandas DataFrame for this purpose\n", - "import pandas as pd\n", - "\n", - "df = pd.DataFrame.from_dict(data, orient='index', columns=[ 'Hyp$^2$Nav', 'SGD3QN-ICM'])\n", - "df.reset_index(inplace=True)\n", - "df = df.rename(columns={'index': 'Group'})\n", - "\n", - "df_melted = df.melt(id_vars='Group', var_name='Value', value_name='Score')\n", - "plt.figure(figsize=(15, 12))\n", - "plt.rcParams.update({'xtick.labelsize': 14,'ytick.labelsize': 14}) # Change 14 to your desired font size\n", - "\n", - "# Plot using seaborn\n", - "sns.barplot(x='Group', y='Score', hue='Value', data=df_melted, palette='pastel', width=0.4)\n", - "\n", - "# Add labels and title\n", - "plt.xlabel('Embedding Dimension', fontsize=25)\n", - "plt.ylabel('Success Rate', fontsize=25)\n", - "plt.title('Success Rate w/ different embedding dimensions', fontsize=35)\n", - "plt.gca().invert_xaxis()\n", - "\n", - "# Add legend\n", - "plt.legend()\n", - "\n", - "# Show plot\n", - "plt.show()\n" -======= - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] - }, - { - "cell_type": "code", - "execution_count": 14, - "metadata": {}, - "outputs": [], - "source": [ - "from PIL import Image\n", - "import os\n", - "\n", - "num_key_frames = 60\n", - "path = '/home/aleflabo/amsterdam/intrinsic-rewards-navigation/crowd_nav/data/360_HyperVnet_HHICM_embDim=from32to2_human10/correlation/'\n", - "test_case = str(99)\n", - "if not os.path.exists(os.path.join(path, test_case)):\n", - " os.makedirs(os.path.join(path, test_case))\n", - " \n", - "with Image.open(os.path.join(path, 'video_model_HHICM_embDIm=2_test_{}.gif'.format(test_case))) as im:\n", - " for i in range(num_key_frames):\n", - " try:\n", - " im.seek(im.n_frames // num_key_frames + i)\n", - " im.save(os.path.join(path, test_case,'{}.png'.format(i)))\n", - " except:\n", - " break" ->>>>>>> 793c926be6a79e5a9a0f58f3a8c9a538b6bf7a49 - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [ - "0.8262878060340881" - ] - }, - { - "cell_type": "code", - "execution_count": 46, - "metadata": {}, - "outputs": [ - { - "data": { - "image/png": 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", - "text/plain": [ - "
" - ] - }, - "metadata": { - "needs_background": "light" - }, - "output_type": "display_data" - } - ], - "source": [ - "import seaborn as sns\n", - "import matplotlib.pyplot as plt\n", - "\n", - "# Values\n", - "values = [0.5494572818279266, 1 - 0.5494572818279266]\n", - "labels = ['Human Att.', 'Self Att.']\n", - "\n", - "# Create barplot\n", - "sns.barplot(x=labels, y=values, palette='pastel')\n", - "\n", - "# Display values on top of bars\n", - "for i, value in enumerate(values):\n", - " plt.text(i, value, f'{value:.2f}', ha='center', va='bottom', fontsize=30)\n", - "sns.despine(left=True, right=True, top=True, bottom=True)\n", - "\n", - "# Remove title\n", - "plt.title('')\n", - "plt.yticks([])\n", - "plt.xticks(fontsize=30) # Adjust fontsize as needed\n", - "\n", - "\n", - "# Show plot\n", - "plt.show()\n" - ] - } - ], - "metadata": { - "kernelspec": { - "display_name": "socialnav", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.9.11" - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/crowd_nav/drl-failing.txt b/crowd_nav/drl-failing.txt deleted file mode 100644 index 8263c20..0000000 --- a/crowd_nav/drl-failing.txt +++ /dev/null @@ -1,349 +0,0 @@ - -Episode 0: -v: 0.00, 0.00, 0.01, 0.01, 0.04, 0.07, 0.11, 0.11, 0.18, 0.19, 0.20, 0.20, 0.20, 0.21, 0.21, 0.24, 0.28, 0.38, 0.43, 0.47, 0.47, 0.57, 0.57, 0.66, 0.71, 0.76, 0.81, 0.86, 0.90, 0.97, 0.97, 1.00, 0.99, 0.97, 0.93, 0.93, 0.83, 0.81, 0.81, 0.88, 0.88, -w: 0.88, 0.88, 0.74, 0.52, -0.00, -0.03, 0.12, 0.12, 0.68, 0.84, 0.92, 0.93, 0.93, 0.82, 0.82, 0.66, 0.55, 0.66, 0.82, 0.93, 0.93, 0.94, 0.94, 0.91, 0.84, 0.77, 0.70, 0.65, 0.54, 0.08, 0.08, -0.36, -0.54, -0.65, -0.78, -0.78, -0.85, -0.75, -0.61, -0.14, -0.14, -px: -2.15, -2.15, -2.15, -2.15, -2.15, 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deleted file mode 100644 index 1b13ee7..0000000 --- a/crowd_nav/log.txt +++ /dev/null @@ -1,79080 +0,0 @@ -2023-01-31 13:37:43, INFO: Using device: cpu -2023-01-31 13:37:43, INFO: Loaded RL weights with best VAL -2023-01-31 13:37:43, INFO: Query environment: False -2023-01-31 13:37:43, INFO: Policy: OM-SARL w/ global state -2023-01-31 13:38:23, INFO: Using device: cpu -2023-01-31 13:38:23, INFO: Loaded RL weights with best VAL -2023-01-31 13:38:53, INFO: Using device: cpu -2023-01-31 13:38:53, INFO: Loaded RL weights with best VAL -2023-01-31 13:40:12, INFO: Using device: cpu -2023-01-31 13:40:12, INFO: Loaded RL weights with best VAL -2023-01-31 13:40:12, INFO: human number: 10 -2023-01-31 13:40:12, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:40:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:40:12, INFO: Square width: 10, circle width: 4 -2023-01-31 13:40:12, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:40:12, INFO: ORCA agent buffer: 0.200000 -2023-01-31 13:40:12, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:40:40, INFO: TEST has success rate: 0.769, collision rate: 0.222, nav time: 13.880, total reward: 1020.1837, average return: 0.3315 -2023-01-31 13:40:40, INFO: Frequency of being in danger: 0.095 and average min separate distance in danger: 0.13 -2023-01-31 13:40:40, INFO: discomfor nums is 5884 and return is 0.4322 and length is 49609 -2023-01-31 13:40:40, INFO: Collision cases: 1 7 8 16 22 25 30 33 36 42 48 50 62 75 76 80 90 94 99 105 108 111 124 126 134 139 141 146 153 155 158 160 162 167 168 173 177 180 182 185 188 194 196 203 204 217 218 233 241 242 243 254 255 262 267 270 278 279 283 297 301 303 310 312 316 322 323 332 333 340 341 345 350 352 356 359 371 389 397 399 401 402 407 408 410 415 419 427 429 434 437 454 459 466 471 473 475 476 480 484 491 502 504 505 513 515 528 537 541 544 556 558 560 567 568 569 572 582 585 586 589 594 596 597 598 603 604 610 615 617 618 619 631 636 638 642 644 647 656 658 662 665 669 687 703 704 705 711 714 716 719 721 722 724 727 728 729 736 743 748 749 750 754 756 764 770 772 774 781 782 798 801 811 815 816 818 820 822 828 837 848 852 855 857 860 861 867 869 876 879 890 892 898 901 904 906 907 912 915 926 928 932 933 934 944 945 947 959 960 961 963 965 968 969 977 978 983 984 986 993 994 995 -2023-01-31 13:40:40, INFO: Timeout cases: 2 259 275 298 418 557 649 834 880 -2023-01-31 13:44:28, INFO: Using device: cpu -2023-01-31 13:44:28, INFO: Loaded RL weights with best VAL -2023-01-31 13:44:50, INFO: Using device: cpu -2023-01-31 13:44:50, INFO: Loaded RL weights with best VAL -2023-01-31 13:45:06, INFO: Using device: cpu -2023-01-31 13:45:06, INFO: Loaded RL weights with best VAL -2023-01-31 13:45:06, INFO: human number: 10 -2023-01-31 13:45:06, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:45:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:45:06, INFO: Square width: 10, circle width: 4 -2023-01-31 13:45:06, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:45:29, INFO: Using device: cpu -2023-01-31 13:45:29, INFO: Loaded RL weights with best VAL -2023-01-31 13:45:29, INFO: human number: 10 -2023-01-31 13:45:29, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:45:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:45:29, INFO: Square width: 10, circle width: 4 -2023-01-31 13:45:29, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:45:29, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:46:26, INFO: Using device: cpu -2023-01-31 13:46:26, INFO: Loaded RL weights with best VAL -2023-01-31 13:46:26, INFO: human number: 10 -2023-01-31 13:46:26, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:46:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:46:26, INFO: Square width: 10, circle width: 4 -2023-01-31 13:46:26, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:46:26, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:48:20, INFO: Using device: cpu -2023-01-31 13:48:20, INFO: Loaded RL weights with best VAL -2023-01-31 13:48:20, INFO: human number: 10 -2023-01-31 13:48:20, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:48:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:48:20, INFO: Square width: 10, circle width: 4 -2023-01-31 13:48:20, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:48:20, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:49:04, INFO: Using device: cpu -2023-01-31 13:49:04, INFO: Loaded RL weights with best VAL -2023-01-31 13:49:05, INFO: human number: 10 -2023-01-31 13:49:05, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:49:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:49:05, INFO: Square width: 10, circle width: 4 -2023-01-31 13:49:05, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:49:05, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:50:28, INFO: Using device: cpu -2023-01-31 13:50:28, INFO: Loaded RL weights with best VAL -2023-01-31 13:50:28, INFO: human number: 10 -2023-01-31 13:50:28, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:50:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:50:28, INFO: Square width: 10, circle width: 4 -2023-01-31 13:50:28, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:50:28, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:50:43, INFO: Using device: cpu -2023-01-31 13:50:43, INFO: Loaded RL weights with best VAL -2023-01-31 13:50:43, INFO: human number: 10 -2023-01-31 13:50:43, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:50:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:50:43, INFO: Square width: 10, circle width: 4 -2023-01-31 13:50:43, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:50:43, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:51:38, INFO: Using device: cpu -2023-01-31 13:51:38, INFO: Loaded RL weights with best VAL -2023-01-31 13:51:38, INFO: human number: 10 -2023-01-31 13:51:38, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:51:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:51:38, INFO: Square width: 10, circle width: 4 -2023-01-31 13:51:38, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:51:38, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:51:52, INFO: Using device: cpu -2023-01-31 13:51:52, INFO: Loaded RL weights with best VAL -2023-01-31 13:51:52, INFO: human number: 10 -2023-01-31 13:51:52, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:51:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:51:52, INFO: Square width: 10, circle width: 4 -2023-01-31 13:51:52, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:51:52, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:52:18, INFO: Using device: cpu -2023-01-31 13:52:18, INFO: Loaded RL weights with best VAL -2023-01-31 13:52:18, INFO: human number: 10 -2023-01-31 13:52:18, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:52:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:52:18, INFO: Square width: 10, circle width: 4 -2023-01-31 13:52:18, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:52:18, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:52:25, INFO: Using device: cpu -2023-01-31 13:52:25, INFO: Loaded RL weights with best VAL -2023-01-31 13:52:25, INFO: human number: 10 -2023-01-31 13:52:25, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:52:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:52:25, INFO: Square width: 10, circle width: 4 -2023-01-31 13:52:25, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:52:25, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:52:52, INFO: Using device: cpu -2023-01-31 13:52:52, INFO: Loaded RL weights with best VAL -2023-01-31 13:52:52, INFO: human number: 10 -2023-01-31 13:52:52, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:52:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:52:52, INFO: Square width: 10, circle width: 4 -2023-01-31 13:52:52, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:52:52, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:56:32, INFO: Using device: cpu -2023-01-31 13:56:32, INFO: Loaded RL weights with best VAL -2023-01-31 13:56:32, INFO: human number: 10 -2023-01-31 13:56:32, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:56:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:56:32, INFO: Square width: 10, circle width: 4 -2023-01-31 13:56:32, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:56:32, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:57:32, INFO: Using device: cpu -2023-01-31 13:57:32, INFO: Loaded RL weights with best VAL -2023-01-31 13:57:32, INFO: human number: 10 -2023-01-31 13:57:32, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:57:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:57:32, INFO: Square width: 10, circle width: 4 -2023-01-31 13:57:32, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:57:32, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 13:59:18, INFO: Using device: cpu -2023-01-31 13:59:18, INFO: Loaded RL weights with best VAL -2023-01-31 13:59:18, INFO: human number: 10 -2023-01-31 13:59:18, INFO: Not randomize human's radius and preferred speed -2023-01-31 13:59:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 13:59:18, INFO: Square width: 10, circle width: 4 -2023-01-31 13:59:18, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 13:59:18, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 14:00:31, INFO: Using device: cpu -2023-01-31 14:00:31, INFO: Loaded RL weights with best VAL -2023-01-31 14:00:31, INFO: human number: 10 -2023-01-31 14:00:31, INFO: Not randomize human's radius and preferred speed -2023-01-31 14:00:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 14:00:31, INFO: Square width: 10, circle width: 4 -2023-01-31 14:00:31, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 14:00:31, INFO: ORCA agent buffer: 0.200000 -2023-01-31 14:00:31, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 14:01:01, INFO: TEST has success rate: 0.769, collision rate: 0.222, nav time: 13.880, total reward: 1020.1837, average return: 0.3315 -2023-01-31 14:01:01, INFO: Frequency of being in danger: 0.095 and average min separate distance in danger: 0.13 -2023-01-31 14:01:01, INFO: discomfor nums is 5884 and return is 0.4322 and length is 49609 -2023-01-31 14:01:01, INFO: Collision cases: 1 7 8 16 22 25 30 33 36 42 48 50 62 75 76 80 90 94 99 105 108 111 124 126 134 139 141 146 153 155 158 160 162 167 168 173 177 180 182 185 188 194 196 203 204 217 218 233 241 242 243 254 255 262 267 270 278 279 283 297 301 303 310 312 316 322 323 332 333 340 341 345 350 352 356 359 371 389 397 399 401 402 407 408 410 415 419 427 429 434 437 454 459 466 471 473 475 476 480 484 491 502 504 505 513 515 528 537 541 544 556 558 560 567 568 569 572 582 585 586 589 594 596 597 598 603 604 610 615 617 618 619 631 636 638 642 644 647 656 658 662 665 669 687 703 704 705 711 714 716 719 721 722 724 727 728 729 736 743 748 749 750 754 756 764 770 772 774 781 782 798 801 811 815 816 818 820 822 828 837 848 852 855 857 860 861 867 869 876 879 890 892 898 901 904 906 907 912 915 926 928 932 933 934 944 945 947 959 960 961 963 965 968 969 977 978 983 984 986 993 994 995 -2023-01-31 14:01:01, INFO: Timeout cases: 2 259 275 298 418 557 649 834 880 -2023-01-31 14:02:05, INFO: Using device: cpu -2023-01-31 14:02:05, INFO: Loaded RL weights with best VAL -2023-01-31 14:02:05, INFO: human number: 10 -2023-01-31 14:02:05, INFO: Not randomize human's radius and preferred speed -2023-01-31 14:02:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 14:02:05, INFO: Square width: 10, circle width: 4 -2023-01-31 14:02:05, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 14:02:05, INFO: ORCA agent buffer: 0.200000 -2023-01-31 14:02:05, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 14:03:25, INFO: Using device: cpu -2023-01-31 14:03:25, INFO: Loaded RL weights with best VAL -2023-01-31 14:03:25, INFO: human number: 10 -2023-01-31 14:03:25, INFO: Not randomize human's radius and preferred speed -2023-01-31 14:03:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 14:03:25, INFO: Square width: 10, circle width: 4 -2023-01-31 14:03:25, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 14:03:25, INFO: ORCA agent buffer: 0.200000 -2023-01-31 14:03:25, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 14:03:54, INFO: TEST has success rate: 0.769, collision rate: 0.222, nav time: 13.880, total reward: 1020.1837, average return: 0.3315 -2023-01-31 14:03:54, INFO: Frequency of being in danger: 0.095 and average min separate distance in danger: 0.13 -2023-01-31 14:03:54, INFO: discomfor nums is 5884 and return is 0.4322 and length is 49609 -2023-01-31 14:03:54, INFO: Collision cases: 1 7 8 16 22 25 30 33 36 42 48 50 62 75 76 80 90 94 99 105 108 111 124 126 134 139 141 146 153 155 158 160 162 167 168 173 177 180 182 185 188 194 196 203 204 217 218 233 241 242 243 254 255 262 267 270 278 279 283 297 301 303 310 312 316 322 323 332 333 340 341 345 350 352 356 359 371 389 397 399 401 402 407 408 410 415 419 427 429 434 437 454 459 466 471 473 475 476 480 484 491 502 504 505 513 515 528 537 541 544 556 558 560 567 568 569 572 582 585 586 589 594 596 597 598 603 604 610 615 617 618 619 631 636 638 642 644 647 656 658 662 665 669 687 703 704 705 711 714 716 719 721 722 724 727 728 729 736 743 748 749 750 754 756 764 770 772 774 781 782 798 801 811 815 816 818 820 822 828 837 848 852 855 857 860 861 867 869 876 879 890 892 898 901 904 906 907 912 915 926 928 932 933 934 944 945 947 959 960 961 963 965 968 969 977 978 983 984 986 993 994 995 -2023-01-31 14:03:54, INFO: Timeout cases: 2 259 275 298 418 557 649 834 880 -2023-01-31 15:55:46, INFO: Using device: cpu -2023-01-31 15:55:46, INFO: Loaded RL weights with best VAL -2023-01-31 15:55:46, INFO: human number: 10 -2023-01-31 15:55:46, INFO: Not randomize human's radius and preferred speed -2023-01-31 15:55:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-01-31 15:55:46, INFO: Square width: 10, circle width: 4 -2023-01-31 15:55:46, INFO: rotation constraint: 0.5235987755982988 -2023-01-31 15:55:46, INFO: ORCA agent buffer: 0.200000 -2023-01-31 15:55:46, INFO: Agent is invisible and has holonomic kinematic constraint -2023-01-31 15:56:10, INFO: TEST has success rate: 0.840, collision rate: 0.151, nav time: 12.856, total reward: 1128.8807, average return: 0.4417 -2023-01-31 15:56:10, INFO: Frequency of being in danger: 0.105 and average min separate distance in danger: 0.13 -2023-01-31 15:56:10, INFO: discomfor nums is 6094 and return is 0.4914 and length is 48242 -2023-01-31 15:56:10, INFO: Collision cases: 20 26 27 33 44 45 46 62 69 84 85 87 105 107 115 117 136 146 150 153 158 162 163 171 178 183 185 196 202 207 212 215 219 220 222 225 236 243 254 260 269 272 274 282 284 288 289 290 291 299 301 310 311 325 329 340 344 346 348 359 360 365 378 384 390 394 395 405 424 428 437 438 440 447 450 456 470 491 495 518 519 522 538 547 555 558 569 571 574 581 584 586 604 611 614 616 622 627 638 651 653 656 669 671 689 693 696 704 710 712 718 719 723 724 729 730 742 753 755 763 767 776 786 810 816 824 833 848 849 854 862 865 868 870 882 890 892 901 903 907 926 940 944 961 962 967 978 984 985 996 997 -2023-01-31 15:56:10, INFO: Timeout cases: 31 264 297 418 531 568 698 846 969 -2023-07-12 15:33:08, INFO: Using device: cpu -2023-07-12 15:33:08, INFO: Loaded RL weights with best VAL -2023-07-12 15:33:08, INFO: Similarity_func: concatenation -2023-07-12 15:33:08, INFO: Layerwise_graph: False -2023-07-12 15:33:08, INFO: Skip_connection: True -2023-07-12 15:33:08, INFO: Number of layers: 1 -2023-07-12 15:33:08, INFO: Similarity_func: concatenation -2023-07-12 15:33:08, INFO: Layerwise_graph: False -2023-07-12 15:33:08, INFO: Skip_connection: True -2023-07-12 15:33:08, INFO: Number of layers: 1 -2023-07-12 15:33:08, INFO: Planning depth: 1 -2023-07-12 15:33:08, INFO: Planning width: 10 -2023-07-12 15:33:08, INFO: Sparse search: None -2023-07-12 15:33:08, INFO: human number: 10 -2023-07-12 15:33:08, INFO: Not randomize human's radius and preferred speed -2023-07-12 15:33:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-07-12 15:33:08, INFO: Square width: 10, circle width: 4 -2023-07-12 15:33:08, INFO: rotation constraint: 0.5235987755982988 -2023-07-12 15:33:08, INFO: Agent is invisible and has unicycle kinematic constraint -2023-07-12 15:41:15, INFO: Using device: cpu -2023-07-12 15:41:15, INFO: Loaded RL weights with best VAL -2023-07-12 15:41:15, INFO: Similarity_func: concatenation -2023-07-12 15:41:15, INFO: Layerwise_graph: False -2023-07-12 15:41:15, INFO: Skip_connection: True -2023-07-12 15:41:15, INFO: Number of layers: 1 -2023-07-12 15:41:15, INFO: Similarity_func: concatenation -2023-07-12 15:41:15, INFO: Layerwise_graph: False -2023-07-12 15:41:15, INFO: Skip_connection: True -2023-07-12 15:41:15, INFO: Number of layers: 1 -2023-07-12 15:41:15, INFO: Planning depth: 1 -2023-07-12 15:41:15, INFO: Planning width: 10 -2023-07-12 15:41:15, INFO: Sparse search: None -2023-07-12 15:41:15, INFO: human number: 10 -2023-07-12 15:41:15, INFO: Not randomize human's radius and preferred speed -2023-07-12 15:41:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-07-12 15:41:15, INFO: Square width: 10, circle width: 4 -2023-07-12 15:41:15, INFO: rotation constraint: 0.5235987755982988 -2023-07-12 15:41:15, INFO: Agent is invisible and has unicycle kinematic constraint -2023-07-12 16:02:34, INFO: Using device: cpu -2023-07-12 16:02:34, INFO: Loaded RL weights with best VAL -2023-07-12 16:02:34, INFO: Similarity_func: concatenation -2023-07-12 16:02:34, INFO: Layerwise_graph: False -2023-07-12 16:02:34, INFO: Skip_connection: True -2023-07-12 16:02:34, INFO: Number of layers: 1 -2023-07-12 16:02:34, INFO: Similarity_func: concatenation -2023-07-12 16:02:34, INFO: Layerwise_graph: False -2023-07-12 16:02:34, INFO: Skip_connection: True -2023-07-12 16:02:34, INFO: Number of layers: 1 -2023-07-12 16:02:34, INFO: Planning depth: 1 -2023-07-12 16:02:34, INFO: Planning width: 10 -2023-07-12 16:02:34, INFO: Sparse search: None -2023-07-12 16:02:34, INFO: human number: 10 -2023-07-12 16:02:34, INFO: Not randomize human's radius and preferred speed -2023-07-12 16:02:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-07-12 16:02:34, INFO: Square width: 10, circle width: 4 -2023-07-12 16:02:34, INFO: rotation constraint: 0.5235987755982988 -2023-07-12 16:02:34, INFO: Agent is invisible and has unicycle kinematic constraint -2023-07-12 16:03:34, INFO: Using device: cpu -2023-07-12 16:03:34, INFO: Loaded RL weights with best VAL -2023-07-12 16:03:34, INFO: Similarity_func: concatenation -2023-07-12 16:03:34, INFO: Layerwise_graph: False -2023-07-12 16:03:34, INFO: Skip_connection: True -2023-07-12 16:03:34, INFO: Number of layers: 1 -2023-07-12 16:03:34, INFO: Similarity_func: concatenation -2023-07-12 16:03:34, INFO: Layerwise_graph: False -2023-07-12 16:03:34, INFO: Skip_connection: True -2023-07-12 16:03:34, INFO: Number of layers: 1 -2023-07-12 16:03:34, INFO: Planning depth: 1 -2023-07-12 16:03:34, INFO: Planning width: 10 -2023-07-12 16:03:34, INFO: Sparse search: None -2023-07-12 16:03:34, INFO: human number: 10 -2023-07-12 16:03:34, INFO: Not randomize human's radius and preferred speed -2023-07-12 16:03:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-07-12 16:03:34, INFO: Square width: 10, circle width: 4 -2023-07-12 16:03:34, INFO: rotation constraint: 0.5235987755982988 -2023-07-12 16:03:34, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-13 14:08:13, INFO: Using device: cpu -2023-12-13 14:08:13, INFO: Loaded RL weights with best VAL -2023-12-13 14:08:13, INFO: Similarity_func: concatenation -2023-12-13 14:08:13, INFO: Layerwise_graph: False -2023-12-13 14:08:13, INFO: Skip_connection: True -2023-12-13 14:08:13, INFO: Number of layers: 1 -2023-12-13 14:08:13, INFO: Similarity_func: concatenation -2023-12-13 14:08:13, INFO: Layerwise_graph: False -2023-12-13 14:08:13, INFO: Skip_connection: True -2023-12-13 14:08:13, INFO: Number of layers: 1 -2023-12-13 14:08:13, INFO: Planning depth: 1 -2023-12-13 14:08:13, INFO: Planning width: 10 -2023-12-13 14:08:13, INFO: Sparse search: None -2023-12-15 16:07:02, INFO: Using device: cpu -2023-12-15 16:07:02, INFO: Loaded RL weights with best VAL -2023-12-15 16:07:02, INFO: Similarity_func: concatenation -2023-12-15 16:07:02, INFO: Layerwise_graph: False -2023-12-15 16:07:02, INFO: Skip_connection: True -2023-12-15 16:07:02, INFO: Number of layers: 1 -2023-12-15 16:07:02, INFO: Similarity_func: concatenation -2023-12-15 16:07:02, INFO: Layerwise_graph: False -2023-12-15 16:07:02, INFO: Skip_connection: True -2023-12-15 16:07:02, INFO: Number of layers: 1 -2023-12-15 16:07:02, INFO: Planning depth: 1 -2023-12-15 16:07:02, INFO: Planning width: 10 -2023-12-15 16:07:02, INFO: Sparse search: None -2023-12-15 16:13:57, INFO: Using device: cpu -2023-12-15 16:15:30, INFO: Using device: cpu -2023-12-15 16:15:32, INFO: Loaded RL weights with best VAL -2023-12-15 16:16:02, INFO: Similarity_func: concatenation -2023-12-15 16:16:02, INFO: Layerwise_graph: False -2023-12-15 16:16:02, INFO: Skip_connection: True -2023-12-15 16:16:02, INFO: Number of layers: 1 -2023-12-15 16:16:02, INFO: Similarity_func: concatenation -2023-12-15 16:16:02, INFO: Layerwise_graph: False -2023-12-15 16:16:02, INFO: Skip_connection: True -2023-12-15 16:16:02, INFO: Number of layers: 1 -2023-12-15 16:16:02, INFO: Planning depth: 1 -2023-12-15 16:16:02, INFO: Planning width: 10 -2023-12-15 16:16:02, INFO: Sparse search: None -2023-12-15 16:16:22, INFO: human number: 5 -2023-12-15 16:16:22, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:16:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:16:22, INFO: Square width: 10, circle width: 4 -2023-12-15 16:16:40, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:17:15, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:25:43, INFO: Using device: cpu -2023-12-15 16:25:51, INFO: Loaded RL weights with best VAL -2023-12-15 16:25:52, INFO: Similarity_func: concatenation -2023-12-15 16:25:52, INFO: Layerwise_graph: False -2023-12-15 16:25:52, INFO: Skip_connection: True -2023-12-15 16:25:52, INFO: Number of layers: 1 -2023-12-15 16:25:52, INFO: Similarity_func: concatenation -2023-12-15 16:25:52, INFO: Layerwise_graph: False -2023-12-15 16:25:52, INFO: Skip_connection: True -2023-12-15 16:25:52, INFO: Number of layers: 1 -2023-12-15 16:25:52, INFO: Planning depth: 1 -2023-12-15 16:25:52, INFO: Planning width: 10 -2023-12-15 16:25:52, INFO: Sparse search: None -2023-12-15 16:26:08, INFO: human number: 5 -2023-12-15 16:26:08, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:26:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:26:08, INFO: Square width: 10, circle width: 4 -2023-12-15 16:26:08, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:26:08, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:27:44, INFO: Animation.save using -2023-12-15 16:27:44, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/ICM_hyperbolicExpMap/video_prova_test_0.mp4 -2023-12-15 16:30:15, INFO: It takes 5.50 seconds to finish. Final status is Collision, cumulative_reward is 0.148670 -2023-12-15 16:30:54, INFO: Using device: cpu -2023-12-15 16:30:54, INFO: Loaded RL weights with best VAL -2023-12-15 16:30:54, INFO: Similarity_func: concatenation -2023-12-15 16:30:54, INFO: Layerwise_graph: False -2023-12-15 16:30:54, INFO: Skip_connection: True -2023-12-15 16:30:54, INFO: Number of layers: 1 -2023-12-15 16:30:54, INFO: Similarity_func: concatenation -2023-12-15 16:30:54, INFO: Layerwise_graph: False -2023-12-15 16:30:54, INFO: Skip_connection: True -2023-12-15 16:30:54, INFO: Number of layers: 1 -2023-12-15 16:30:54, INFO: Planning depth: 1 -2023-12-15 16:30:54, INFO: Planning width: 10 -2023-12-15 16:30:54, INFO: Sparse search: None -2023-12-15 16:30:58, INFO: human number: 5 -2023-12-15 16:30:58, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:30:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:30:58, INFO: Square width: 10, circle width: 4 -2023-12-15 16:30:58, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:30:58, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:31:31, INFO: Using device: cpu -2023-12-15 16:31:32, INFO: Loaded RL weights with best VAL -2023-12-15 16:31:32, INFO: Similarity_func: concatenation -2023-12-15 16:31:32, INFO: Layerwise_graph: False -2023-12-15 16:31:32, INFO: Skip_connection: True -2023-12-15 16:31:32, INFO: Number of layers: 1 -2023-12-15 16:31:32, INFO: Similarity_func: concatenation -2023-12-15 16:31:32, INFO: Layerwise_graph: False -2023-12-15 16:31:32, INFO: Skip_connection: True -2023-12-15 16:31:32, INFO: Number of layers: 1 -2023-12-15 16:31:32, INFO: Planning depth: 1 -2023-12-15 16:31:32, INFO: Planning width: 10 -2023-12-15 16:31:32, INFO: Sparse search: None -2023-12-15 16:31:35, INFO: human number: 5 -2023-12-15 16:31:35, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:31:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:31:35, INFO: Square width: 10, circle width: 4 -2023-12-15 16:31:35, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:31:35, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:34:04, INFO: Using device: cpu -2023-12-15 16:34:08, INFO: Loaded RL weights with best VAL -2023-12-15 16:34:08, INFO: Similarity_func: concatenation -2023-12-15 16:34:08, INFO: Layerwise_graph: False -2023-12-15 16:34:08, INFO: Skip_connection: True -2023-12-15 16:34:08, INFO: Number of layers: 1 -2023-12-15 16:34:08, INFO: Similarity_func: concatenation -2023-12-15 16:34:08, INFO: Layerwise_graph: False -2023-12-15 16:34:08, INFO: Skip_connection: True -2023-12-15 16:34:08, INFO: Number of layers: 1 -2023-12-15 16:34:08, INFO: Planning depth: 1 -2023-12-15 16:34:08, INFO: Planning width: 10 -2023-12-15 16:34:08, INFO: Sparse search: None -2023-12-15 16:34:11, INFO: human number: 5 -2023-12-15 16:34:11, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:34:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:34:11, INFO: Square width: 10, circle width: 4 -2023-12-15 16:34:11, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:34:11, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:36:37, INFO: Using device: cpu -2023-12-15 16:36:47, INFO: Loaded RL weights with best VAL -2023-12-15 16:36:47, INFO: Similarity_func: concatenation -2023-12-15 16:36:47, INFO: Layerwise_graph: False -2023-12-15 16:36:47, INFO: Skip_connection: True -2023-12-15 16:36:47, INFO: Number of layers: 1 -2023-12-15 16:36:47, INFO: Similarity_func: concatenation -2023-12-15 16:36:47, INFO: Layerwise_graph: False -2023-12-15 16:36:47, INFO: Skip_connection: True -2023-12-15 16:36:47, INFO: Number of layers: 1 -2023-12-15 16:36:47, INFO: Planning depth: 1 -2023-12-15 16:36:47, INFO: Planning width: 10 -2023-12-15 16:36:47, INFO: Sparse search: None -2023-12-15 16:36:51, INFO: human number: 5 -2023-12-15 16:36:51, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:36:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:36:51, INFO: Square width: 10, circle width: 4 -2023-12-15 16:36:51, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:36:51, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:36:53, INFO: Animation.save using -2023-12-15 16:36:53, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/ICM_hyperbolicExpMap/video_debug_test_0.mp4 -2023-12-15 16:37:28, INFO: It takes 5.50 seconds to finish. Final status is Collision, cumulative_reward is 0.148670 -2023-12-15 16:43:42, INFO: Using device: cpu -2023-12-15 16:44:03, INFO: Loaded RL weights with best VAL -2023-12-15 16:44:03, INFO: Similarity_func: concatenation -2023-12-15 16:44:03, INFO: Layerwise_graph: False -2023-12-15 16:44:03, INFO: Skip_connection: True -2023-12-15 16:44:03, INFO: Number of layers: 1 -2023-12-15 16:44:03, INFO: Similarity_func: concatenation -2023-12-15 16:44:03, INFO: Layerwise_graph: False -2023-12-15 16:44:03, INFO: Skip_connection: True -2023-12-15 16:44:03, INFO: Number of layers: 1 -2023-12-15 16:44:03, INFO: Planning depth: 1 -2023-12-15 16:44:03, INFO: Planning width: 10 -2023-12-15 16:44:03, INFO: Sparse search: None -2023-12-15 16:44:06, INFO: human number: 5 -2023-12-15 16:44:06, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:44:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:44:06, INFO: Square width: 10, circle width: 4 -2023-12-15 16:44:06, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:44:06, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:44:10, INFO: Animation.save using -2023-12-15 16:44:10, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/ICM_hyperbolicExpMap/video_debug_test_3.mp4 -2023-12-15 16:45:50, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.028140 -2023-12-15 16:50:03, INFO: Using device: cpu -2023-12-15 16:50:11, INFO: Loaded RL weights with best VAL -2023-12-15 16:50:11, INFO: Similarity_func: concatenation -2023-12-15 16:50:11, INFO: Layerwise_graph: False -2023-12-15 16:50:11, INFO: Skip_connection: True -2023-12-15 16:50:11, INFO: Number of layers: 1 -2023-12-15 16:50:11, INFO: Similarity_func: concatenation -2023-12-15 16:50:11, INFO: Layerwise_graph: False -2023-12-15 16:50:11, INFO: Skip_connection: True -2023-12-15 16:50:11, INFO: Number of layers: 1 -2023-12-15 16:50:11, INFO: Planning depth: 1 -2023-12-15 16:50:11, INFO: Planning width: 10 -2023-12-15 16:50:11, INFO: Sparse search: None -2023-12-15 16:50:14, INFO: human number: 5 -2023-12-15 16:50:14, INFO: Not randomize human's radius and preferred speed -2023-12-15 16:50:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-15 16:50:14, INFO: Square width: 10, circle width: 4 -2023-12-15 16:50:14, INFO: rotation constraint: 0.5235987755982988 -2023-12-15 16:50:14, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-15 16:52:57, INFO: Animation.save using -2023-12-15 16:52:57, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/ICM_hyperbolicExpMap/video_debug_test_10.mp4 -2023-12-15 16:54:06, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.123654 -2023-12-18 09:52:44, INFO: Using device: cpu -2023-12-18 09:52:44, INFO: Loaded RL weights with best VAL -2023-12-18 09:52:44, INFO: Similarity_func: concatenation -2023-12-18 09:52:44, INFO: Layerwise_graph: False -2023-12-18 09:52:44, INFO: Skip_connection: True -2023-12-18 09:52:44, INFO: Number of layers: 1 -2023-12-18 09:52:44, INFO: Similarity_func: concatenation -2023-12-18 09:52:44, INFO: Layerwise_graph: False -2023-12-18 09:52:44, INFO: Skip_connection: True -2023-12-18 09:52:44, INFO: Number of layers: 1 -2023-12-18 09:52:44, INFO: Planning depth: 1 -2023-12-18 09:52:44, INFO: Planning width: 10 -2023-12-18 09:52:44, INFO: Sparse search: None -2023-12-18 09:53:37, INFO: Using device: cpu -2023-12-18 09:53:37, INFO: Loaded RL weights with best VAL -2023-12-18 09:53:37, INFO: Similarity_func: concatenation -2023-12-18 09:53:37, INFO: Layerwise_graph: False -2023-12-18 09:53:37, INFO: Skip_connection: True -2023-12-18 09:53:37, INFO: Number of layers: 1 -2023-12-18 09:53:37, INFO: Similarity_func: concatenation -2023-12-18 09:53:37, INFO: Layerwise_graph: False -2023-12-18 09:53:37, INFO: Skip_connection: True -2023-12-18 09:53:37, INFO: Number of layers: 1 -2023-12-18 09:53:37, INFO: Planning depth: 1 -2023-12-18 09:53:37, INFO: Planning width: 10 -2023-12-18 09:53:37, INFO: Sparse search: None -2023-12-18 09:53:41, INFO: human number: 5 -2023-12-18 09:53:41, INFO: Not randomize human's radius and preferred speed -2023-12-18 09:53:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-18 09:53:41, INFO: Square width: 10, circle width: 4 -2023-12-18 09:53:41, INFO: rotation constraint: 0.5235987755982988 -2023-12-18 09:53:41, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-18 09:53:46, INFO: Animation.save using -2023-12-18 09:53:46, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/reproduction/video_debug_test_10.mp4 -2023-12-18 09:54:58, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.143789 -2023-12-20 10:06:25, INFO: Using device: cpu -2023-12-20 10:07:34, INFO: Using device: cpu -2023-12-20 10:07:44, INFO: Loaded RL weights with best VAL -2023-12-20 10:07:56, INFO: Similarity_func: concatenation -2023-12-20 10:07:56, INFO: Layerwise_graph: False -2023-12-20 10:07:56, INFO: Skip_connection: True -2023-12-20 10:07:56, INFO: Number of layers: 1 -2023-12-20 10:07:56, INFO: Similarity_func: concatenation -2023-12-20 10:07:56, INFO: Layerwise_graph: False -2023-12-20 10:07:56, INFO: Skip_connection: True -2023-12-20 10:07:56, INFO: Number of layers: 1 -2023-12-20 10:07:56, INFO: Planning depth: 1 -2023-12-20 10:07:56, INFO: Planning width: 10 -2023-12-20 10:07:56, INFO: Sparse search: None -2023-12-20 10:08:00, INFO: human number: 5 -2023-12-20 10:08:00, INFO: Not randomize human's radius and preferred speed -2023-12-20 10:08:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2023-12-20 10:08:00, INFO: Square width: 10, circle width: 4 -2023-12-20 10:08:00, INFO: rotation constraint: 0.5235987755982988 -2023-12-20 10:08:00, INFO: Agent is invisible and has unicycle kinematic constraint -2023-12-20 10:08:04, INFO: Animation.save using -2023-12-20 10:08:04, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/HyperVnet_ICM/video_model_1_test_10.mp4 -2023-12-20 10:11:01, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.576166 -2024-01-04 09:19:53, INFO: Using device: cpu -2024-01-04 09:19:53, INFO: Loaded RL weights with best VAL -2024-01-04 09:19:53, INFO: Similarity_func: concatenation -2024-01-04 09:19:53, INFO: Layerwise_graph: False -2024-01-04 09:19:53, INFO: Skip_connection: True -2024-01-04 09:19:53, INFO: Number of layers: 1 -2024-01-04 09:19:53, INFO: Similarity_func: concatenation -2024-01-04 09:19:53, INFO: Layerwise_graph: False -2024-01-04 09:19:53, INFO: Skip_connection: True -2024-01-04 09:19:53, INFO: Number of layers: 1 -2024-01-04 09:19:53, INFO: Planning depth: 1 -2024-01-04 09:19:53, INFO: Planning width: 10 -2024-01-04 09:19:53, INFO: Sparse search: None -2024-01-04 09:19:56, INFO: human number: 5 -2024-01-04 09:19:56, INFO: Not randomize human's radius and preferred speed -2024-01-04 09:19:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 09:19:56, INFO: Square width: 10, circle width: 4 -2024-01-04 09:19:56, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 09:19:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 09:41:46, INFO: TEST has success rate: 0.360, collision rate: 0.622, nav time: 11.778, total reward: 337.0131, average return: -0.1296 -2024-01-04 09:41:46, INFO: Frequency of being in danger: 0.113 and average min separate distance in danger: 0.13 -2024-01-04 09:41:46, INFO: discomfor nums is 4990 and return is 0.0887 and length is 31622 -2024-01-04 09:41:46, INFO: Collision cases: 0 2 5 6 8 11 13 16 17 18 19 20 21 22 24 25 27 29 31 32 34 35 38 39 41 44 45 46 49 51 54 55 57 58 59 60 61 62 63 64 65 66 68 70 73 74 75 76 77 79 80 83 85 88 89 91 92 94 96 97 98 101 102 105 107 110 111 113 114 115 116 118 120 121 124 126 129 130 133 134 137 139 141 143 145 146 147 149 150 151 152 155 156 157 159 163 165 166 167 170 171 172 174 175 177 181 184 185 187 188 189 191 192 194 198 199 200 201 202 203 204 205 206 208 209 210 212 214 217 219 220 222 223 224 225 231 233 235 236 237 238 239 240 242 243 245 246 247 248 250 252 253 254 256 258 261 262 263 265 266 268 269 273 275 277 278 279 282 283 284 285 286 287 289 292 293 294 296 297 302 305 306 308 309 310 311 316 317 319 320 321 323 324 325 326 329 330 331 332 335 338 341 342 344 345 346 349 353 354 355 356 358 361 363 365 366 367 370 371 372 374 375 376 378 379 380 381 382 383 385 386 387 388 389 391 392 393 394 397 402 404 405 406 408 409 410 411 413 414 415 417 419 421 423 424 425 426 427 429 432 433 434 435 437 438 441 442 444 446 447 448 449 450 452 453 454 456 459 461 462 463 464 466 467 469 471 472 473 474 475 476 478 480 481 483 484 488 489 490 491 492 496 497 498 499 500 501 503 507 509 510 511 516 518 519 520 521 522 524 526 528 532 533 534 537 539 541 543 546 548 551 552 554 556 557 558 559 560 563 564 565 568 569 572 574 577 579 581 582 583 584 585 587 588 589 590 595 596 599 600 603 605 607 608 609 610 611 613 616 617 618 620 621 624 625 626 628 629 630 631 633 634 636 637 639 640 642 643 644 645 646 647 648 649 650 652 655 656 657 660 662 663 665 666 667 668 669 671 673 674 675 676 677 678 679 680 681 683 684 685 690 692 693 695 698 700 701 702 703 705 706 707 708 709 710 711 713 715 716 717 718 719 720 721 722 725 727 730 732 733 735 736 739 743 745 746 749 751 753 754 756 758 759 762 763 766 767 768 769 771 772 773 774 775 776 777 778 779 781 785 786 788 790 791 792 794 795 796 798 800 801 803 804 805 806 808 809 810 811 812 813 814 815 816 817 819 820 821 823 825 826 832 833 835 836 837 842 844 845 846 847 848 851 852 853 854 855 856 857 858 859 860 861 862 863 864 866 867 868 870 871 872 873 874 879 881 882 886 888 889 891 893 894 895 896 897 903 904 906 909 912 913 914 915 918 919 921 922 923 924 925 927 928 930 932 933 937 938 939 940 942 945 946 949 952 953 954 955 956 957 958 960 961 963 964 965 966 967 969 970 972 974 975 976 978 979 980 981 982 983 984 985 986 987 989 990 991 992 995 996 997 998 -2024-01-04 09:41:46, INFO: Timeout cases: 12 28 50 95 140 144 153 176 251 334 485 622 686 807 822 831 898 971 -2024-01-04 09:47:34, INFO: Using device: cpu -2024-01-04 09:50:57, INFO: Using device: cpu -2024-01-04 09:51:35, INFO: Using device: cpu -2024-01-04 09:51:35, INFO: Loaded RL weights with best VAL -2024-01-04 09:51:35, INFO: Similarity_func: concatenation -2024-01-04 09:51:35, INFO: Layerwise_graph: False -2024-01-04 09:51:35, INFO: Skip_connection: True -2024-01-04 09:51:35, INFO: Number of layers: 1 -2024-01-04 09:51:35, INFO: Similarity_func: concatenation -2024-01-04 09:51:35, INFO: Layerwise_graph: False -2024-01-04 09:51:35, INFO: Skip_connection: True -2024-01-04 09:51:35, INFO: Number of layers: 1 -2024-01-04 09:51:35, INFO: Planning depth: 1 -2024-01-04 09:51:35, INFO: Planning width: 10 -2024-01-04 09:51:35, INFO: Sparse search: None -2024-01-04 09:51:38, INFO: human number: 5 -2024-01-04 09:51:38, INFO: Not randomize human's radius and preferred speed -2024-01-04 09:51:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 09:51:38, INFO: Square width: 10, circle width: 4 -2024-01-04 09:51:38, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 09:51:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 10:18:47, INFO: TEST has success rate: 0.987, collision rate: 0.013, nav time: 9.809, total reward: 1735.7885, average return: 0.7263 -2024-01-04 10:18:47, INFO: Frequency of being in danger: 0.035 and average min separate distance in danger: 0.17 -2024-01-04 10:18:47, INFO: discomfor nums is 1437 and return is 0.7272 and length is 38943 -2024-01-04 10:18:47, INFO: Collision cases: 31 96 167 221 473 483 548 656 722 726 747 857 979 -2024-01-04 10:18:47, INFO: Timeout cases: -2024-01-04 10:25:31, INFO: Using device: cpu -2024-01-04 10:25:31, INFO: Loaded RL weights with best VAL -2024-01-04 10:25:31, INFO: Similarity_func: concatenation -2024-01-04 10:25:31, INFO: Layerwise_graph: False -2024-01-04 10:25:31, INFO: Skip_connection: True -2024-01-04 10:25:31, INFO: Number of layers: 1 -2024-01-04 10:25:31, INFO: Similarity_func: concatenation -2024-01-04 10:25:31, INFO: Layerwise_graph: False -2024-01-04 10:25:31, INFO: Skip_connection: True -2024-01-04 10:25:31, INFO: Number of layers: 1 -2024-01-04 10:25:31, INFO: Planning depth: 1 -2024-01-04 10:25:31, INFO: Planning width: 10 -2024-01-04 10:25:31, INFO: Sparse search: None -2024-01-04 10:25:34, INFO: human number: 5 -2024-01-04 10:25:34, INFO: Not randomize human's radius and preferred speed -2024-01-04 10:25:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 10:25:34, INFO: Square width: 10, circle width: 4 -2024-01-04 10:25:34, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 10:25:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 10:27:19, INFO: Using device: cpu -2024-01-04 10:27:19, INFO: Loaded RL weights with best VAL -2024-01-04 10:27:19, INFO: Similarity_func: concatenation -2024-01-04 10:27:19, INFO: Layerwise_graph: False -2024-01-04 10:27:19, INFO: Skip_connection: True -2024-01-04 10:27:19, INFO: Number of layers: 1 -2024-01-04 10:27:19, INFO: Similarity_func: concatenation -2024-01-04 10:27:19, INFO: Layerwise_graph: False -2024-01-04 10:27:19, INFO: Skip_connection: True -2024-01-04 10:27:19, INFO: Number of layers: 1 -2024-01-04 10:27:19, INFO: Planning depth: 1 -2024-01-04 10:27:19, INFO: Planning width: 10 -2024-01-04 10:27:19, INFO: Sparse search: None -2024-01-04 10:27:22, INFO: human number: 5 -2024-01-04 10:27:22, INFO: Not randomize human's radius and preferred speed -2024-01-04 10:27:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 10:27:22, INFO: Square width: 10, circle width: 4 -2024-01-04 10:27:22, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 10:27:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 10:54:40, INFO: TEST has success rate: 0.987, collision rate: 0.013, nav time: 9.809, total reward: 1735.7885, average return: 0.7263 -2024-01-04 10:54:40, INFO: Frequency of being in danger: 0.035 and average min separate distance in danger: 0.17 -2024-01-04 10:54:40, INFO: discomfor nums is 1437 and return is 0.7272 and length is 38943 -2024-01-04 10:54:40, INFO: Collision cases: 31 96 167 221 473 483 548 656 722 726 747 857 979 -2024-01-04 10:54:40, INFO: Timeout cases: -2024-01-04 12:31:20, INFO: Using device: cpu -2024-01-04 12:31:20, INFO: Loaded RL weights with best VAL -2024-01-04 12:31:20, INFO: Similarity_func: concatenation -2024-01-04 12:31:20, INFO: Layerwise_graph: False -2024-01-04 12:31:20, INFO: Skip_connection: True -2024-01-04 12:31:20, INFO: Number of layers: 1 -2024-01-04 12:31:20, INFO: Similarity_func: concatenation -2024-01-04 12:31:20, INFO: Layerwise_graph: False -2024-01-04 12:31:20, INFO: Skip_connection: True -2024-01-04 12:31:20, INFO: Number of layers: 1 -2024-01-04 12:31:20, INFO: Planning depth: 1 -2024-01-04 12:31:20, INFO: Planning width: 10 -2024-01-04 12:31:20, INFO: Sparse search: None -2024-01-04 12:31:23, INFO: human number: 5 -2024-01-04 12:31:23, INFO: Not randomize human's radius and preferred speed -2024-01-04 12:31:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 12:31:23, INFO: Square width: 10, circle width: 4 -2024-01-04 12:31:23, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 12:31:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 12:32:20, INFO: Using device: cpu -2024-01-04 12:32:20, INFO: Loaded RL weights with best VAL -2024-01-04 12:32:20, INFO: Similarity_func: concatenation -2024-01-04 12:32:20, INFO: Layerwise_graph: False -2024-01-04 12:32:20, INFO: Skip_connection: True -2024-01-04 12:32:20, INFO: Number of layers: 1 -2024-01-04 12:32:20, INFO: Similarity_func: concatenation -2024-01-04 12:32:20, INFO: Layerwise_graph: False -2024-01-04 12:32:20, INFO: Skip_connection: True -2024-01-04 12:32:20, INFO: Number of layers: 1 -2024-01-04 12:32:20, INFO: Planning depth: 1 -2024-01-04 12:32:20, INFO: Planning width: 10 -2024-01-04 12:32:20, INFO: Sparse search: None -2024-01-04 12:32:24, INFO: human number: 5 -2024-01-04 12:32:24, INFO: Not randomize human's radius and preferred speed -2024-01-04 12:32:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 12:32:24, INFO: Square width: 10, circle width: 4 -2024-01-04 12:32:24, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 12:32:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 12:32:50, INFO: Using device: cpu -2024-01-04 12:32:50, INFO: Loaded RL weights with best VAL -2024-01-04 12:32:50, INFO: Similarity_func: concatenation -2024-01-04 12:32:50, INFO: Layerwise_graph: False -2024-01-04 12:32:50, INFO: Skip_connection: True -2024-01-04 12:32:50, INFO: Number of layers: 1 -2024-01-04 12:32:50, INFO: Similarity_func: concatenation -2024-01-04 12:32:50, INFO: Layerwise_graph: False -2024-01-04 12:32:50, INFO: Skip_connection: True -2024-01-04 12:32:50, INFO: Number of layers: 1 -2024-01-04 12:32:50, INFO: Planning depth: 1 -2024-01-04 12:32:50, INFO: Planning width: 10 -2024-01-04 12:32:50, INFO: Sparse search: None -2024-01-04 12:32:53, INFO: human number: 5 -2024-01-04 12:32:53, INFO: Not randomize human's radius and preferred speed -2024-01-04 12:32:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 12:32:53, INFO: Square width: 10, circle width: 4 -2024-01-04 12:32:53, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 12:32:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 12:33:28, INFO: Using device: cpu -2024-01-04 12:33:28, INFO: Loaded RL weights with best VAL -2024-01-04 12:33:28, INFO: Similarity_func: concatenation -2024-01-04 12:33:28, INFO: Layerwise_graph: False -2024-01-04 12:33:28, INFO: Skip_connection: True -2024-01-04 12:33:28, INFO: Number of layers: 1 -2024-01-04 12:33:28, INFO: Similarity_func: concatenation -2024-01-04 12:33:28, INFO: Layerwise_graph: False -2024-01-04 12:33:28, INFO: Skip_connection: True -2024-01-04 12:33:28, INFO: Number of layers: 1 -2024-01-04 12:33:28, INFO: Planning depth: 1 -2024-01-04 12:33:28, INFO: Planning width: 10 -2024-01-04 12:33:28, INFO: Sparse search: None -2024-01-04 12:33:31, INFO: human number: 5 -2024-01-04 12:33:31, INFO: Not randomize human's radius and preferred speed -2024-01-04 12:33:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 12:33:31, INFO: Square width: 10, circle width: 4 -2024-01-04 12:33:31, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 12:33:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 12:35:18, INFO: Using device: cpu -2024-01-04 12:35:18, INFO: Loaded RL weights with best VAL -2024-01-04 12:35:18, INFO: Similarity_func: concatenation -2024-01-04 12:35:18, INFO: Layerwise_graph: False -2024-01-04 12:35:18, INFO: Skip_connection: True -2024-01-04 12:35:18, INFO: Number of layers: 1 -2024-01-04 12:35:18, INFO: Similarity_func: concatenation -2024-01-04 12:35:18, INFO: Layerwise_graph: False -2024-01-04 12:35:18, INFO: Skip_connection: True -2024-01-04 12:35:18, INFO: Number of layers: 1 -2024-01-04 12:35:18, INFO: Planning depth: 1 -2024-01-04 12:35:18, INFO: Planning width: 10 -2024-01-04 12:35:18, INFO: Sparse search: None -2024-01-04 12:35:21, INFO: human number: 5 -2024-01-04 12:35:21, INFO: Not randomize human's radius and preferred speed -2024-01-04 12:35:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 12:35:21, INFO: Square width: 10, circle width: 4 -2024-01-04 12:35:21, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 12:35:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 13:22:46, INFO: TEST has success rate: 0.836, collision rate: 0.011, nav time: 15.362, total reward: 1629.1692, average return: 0.4691 -2024-01-04 13:22:46, INFO: Frequency of being in danger: 0.025 and average min separate distance in danger: 0.17 -2024-01-04 13:22:46, INFO: discomfor nums is 1882 and return is 0.3882 and length is 69628 -2024-01-04 13:22:46, INFO: Collision cases: 8 76 129 162 385 652 800 838 914 952 977 -2024-01-04 13:22:46, INFO: Timeout cases: 5 11 22 35 41 47 51 65 78 82 93 107 110 125 130 133 141 158 171 174 180 181 187 193 205 206 208 209 225 235 239 248 251 254 256 259 261 270 284 296 301 306 319 329 353 359 361 374 377 380 381 386 387 393 394 396 405 407 414 428 429 434 438 439 448 456 480 487 490 496 498 500 502 510 515 517 518 519 533 536 543 546 549 558 576 588 592 595 598 605 613 646 648 651 658 668 670 671 674 677 679 680 683 702 705 709 718 721 723 727 737 742 744 747 755 763 767 778 779 782 796 799 801 802 806 809 822 823 824 831 843 850 856 885 888 889 890 893 897 911 920 936 938 939 941 942 944 961 962 967 985 991 992 -2024-01-04 13:46:30, INFO: Using device: cpu -2024-01-04 13:46:30, INFO: Loaded RL weights with best VAL -2024-01-04 13:46:30, INFO: Similarity_func: concatenation -2024-01-04 13:46:30, INFO: Layerwise_graph: False -2024-01-04 13:46:30, INFO: Skip_connection: True -2024-01-04 13:46:30, INFO: Number of layers: 1 -2024-01-04 13:46:30, INFO: Similarity_func: concatenation -2024-01-04 13:46:30, INFO: Layerwise_graph: False -2024-01-04 13:46:30, INFO: Skip_connection: True -2024-01-04 13:46:30, INFO: Number of layers: 1 -2024-01-04 13:46:30, INFO: Planning depth: 1 -2024-01-04 13:46:30, INFO: Planning width: 10 -2024-01-04 13:46:30, INFO: Sparse search: None -2024-01-04 13:46:33, INFO: human number: 5 -2024-01-04 13:46:33, INFO: Not randomize human's radius and preferred speed -2024-01-04 13:46:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 13:46:33, INFO: Square width: 10, circle width: 4 -2024-01-04 13:46:33, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 13:46:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 14:24:13, INFO: TEST has success rate: 0.906, collision rate: 0.026, nav time: 12.896, total reward: 1623.4961, average return: 0.5455 -2024-01-04 14:24:13, INFO: Frequency of being in danger: 0.044 and average min separate distance in danger: 0.16 -2024-01-04 14:24:13, INFO: discomfor nums is 2583 and return is 0.4730 and length is 55407 -2024-01-04 14:24:13, INFO: Collision cases: 113 118 119 216 294 340 341 383 384 385 397 402 448 516 533 541 590 614 700 708 733 736 764 774 876 969 -2024-01-04 14:24:13, INFO: Timeout cases: 2 12 16 27 52 53 56 61 94 104 151 202 203 205 217 218 244 249 253 292 296 320 321 352 371 396 404 437 441 443 456 469 491 500 515 537 543 544 546 550 559 560 592 604 608 624 635 645 658 667 670 677 687 772 779 781 841 868 879 888 915 930 936 940 944 954 961 962 -2024-01-04 14:26:17, INFO: Using device: cpu -2024-01-04 14:26:17, INFO: Loaded RL weights with best VAL -2024-01-04 14:26:17, INFO: Similarity_func: concatenation -2024-01-04 14:26:17, INFO: Layerwise_graph: False -2024-01-04 14:26:17, INFO: Skip_connection: True -2024-01-04 14:26:17, INFO: Number of layers: 1 -2024-01-04 14:26:17, INFO: Similarity_func: concatenation -2024-01-04 14:26:17, INFO: Layerwise_graph: False -2024-01-04 14:26:17, INFO: Skip_connection: True -2024-01-04 14:26:17, INFO: Number of layers: 1 -2024-01-04 14:26:17, INFO: Planning depth: 1 -2024-01-04 14:26:17, INFO: Planning width: 10 -2024-01-04 14:26:17, INFO: Sparse search: None -2024-01-04 14:26:20, INFO: human number: 5 -2024-01-04 14:26:20, INFO: Not randomize human's radius and preferred speed -2024-01-04 14:26:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 14:26:20, INFO: Square width: 10, circle width: 4 -2024-01-04 14:26:20, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 14:26:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 14:26:39, INFO: Using device: cpu -2024-01-04 14:26:39, INFO: Loaded RL weights with best VAL -2024-01-04 14:26:39, INFO: Similarity_func: concatenation -2024-01-04 14:26:39, INFO: Layerwise_graph: False -2024-01-04 14:26:39, INFO: Skip_connection: True -2024-01-04 14:26:39, INFO: Number of layers: 1 -2024-01-04 14:26:39, INFO: Similarity_func: concatenation -2024-01-04 14:26:39, INFO: Layerwise_graph: False -2024-01-04 14:26:39, INFO: Skip_connection: True -2024-01-04 14:26:39, INFO: Number of layers: 1 -2024-01-04 14:26:39, INFO: Planning depth: 1 -2024-01-04 14:26:39, INFO: Planning width: 10 -2024-01-04 14:26:39, INFO: Sparse search: None -2024-01-04 14:26:42, INFO: human number: 5 -2024-01-04 14:26:42, INFO: Not randomize human's radius and preferred speed -2024-01-04 14:26:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 14:26:42, INFO: Square width: 10, circle width: 4 -2024-01-04 14:26:42, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 14:26:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 14:33:05, INFO: Using device: cpu -2024-01-04 14:33:05, INFO: Loaded RL weights with best VAL -2024-01-04 14:33:05, INFO: Similarity_func: concatenation -2024-01-04 14:33:05, INFO: Layerwise_graph: False -2024-01-04 14:33:05, INFO: Skip_connection: True -2024-01-04 14:33:05, INFO: Number of layers: 1 -2024-01-04 14:33:05, INFO: Similarity_func: concatenation -2024-01-04 14:33:05, INFO: Layerwise_graph: False -2024-01-04 14:33:05, INFO: Skip_connection: True -2024-01-04 14:33:05, INFO: Number of layers: 1 -2024-01-04 14:33:05, INFO: Planning depth: 1 -2024-01-04 14:33:05, INFO: Planning width: 10 -2024-01-04 14:33:05, INFO: Sparse search: None -2024-01-04 14:33:08, INFO: human number: 5 -2024-01-04 14:33:08, INFO: Not randomize human's radius and preferred speed -2024-01-04 14:33:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 14:33:08, INFO: Square width: 10, circle width: 4 -2024-01-04 14:33:08, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 14:33:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 15:20:22, INFO: TEST has success rate: 0.836, collision rate: 0.011, nav time: 15.362, total reward: 1629.1692, average return: 0.4691 -2024-01-04 15:20:22, INFO: Frequency of being in danger: 0.025 and average min separate distance in danger: 0.17 -2024-01-04 15:20:22, INFO: discomfor nums is 1882 and return is 0.3882 and length is 69628 -2024-01-04 15:20:22, INFO: Collision cases: 8 76 129 162 385 652 800 838 914 952 977 -2024-01-04 15:20:22, INFO: Timeout cases: 5 11 22 35 41 47 51 65 78 82 93 107 110 125 130 133 141 158 171 174 180 181 187 193 205 206 208 209 225 235 239 248 251 254 256 259 261 270 284 296 301 306 319 329 353 359 361 374 377 380 381 386 387 393 394 396 405 407 414 428 429 434 438 439 448 456 480 487 490 496 498 500 502 510 515 517 518 519 533 536 543 546 549 558 576 588 592 595 598 605 613 646 648 651 658 668 670 671 674 677 679 680 683 702 705 709 718 721 723 727 737 742 744 747 755 763 767 778 779 782 796 799 801 802 806 809 822 823 824 831 843 850 856 885 888 889 890 893 897 911 920 936 938 939 941 942 944 961 962 967 985 991 992 -2024-01-04 15:24:02, INFO: Using device: cpu -2024-01-04 15:24:02, INFO: Loaded RL weights with best VAL -2024-01-04 15:24:02, INFO: Similarity_func: concatenation -2024-01-04 15:24:02, INFO: Layerwise_graph: False -2024-01-04 15:24:02, INFO: Skip_connection: True -2024-01-04 15:24:02, INFO: Number of layers: 1 -2024-01-04 15:24:02, INFO: Similarity_func: concatenation -2024-01-04 15:24:02, INFO: Layerwise_graph: False -2024-01-04 15:24:02, INFO: Skip_connection: True -2024-01-04 15:24:02, INFO: Number of layers: 1 -2024-01-04 15:24:02, INFO: Planning depth: 1 -2024-01-04 15:24:02, INFO: Planning width: 10 -2024-01-04 15:24:02, INFO: Sparse search: None -2024-01-04 15:24:05, INFO: human number: 5 -2024-01-04 15:24:05, INFO: Not randomize human's radius and preferred speed -2024-01-04 15:24:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 15:24:05, INFO: Square width: 10, circle width: 4 -2024-01-04 15:24:31, INFO: Using device: cpu -2024-01-04 15:24:31, INFO: Loaded RL weights with best VAL -2024-01-04 15:24:31, INFO: Similarity_func: concatenation -2024-01-04 15:24:31, INFO: Layerwise_graph: False -2024-01-04 15:24:31, INFO: Skip_connection: True -2024-01-04 15:24:31, INFO: Number of layers: 1 -2024-01-04 15:24:31, INFO: Similarity_func: concatenation -2024-01-04 15:24:31, INFO: Layerwise_graph: False -2024-01-04 15:24:31, INFO: Skip_connection: True -2024-01-04 15:24:31, INFO: Number of layers: 1 -2024-01-04 15:24:31, INFO: Planning depth: 1 -2024-01-04 15:24:31, INFO: Planning width: 10 -2024-01-04 15:24:31, INFO: Sparse search: None -2024-01-04 15:24:34, INFO: human number: 5 -2024-01-04 15:24:34, INFO: Not randomize human's radius and preferred speed -2024-01-04 15:24:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 15:24:34, INFO: Square width: 10, circle width: 4 -2024-01-04 15:25:02, INFO: Using device: cpu -2024-01-04 15:25:02, INFO: Loaded RL weights with best VAL -2024-01-04 15:25:02, INFO: Similarity_func: concatenation -2024-01-04 15:25:02, INFO: Layerwise_graph: False -2024-01-04 15:25:02, INFO: Skip_connection: True -2024-01-04 15:25:02, INFO: Number of layers: 1 -2024-01-04 15:25:02, INFO: Similarity_func: concatenation -2024-01-04 15:25:02, INFO: Layerwise_graph: False -2024-01-04 15:25:02, INFO: Skip_connection: True -2024-01-04 15:25:02, INFO: Number of layers: 1 -2024-01-04 15:25:02, INFO: Planning depth: 1 -2024-01-04 15:25:02, INFO: Planning width: 10 -2024-01-04 15:25:02, INFO: Sparse search: None -2024-01-04 15:25:05, INFO: human number: 5 -2024-01-04 15:25:05, INFO: Not randomize human's radius and preferred speed -2024-01-04 15:25:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 15:25:05, INFO: Square width: 10, circle width: 4 -2024-01-04 15:25:15, INFO: Using device: cpu -2024-01-04 15:25:15, INFO: Loaded RL weights with best VAL -2024-01-04 15:25:15, INFO: Similarity_func: concatenation -2024-01-04 15:25:15, INFO: Layerwise_graph: False -2024-01-04 15:25:15, INFO: Skip_connection: True -2024-01-04 15:25:15, INFO: Number of layers: 1 -2024-01-04 15:25:15, INFO: Similarity_func: concatenation -2024-01-04 15:25:15, INFO: Layerwise_graph: False -2024-01-04 15:25:15, INFO: Skip_connection: True -2024-01-04 15:25:15, INFO: Number of layers: 1 -2024-01-04 15:25:15, INFO: Planning depth: 1 -2024-01-04 15:25:15, INFO: Planning width: 10 -2024-01-04 15:25:15, INFO: Sparse search: None -2024-01-04 15:25:18, INFO: human number: 5 -2024-01-04 15:25:18, INFO: Not randomize human's radius and preferred speed -2024-01-04 15:25:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 15:25:18, INFO: Square width: 10, circle width: 4 -2024-01-04 15:25:18, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 15:25:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 15:26:29, INFO: Using device: cpu -2024-01-04 15:26:29, INFO: Loaded RL weights with best VAL -2024-01-04 15:26:29, INFO: Similarity_func: concatenation -2024-01-04 15:26:29, INFO: Layerwise_graph: False -2024-01-04 15:26:29, INFO: Skip_connection: True -2024-01-04 15:26:29, INFO: Number of layers: 1 -2024-01-04 15:26:29, INFO: Similarity_func: concatenation -2024-01-04 15:26:29, INFO: Layerwise_graph: False -2024-01-04 15:26:29, INFO: Skip_connection: True -2024-01-04 15:26:29, INFO: Number of layers: 1 -2024-01-04 15:26:29, INFO: Planning depth: 1 -2024-01-04 15:26:29, INFO: Planning width: 10 -2024-01-04 15:26:29, INFO: Sparse search: None -2024-01-04 15:26:32, INFO: human number: 5 -2024-01-04 15:26:32, INFO: Not randomize human's radius and preferred speed -2024-01-04 15:26:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 15:26:32, INFO: Square width: 10, circle width: 4 -2024-01-04 15:26:32, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 15:26:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 16:03:50, INFO: TEST has success rate: 0.892, collision rate: 0.032, nav time: 12.839, total reward: 1617.2804, average return: 0.5403 -2024-01-04 16:03:50, INFO: Frequency of being in danger: 0.032 and average min separate distance in danger: 0.16 -2024-01-04 16:03:50, INFO: discomfor nums is 1827 and return is 0.4654 and length is 55191 -2024-01-04 16:03:50, INFO: Collision cases: 18 25 95 130 140 170 209 225 234 275 295 310 327 339 399 426 501 505 507 581 614 654 710 711 754 756 818 873 901 943 987 993 -2024-01-04 16:03:50, INFO: Timeout cases: 2 15 37 40 55 74 90 91 109 112 117 138 142 143 152 168 179 187 219 223 240 241 277 283 290 306 312 320 330 337 384 397 417 421 450 462 466 482 490 492 495 516 531 546 561 589 634 639 646 662 665 668 672 676 690 700 706 741 822 827 845 864 871 875 897 900 903 918 936 941 948 959 964 967 975 977 -2024-01-04 16:06:04, INFO: Using device: cpu -2024-01-04 16:06:04, INFO: Loaded RL weights with best VAL -2024-01-04 16:06:04, INFO: Similarity_func: concatenation -2024-01-04 16:06:04, INFO: Layerwise_graph: False -2024-01-04 16:06:04, INFO: Skip_connection: True -2024-01-04 16:06:04, INFO: Number of layers: 1 -2024-01-04 16:06:04, INFO: Similarity_func: concatenation -2024-01-04 16:06:04, INFO: Layerwise_graph: False -2024-01-04 16:06:04, INFO: Skip_connection: True -2024-01-04 16:06:04, INFO: Number of layers: 1 -2024-01-04 16:06:04, INFO: Planning depth: 1 -2024-01-04 16:06:04, INFO: Planning width: 10 -2024-01-04 16:06:04, INFO: Sparse search: None -2024-01-04 16:06:07, INFO: human number: 5 -2024-01-04 16:06:07, INFO: Not randomize human's radius and preferred speed -2024-01-04 16:06:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 16:06:07, INFO: Square width: 10, circle width: 4 -2024-01-04 16:06:07, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 16:06:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 16:52:37, INFO: TEST has success rate: 0.821, collision rate: 0.027, nav time: 14.879, total reward: 1572.7234, average return: 0.4469 -2024-01-04 16:52:37, INFO: Frequency of being in danger: 0.026 and average min separate distance in danger: 0.16 -2024-01-04 16:52:37, INFO: discomfor nums is 1812 and return is 0.3754 and length is 66953 -2024-01-04 16:52:37, INFO: Collision cases: 25 53 68 74 95 97 113 170 275 292 295 310 409 426 502 505 679 693 707 710 754 833 873 878 885 901 943 -2024-01-04 16:52:37, INFO: Timeout cases: 29 35 42 43 45 55 66 85 101 104 118 125 126 127 130 133 145 154 155 156 157 164 175 180 181 191 195 197 215 217 219 229 235 238 245 253 254 279 283 293 307 314 315 317 323 334 337 341 347 357 359 364 366 367 379 382 396 397 403 405 407 430 441 449 451 462 469 471 501 511 512 513 519 520 523 524 535 539 546 548 566 577 585 595 602 605 612 613 616 620 621 636 646 648 651 655 656 662 671 683 689 692 704 714 717 718 732 735 743 759 761 762 763 764 773 774 780 782 787 800 805 814 818 823 845 853 856 858 863 866 872 876 898 904 914 918 921 935 937 938 940 942 956 957 960 965 969 972 974 988 991 994 -2024-01-04 17:01:39, INFO: Using device: cpu -2024-01-04 17:01:39, INFO: Loaded RL weights with best VAL -2024-01-04 17:01:39, INFO: Similarity_func: concatenation -2024-01-04 17:01:39, INFO: Layerwise_graph: False -2024-01-04 17:01:39, INFO: Skip_connection: True -2024-01-04 17:01:39, INFO: Number of layers: 1 -2024-01-04 17:01:39, INFO: Similarity_func: concatenation -2024-01-04 17:01:39, INFO: Layerwise_graph: False -2024-01-04 17:01:39, INFO: Skip_connection: True -2024-01-04 17:01:39, INFO: Number of layers: 1 -2024-01-04 17:01:39, INFO: Planning depth: 1 -2024-01-04 17:01:39, INFO: Planning width: 10 -2024-01-04 17:01:39, INFO: Sparse search: None -2024-01-04 17:01:42, INFO: human number: 5 -2024-01-04 17:01:42, INFO: Not randomize human's radius and preferred speed -2024-01-04 17:01:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 17:01:42, INFO: Square width: 10, circle width: 4 -2024-01-04 17:01:42, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 17:01:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 17:04:50, INFO: Using device: cpu -2024-01-04 17:04:50, INFO: Loaded RL weights with best VAL -2024-01-04 17:04:50, INFO: Similarity_func: concatenation -2024-01-04 17:04:50, INFO: Layerwise_graph: False -2024-01-04 17:04:50, INFO: Skip_connection: True -2024-01-04 17:04:50, INFO: Number of layers: 1 -2024-01-04 17:04:50, INFO: Similarity_func: concatenation -2024-01-04 17:04:50, INFO: Layerwise_graph: False -2024-01-04 17:04:50, INFO: Skip_connection: True -2024-01-04 17:04:50, INFO: Number of layers: 1 -2024-01-04 17:04:50, INFO: Planning depth: 1 -2024-01-04 17:04:50, INFO: Planning width: 10 -2024-01-04 17:04:50, INFO: Sparse search: None -2024-01-04 17:04:53, INFO: human number: 5 -2024-01-04 17:04:53, INFO: Not randomize human's radius and preferred speed -2024-01-04 17:04:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-04 17:04:53, INFO: Square width: 10, circle width: 4 -2024-01-04 17:04:53, INFO: rotation constraint: 0.5235987755982988 -2024-01-04 17:04:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-04 17:29:57, INFO: TEST has success rate: 0.976, collision rate: 0.023, nav time: 9.128, total reward: 1664.0967, average return: 0.7129 -2024-01-04 17:29:57, INFO: Frequency of being in danger: 0.053 and average min separate distance in danger: 0.15 -2024-01-04 17:29:57, INFO: discomfor nums is 1964 and return is 0.7241 and length is 35993 -2024-01-04 17:29:57, INFO: Collision cases: 30 95 156 170 209 275 283 295 357 483 501 505 581 596 621 707 710 754 756 762 901 925 934 -2024-01-04 17:29:57, INFO: Timeout cases: 337 -2024-01-08 13:31:56, INFO: Using device: cpu -2024-01-08 13:31:56, INFO: Loaded RL weights with best VAL -2024-01-08 13:31:56, INFO: Similarity_func: concatenation -2024-01-08 13:31:56, INFO: Layerwise_graph: False -2024-01-08 13:31:56, INFO: Skip_connection: True -2024-01-08 13:31:56, INFO: Number of layers: 1 -2024-01-08 13:31:56, INFO: Similarity_func: concatenation -2024-01-08 13:31:56, INFO: Layerwise_graph: False -2024-01-08 13:31:56, INFO: Skip_connection: True -2024-01-08 13:31:56, INFO: Number of layers: 1 -2024-01-08 13:31:56, INFO: Planning depth: 1 -2024-01-08 13:31:56, INFO: Planning width: 10 -2024-01-08 13:31:56, INFO: Sparse search: None -2024-01-08 13:31:59, INFO: human number: 5 -2024-01-08 13:31:59, INFO: Not randomize human's radius and preferred speed -2024-01-08 13:31:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-08 13:31:59, INFO: Square width: 10, circle width: 4 -2024-01-08 13:31:59, INFO: rotation constraint: 0.5235987755982988 -2024-01-08 13:31:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-08 13:43:50, INFO: Using device: cpu -2024-01-08 13:43:50, INFO: Loaded RL weights with best VAL -2024-01-08 13:43:50, INFO: Similarity_func: concatenation -2024-01-08 13:43:50, INFO: Layerwise_graph: False -2024-01-08 13:43:50, INFO: Skip_connection: True -2024-01-08 13:43:50, INFO: Number of layers: 1 -2024-01-08 13:43:50, INFO: Similarity_func: concatenation -2024-01-08 13:43:50, INFO: Layerwise_graph: False -2024-01-08 13:43:50, INFO: Skip_connection: True -2024-01-08 13:43:50, INFO: Number of layers: 1 -2024-01-08 13:43:50, INFO: Planning depth: 1 -2024-01-08 13:43:50, INFO: Planning width: 10 -2024-01-08 13:43:50, INFO: Sparse search: None -2024-01-08 13:43:54, INFO: human number: 5 -2024-01-08 13:43:54, INFO: Not randomize human's radius and preferred speed -2024-01-08 13:43:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-08 13:43:54, INFO: Square width: 10, circle width: 4 -2024-01-08 13:43:54, INFO: rotation constraint: 0.5235987755982988 -2024-01-08 13:43:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-08 14:59:26, INFO: Animation.save using -2024-01-08 14:59:26, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/HyperVnet_ICM/video_model_1_test_10.mp4 -2024-01-08 15:01:36, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.576166 -2024-01-09 11:42:52, INFO: Using device: cpu -2024-01-09 11:42:52, INFO: Loaded RL weights with best VAL -2024-01-09 11:42:52, INFO: Similarity_func: concatenation -2024-01-09 11:42:52, INFO: Layerwise_graph: False -2024-01-09 11:42:52, INFO: Skip_connection: True -2024-01-09 11:42:52, INFO: Number of layers: 1 -2024-01-09 11:42:52, INFO: Similarity_func: concatenation -2024-01-09 11:42:52, INFO: Layerwise_graph: False -2024-01-09 11:42:52, INFO: Skip_connection: True -2024-01-09 11:42:52, INFO: Number of layers: 1 -2024-01-09 11:42:52, INFO: Planning depth: 1 -2024-01-09 11:42:52, INFO: Planning width: 10 -2024-01-09 11:42:52, INFO: Sparse search: None -2024-01-09 11:42:55, INFO: human number: 5 -2024-01-09 11:42:55, INFO: Not randomize human's radius and preferred speed -2024-01-09 11:42:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 11:42:55, INFO: Square width: 10, circle width: 4 -2024-01-09 11:42:55, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 11:42:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 11:50:57, INFO: Using device: cpu -2024-01-09 11:50:57, INFO: Loaded RL weights with best VAL -2024-01-09 11:50:57, INFO: Similarity_func: concatenation -2024-01-09 11:50:57, INFO: Layerwise_graph: False -2024-01-09 11:50:57, INFO: Skip_connection: True -2024-01-09 11:50:57, INFO: Number of layers: 1 -2024-01-09 11:50:57, INFO: Similarity_func: concatenation -2024-01-09 11:50:57, INFO: Layerwise_graph: False -2024-01-09 11:50:57, INFO: Skip_connection: True -2024-01-09 11:50:57, INFO: Number of layers: 1 -2024-01-09 11:50:57, INFO: Planning depth: 1 -2024-01-09 11:50:57, INFO: Planning width: 10 -2024-01-09 11:50:57, INFO: Sparse search: None -2024-01-09 11:51:00, INFO: human number: 5 -2024-01-09 11:51:00, INFO: Not randomize human's radius and preferred speed -2024-01-09 11:51:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 11:51:00, INFO: Square width: 10, circle width: 4 -2024-01-09 11:51:00, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 11:51:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 11:52:23, INFO: Using device: cpu -2024-01-09 11:52:23, INFO: Loaded RL weights with best VAL -2024-01-09 11:52:23, INFO: Similarity_func: concatenation -2024-01-09 11:52:23, INFO: Layerwise_graph: False -2024-01-09 11:52:23, INFO: Skip_connection: True -2024-01-09 11:52:23, INFO: Number of layers: 1 -2024-01-09 11:52:23, INFO: Similarity_func: concatenation -2024-01-09 11:52:23, INFO: Layerwise_graph: False -2024-01-09 11:52:23, INFO: Skip_connection: True -2024-01-09 11:52:23, INFO: Number of layers: 1 -2024-01-09 11:52:23, INFO: Planning depth: 1 -2024-01-09 11:52:23, INFO: Planning width: 10 -2024-01-09 11:52:23, INFO: Sparse search: None -2024-01-09 11:52:26, INFO: human number: 5 -2024-01-09 11:52:26, INFO: Not randomize human's radius and preferred speed -2024-01-09 11:52:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 11:52:26, INFO: Square width: 10, circle width: 4 -2024-01-09 11:52:26, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 11:52:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 11:57:19, INFO: Using device: cpu -2024-01-09 11:57:19, INFO: Loaded RL weights with best VAL -2024-01-09 11:57:19, INFO: Similarity_func: concatenation -2024-01-09 11:57:19, INFO: Layerwise_graph: False -2024-01-09 11:57:19, INFO: Skip_connection: True -2024-01-09 11:57:19, INFO: Number of layers: 1 -2024-01-09 11:57:19, INFO: Similarity_func: concatenation -2024-01-09 11:57:19, INFO: Layerwise_graph: False -2024-01-09 11:57:19, INFO: Skip_connection: True -2024-01-09 11:57:19, INFO: Number of layers: 1 -2024-01-09 11:57:19, INFO: Planning depth: 1 -2024-01-09 11:57:19, INFO: Planning width: 10 -2024-01-09 11:57:19, INFO: Sparse search: None -2024-01-09 11:57:22, INFO: human number: 5 -2024-01-09 11:57:22, INFO: Not randomize human's radius and preferred speed -2024-01-09 11:57:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 11:57:22, INFO: Square width: 10, circle width: 4 -2024-01-09 11:57:22, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 11:57:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 12:00:13, INFO: Using device: cpu -2024-01-09 12:00:13, INFO: Loaded RL weights with best VAL -2024-01-09 12:00:13, INFO: Similarity_func: concatenation -2024-01-09 12:00:13, INFO: Layerwise_graph: False -2024-01-09 12:00:13, INFO: Skip_connection: True -2024-01-09 12:00:13, INFO: Number of layers: 1 -2024-01-09 12:00:13, INFO: Similarity_func: concatenation -2024-01-09 12:00:13, INFO: Layerwise_graph: False -2024-01-09 12:00:13, INFO: Skip_connection: True -2024-01-09 12:00:13, INFO: Number of layers: 1 -2024-01-09 12:00:13, INFO: Planning depth: 1 -2024-01-09 12:00:13, INFO: Planning width: 10 -2024-01-09 12:00:13, INFO: Sparse search: None -2024-01-09 12:00:16, INFO: human number: 5 -2024-01-09 12:00:16, INFO: Not randomize human's radius and preferred speed -2024-01-09 12:00:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 12:00:16, INFO: Square width: 10, circle width: 4 -2024-01-09 12:00:16, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 12:00:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 12:04:04, INFO: Using device: cpu -2024-01-09 12:04:04, INFO: Loaded RL weights with best VAL -2024-01-09 12:04:04, INFO: Similarity_func: concatenation -2024-01-09 12:04:04, INFO: Layerwise_graph: False -2024-01-09 12:04:04, INFO: Skip_connection: True -2024-01-09 12:04:04, INFO: Number of layers: 1 -2024-01-09 12:04:04, INFO: Similarity_func: concatenation -2024-01-09 12:04:04, INFO: Layerwise_graph: False -2024-01-09 12:04:04, INFO: Skip_connection: True -2024-01-09 12:04:04, INFO: Number of layers: 1 -2024-01-09 12:04:04, INFO: Planning depth: 1 -2024-01-09 12:04:04, INFO: Planning width: 10 -2024-01-09 12:04:04, INFO: Sparse search: None -2024-01-09 12:04:07, INFO: human number: 5 -2024-01-09 12:04:07, INFO: Not randomize human's radius and preferred speed -2024-01-09 12:04:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 12:04:07, INFO: Square width: 10, circle width: 4 -2024-01-09 12:04:07, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 12:04:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:02:02, INFO: Using device: cpu -2024-01-09 13:02:02, INFO: Loaded RL weights with best VAL -2024-01-09 13:02:02, INFO: Similarity_func: concatenation -2024-01-09 13:02:02, INFO: Layerwise_graph: False -2024-01-09 13:02:02, INFO: Skip_connection: True -2024-01-09 13:02:02, INFO: Number of layers: 1 -2024-01-09 13:02:02, INFO: Similarity_func: concatenation -2024-01-09 13:02:02, INFO: Layerwise_graph: False -2024-01-09 13:02:02, INFO: Skip_connection: True -2024-01-09 13:02:02, INFO: Number of layers: 1 -2024-01-09 13:02:02, INFO: Planning depth: 1 -2024-01-09 13:02:02, INFO: Planning width: 10 -2024-01-09 13:02:02, INFO: Sparse search: None -2024-01-09 13:03:05, INFO: Using device: cpu -2024-01-09 13:03:05, INFO: Loaded RL weights with best VAL -2024-01-09 13:03:05, INFO: Similarity_func: concatenation -2024-01-09 13:03:05, INFO: Layerwise_graph: False -2024-01-09 13:03:05, INFO: Skip_connection: True -2024-01-09 13:03:05, INFO: Number of layers: 1 -2024-01-09 13:03:05, INFO: Similarity_func: concatenation -2024-01-09 13:03:05, INFO: Layerwise_graph: False -2024-01-09 13:03:05, INFO: Skip_connection: True -2024-01-09 13:03:05, INFO: Number of layers: 1 -2024-01-09 13:03:05, INFO: Planning depth: 1 -2024-01-09 13:03:05, INFO: Planning width: 10 -2024-01-09 13:03:05, INFO: Sparse search: None -2024-01-09 13:03:08, INFO: human number: 5 -2024-01-09 13:03:08, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:03:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:03:09, INFO: Square width: 10, circle width: 4 -2024-01-09 13:03:09, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:03:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:04:39, INFO: Using device: cpu -2024-01-09 13:04:39, INFO: Loaded RL weights with best VAL -2024-01-09 13:04:39, INFO: Similarity_func: concatenation -2024-01-09 13:04:39, INFO: Layerwise_graph: False -2024-01-09 13:04:39, INFO: Skip_connection: True -2024-01-09 13:04:39, INFO: Number of layers: 1 -2024-01-09 13:04:39, INFO: Similarity_func: concatenation -2024-01-09 13:04:39, INFO: Layerwise_graph: False -2024-01-09 13:04:39, INFO: Skip_connection: True -2024-01-09 13:04:39, INFO: Number of layers: 1 -2024-01-09 13:04:39, INFO: Planning depth: 1 -2024-01-09 13:04:39, INFO: Planning width: 10 -2024-01-09 13:04:39, INFO: Sparse search: None -2024-01-09 13:04:42, INFO: human number: 5 -2024-01-09 13:04:42, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:04:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:04:42, INFO: Square width: 10, circle width: 4 -2024-01-09 13:04:42, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:04:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:07:23, INFO: Using device: cpu -2024-01-09 13:07:23, INFO: Loaded RL weights with best VAL -2024-01-09 13:07:23, INFO: Similarity_func: concatenation -2024-01-09 13:07:23, INFO: Layerwise_graph: False -2024-01-09 13:07:23, INFO: Skip_connection: True -2024-01-09 13:07:23, INFO: Number of layers: 1 -2024-01-09 13:07:23, INFO: Similarity_func: concatenation -2024-01-09 13:07:23, INFO: Layerwise_graph: False -2024-01-09 13:07:23, INFO: Skip_connection: True -2024-01-09 13:07:23, INFO: Number of layers: 1 -2024-01-09 13:07:23, INFO: Planning depth: 1 -2024-01-09 13:07:23, INFO: Planning width: 10 -2024-01-09 13:07:23, INFO: Sparse search: None -2024-01-09 13:07:26, INFO: human number: 5 -2024-01-09 13:07:26, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:07:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:07:26, INFO: Square width: 10, circle width: 4 -2024-01-09 13:07:26, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:07:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:10:51, INFO: Using device: cpu -2024-01-09 13:10:51, INFO: Loaded RL weights with best VAL -2024-01-09 13:10:51, INFO: Similarity_func: concatenation -2024-01-09 13:10:51, INFO: Layerwise_graph: False -2024-01-09 13:10:51, INFO: Skip_connection: True -2024-01-09 13:10:51, INFO: Number of layers: 1 -2024-01-09 13:10:51, INFO: Similarity_func: concatenation -2024-01-09 13:10:51, INFO: Layerwise_graph: False -2024-01-09 13:10:51, INFO: Skip_connection: True -2024-01-09 13:10:51, INFO: Number of layers: 1 -2024-01-09 13:10:51, INFO: Planning depth: 1 -2024-01-09 13:10:51, INFO: Planning width: 10 -2024-01-09 13:10:51, INFO: Sparse search: None -2024-01-09 13:10:54, INFO: human number: 5 -2024-01-09 13:10:54, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:10:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:10:54, INFO: Square width: 10, circle width: 4 -2024-01-09 13:10:54, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:10:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:22:36, INFO: Using device: cpu -2024-01-09 13:22:36, INFO: Loaded RL weights with best VAL -2024-01-09 13:22:36, INFO: Similarity_func: concatenation -2024-01-09 13:22:36, INFO: Layerwise_graph: False -2024-01-09 13:22:36, INFO: Skip_connection: True -2024-01-09 13:22:36, INFO: Number of layers: 1 -2024-01-09 13:22:36, INFO: Similarity_func: concatenation -2024-01-09 13:22:36, INFO: Layerwise_graph: False -2024-01-09 13:22:36, INFO: Skip_connection: True -2024-01-09 13:22:36, INFO: Number of layers: 1 -2024-01-09 13:22:36, INFO: Planning depth: 1 -2024-01-09 13:22:36, INFO: Planning width: 10 -2024-01-09 13:22:36, INFO: Sparse search: None -2024-01-09 13:22:39, INFO: human number: 5 -2024-01-09 13:22:39, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:22:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:22:39, INFO: Square width: 10, circle width: 4 -2024-01-09 13:22:39, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:22:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:26:16, INFO: Using device: cpu -2024-01-09 13:26:16, INFO: Loaded RL weights with best VAL -2024-01-09 13:26:16, INFO: Similarity_func: concatenation -2024-01-09 13:26:16, INFO: Layerwise_graph: False -2024-01-09 13:26:16, INFO: Skip_connection: True -2024-01-09 13:26:16, INFO: Number of layers: 1 -2024-01-09 13:26:16, INFO: Similarity_func: concatenation -2024-01-09 13:26:16, INFO: Layerwise_graph: False -2024-01-09 13:26:16, INFO: Skip_connection: True -2024-01-09 13:26:16, INFO: Number of layers: 1 -2024-01-09 13:26:16, INFO: Planning depth: 1 -2024-01-09 13:26:16, INFO: Planning width: 10 -2024-01-09 13:26:16, INFO: Sparse search: None -2024-01-09 13:26:19, INFO: human number: 5 -2024-01-09 13:26:19, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:26:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:26:19, INFO: Square width: 10, circle width: 4 -2024-01-09 13:26:19, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:26:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:26:49, INFO: Using device: cpu -2024-01-09 13:26:49, INFO: Loaded RL weights with best VAL -2024-01-09 13:26:49, INFO: Similarity_func: concatenation -2024-01-09 13:26:49, INFO: Layerwise_graph: False -2024-01-09 13:26:49, INFO: Skip_connection: True -2024-01-09 13:26:49, INFO: Number of layers: 1 -2024-01-09 13:26:49, INFO: Similarity_func: concatenation -2024-01-09 13:26:49, INFO: Layerwise_graph: False -2024-01-09 13:26:49, INFO: Skip_connection: True -2024-01-09 13:26:49, INFO: Number of layers: 1 -2024-01-09 13:26:49, INFO: Planning depth: 1 -2024-01-09 13:26:49, INFO: Planning width: 10 -2024-01-09 13:26:49, INFO: Sparse search: None -2024-01-09 13:26:52, INFO: human number: 5 -2024-01-09 13:26:52, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:26:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:26:52, INFO: Square width: 10, circle width: 4 -2024-01-09 13:26:52, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:26:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:33:41, INFO: Using device: cpu -2024-01-09 13:33:41, INFO: Loaded RL weights with best VAL -2024-01-09 13:33:41, INFO: Similarity_func: concatenation -2024-01-09 13:33:41, INFO: Layerwise_graph: False -2024-01-09 13:33:41, INFO: Skip_connection: True -2024-01-09 13:33:41, INFO: Number of layers: 1 -2024-01-09 13:33:41, INFO: Similarity_func: concatenation -2024-01-09 13:33:41, INFO: Layerwise_graph: False -2024-01-09 13:33:41, INFO: Skip_connection: True -2024-01-09 13:33:41, INFO: Number of layers: 1 -2024-01-09 13:33:41, INFO: Planning depth: 1 -2024-01-09 13:33:41, INFO: Planning width: 10 -2024-01-09 13:33:41, INFO: Sparse search: None -2024-01-09 13:33:44, INFO: human number: 5 -2024-01-09 13:33:44, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:33:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:33:44, INFO: Square width: 10, circle width: 4 -2024-01-09 13:33:44, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:33:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 13:35:27, INFO: Using device: cpu -2024-01-09 13:35:27, INFO: Loaded RL weights with best VAL -2024-01-09 13:35:27, INFO: Similarity_func: concatenation -2024-01-09 13:35:27, INFO: Layerwise_graph: False -2024-01-09 13:35:27, INFO: Skip_connection: True -2024-01-09 13:35:27, INFO: Number of layers: 1 -2024-01-09 13:35:27, INFO: Similarity_func: concatenation -2024-01-09 13:35:27, INFO: Layerwise_graph: False -2024-01-09 13:35:27, INFO: Skip_connection: True -2024-01-09 13:35:27, INFO: Number of layers: 1 -2024-01-09 13:35:27, INFO: Planning depth: 1 -2024-01-09 13:35:27, INFO: Planning width: 10 -2024-01-09 13:35:27, INFO: Sparse search: None -2024-01-09 13:35:30, INFO: human number: 5 -2024-01-09 13:35:30, INFO: Not randomize human's radius and preferred speed -2024-01-09 13:35:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 13:35:30, INFO: Square width: 10, circle width: 4 -2024-01-09 13:35:30, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 13:35:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 14:39:56, INFO: Animation.save using -2024-01-09 14:39:56, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/HyperVnet_ICM/video_model_1_test_viz_10.mp4 -2024-01-09 14:42:12, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.576166 -2024-01-09 14:49:21, INFO: Using device: cpu -2024-01-09 14:49:21, INFO: Loaded RL weights with best VAL -2024-01-09 14:49:21, INFO: Similarity_func: concatenation -2024-01-09 14:49:21, INFO: Layerwise_graph: False -2024-01-09 14:49:21, INFO: Skip_connection: True -2024-01-09 14:49:21, INFO: Number of layers: 1 -2024-01-09 14:49:21, INFO: Similarity_func: concatenation -2024-01-09 14:49:21, INFO: Layerwise_graph: False -2024-01-09 14:49:21, INFO: Skip_connection: True -2024-01-09 14:49:21, INFO: Number of layers: 1 -2024-01-09 14:49:21, INFO: Planning depth: 1 -2024-01-09 14:49:21, INFO: Planning width: 10 -2024-01-09 14:49:21, INFO: Sparse search: None -2024-01-09 14:49:24, INFO: human number: 5 -2024-01-09 14:49:24, INFO: Not randomize human's radius and preferred speed -2024-01-09 14:49:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 14:49:24, INFO: Square width: 10, circle width: 4 -2024-01-09 14:49:24, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 14:49:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 14:53:42, INFO: Using device: cpu -2024-01-09 14:53:42, INFO: Loaded RL weights with best VAL -2024-01-09 14:53:42, INFO: Similarity_func: concatenation -2024-01-09 14:53:42, INFO: Layerwise_graph: False -2024-01-09 14:53:42, INFO: Skip_connection: True -2024-01-09 14:53:42, INFO: Number of layers: 1 -2024-01-09 14:53:42, INFO: Similarity_func: concatenation -2024-01-09 14:53:42, INFO: Layerwise_graph: False -2024-01-09 14:53:42, INFO: Skip_connection: True -2024-01-09 14:53:42, INFO: Number of layers: 1 -2024-01-09 14:53:42, INFO: Planning depth: 1 -2024-01-09 14:53:42, INFO: Planning width: 10 -2024-01-09 14:53:42, INFO: Sparse search: None -2024-01-09 14:53:45, INFO: human number: 5 -2024-01-09 14:53:45, INFO: Not randomize human's radius and preferred speed -2024-01-09 14:53:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 14:53:45, INFO: Square width: 10, circle width: 4 -2024-01-09 14:53:45, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 14:53:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 14:57:01, INFO: Using device: cpu -2024-01-09 14:57:01, INFO: Loaded RL weights with best VAL -2024-01-09 14:57:01, INFO: Similarity_func: concatenation -2024-01-09 14:57:01, INFO: Layerwise_graph: False -2024-01-09 14:57:01, INFO: Skip_connection: True -2024-01-09 14:57:01, INFO: Number of layers: 1 -2024-01-09 14:57:01, INFO: Similarity_func: concatenation -2024-01-09 14:57:01, INFO: Layerwise_graph: False -2024-01-09 14:57:01, INFO: Skip_connection: True -2024-01-09 14:57:01, INFO: Number of layers: 1 -2024-01-09 14:57:01, INFO: Planning depth: 1 -2024-01-09 14:57:01, INFO: Planning width: 10 -2024-01-09 14:57:01, INFO: Sparse search: None -2024-01-09 14:57:04, INFO: human number: 5 -2024-01-09 14:57:04, INFO: Not randomize human's radius and preferred speed -2024-01-09 14:57:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 14:57:04, INFO: Square width: 10, circle width: 4 -2024-01-09 14:57:04, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 14:57:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 14:58:21, INFO: Using device: cpu -2024-01-09 14:58:21, INFO: Loaded RL weights with best VAL -2024-01-09 14:58:21, INFO: Similarity_func: concatenation -2024-01-09 14:58:21, INFO: Layerwise_graph: False -2024-01-09 14:58:21, INFO: Skip_connection: True -2024-01-09 14:58:21, INFO: Number of layers: 1 -2024-01-09 14:58:21, INFO: Similarity_func: concatenation -2024-01-09 14:58:21, INFO: Layerwise_graph: False -2024-01-09 14:58:21, INFO: Skip_connection: True -2024-01-09 14:58:21, INFO: Number of layers: 1 -2024-01-09 14:58:21, INFO: Planning depth: 1 -2024-01-09 14:58:21, INFO: Planning width: 10 -2024-01-09 14:58:21, INFO: Sparse search: None -2024-01-09 14:58:24, INFO: human number: 5 -2024-01-09 14:58:24, INFO: Not randomize human's radius and preferred speed -2024-01-09 14:58:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 14:58:24, INFO: Square width: 10, circle width: 4 -2024-01-09 14:58:24, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 14:58:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 14:59:09, INFO: Using device: cpu -2024-01-09 14:59:09, INFO: Loaded RL weights with best VAL -2024-01-09 14:59:09, INFO: Similarity_func: concatenation -2024-01-09 14:59:09, INFO: Layerwise_graph: False -2024-01-09 14:59:09, INFO: Skip_connection: True -2024-01-09 14:59:09, INFO: Number of layers: 1 -2024-01-09 14:59:09, INFO: Similarity_func: concatenation -2024-01-09 14:59:09, INFO: Layerwise_graph: False -2024-01-09 14:59:09, INFO: Skip_connection: True -2024-01-09 14:59:09, INFO: Number of layers: 1 -2024-01-09 14:59:09, INFO: Planning depth: 1 -2024-01-09 14:59:09, INFO: Planning width: 10 -2024-01-09 14:59:09, INFO: Sparse search: None -2024-01-09 14:59:12, INFO: human number: 5 -2024-01-09 14:59:12, INFO: Not randomize human's radius and preferred speed -2024-01-09 14:59:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 14:59:12, INFO: Square width: 10, circle width: 4 -2024-01-09 14:59:12, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 14:59:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:00:00, INFO: Using device: cpu -2024-01-09 15:00:00, INFO: Loaded RL weights with best VAL -2024-01-09 15:00:00, INFO: Similarity_func: concatenation -2024-01-09 15:00:00, INFO: Layerwise_graph: False -2024-01-09 15:00:00, INFO: Skip_connection: True -2024-01-09 15:00:00, INFO: Number of layers: 1 -2024-01-09 15:00:00, INFO: Similarity_func: concatenation -2024-01-09 15:00:00, INFO: Layerwise_graph: False -2024-01-09 15:00:00, INFO: Skip_connection: True -2024-01-09 15:00:00, INFO: Number of layers: 1 -2024-01-09 15:00:00, INFO: Planning depth: 1 -2024-01-09 15:00:00, INFO: Planning width: 10 -2024-01-09 15:00:00, INFO: Sparse search: None -2024-01-09 15:00:04, INFO: human number: 5 -2024-01-09 15:00:04, INFO: Not randomize human's radius and preferred speed -2024-01-09 15:00:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 15:00:04, INFO: Square width: 10, circle width: 4 -2024-01-09 15:00:04, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 15:00:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:00:43, INFO: Using device: cpu -2024-01-09 15:00:43, INFO: Loaded RL weights with best VAL -2024-01-09 15:00:43, INFO: Similarity_func: concatenation -2024-01-09 15:00:43, INFO: Layerwise_graph: False -2024-01-09 15:00:43, INFO: Skip_connection: True -2024-01-09 15:00:43, INFO: Number of layers: 1 -2024-01-09 15:00:43, INFO: Similarity_func: concatenation -2024-01-09 15:00:43, INFO: Layerwise_graph: False -2024-01-09 15:00:43, INFO: Skip_connection: True -2024-01-09 15:00:43, INFO: Number of layers: 1 -2024-01-09 15:00:43, INFO: Planning depth: 1 -2024-01-09 15:00:43, INFO: Planning width: 10 -2024-01-09 15:00:43, INFO: Sparse search: None -2024-01-09 15:00:46, INFO: human number: 5 -2024-01-09 15:00:46, INFO: Not randomize human's radius and preferred speed -2024-01-09 15:00:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 15:00:46, INFO: Square width: 10, circle width: 4 -2024-01-09 15:00:46, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 15:00:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:05:24, INFO: Using device: cpu -2024-01-09 15:05:24, INFO: Loaded RL weights with best VAL -2024-01-09 15:05:24, INFO: Similarity_func: concatenation -2024-01-09 15:05:24, INFO: Layerwise_graph: False -2024-01-09 15:05:24, INFO: Skip_connection: True -2024-01-09 15:05:24, INFO: Number of layers: 1 -2024-01-09 15:05:24, INFO: Similarity_func: concatenation -2024-01-09 15:05:24, INFO: Layerwise_graph: False -2024-01-09 15:05:24, INFO: Skip_connection: True -2024-01-09 15:05:24, INFO: Number of layers: 1 -2024-01-09 15:05:24, INFO: Planning depth: 1 -2024-01-09 15:05:24, INFO: Planning width: 10 -2024-01-09 15:05:24, INFO: Sparse search: None -2024-01-09 15:05:28, INFO: human number: 5 -2024-01-09 15:05:28, INFO: Not randomize human's radius and preferred speed -2024-01-09 15:05:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 15:05:28, INFO: Square width: 10, circle width: 4 -2024-01-09 15:05:28, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 15:05:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:06:55, INFO: Using device: cpu -2024-01-09 15:06:55, INFO: Loaded RL weights with best VAL -2024-01-09 15:06:55, INFO: Similarity_func: concatenation -2024-01-09 15:06:55, INFO: Layerwise_graph: False -2024-01-09 15:06:55, INFO: Skip_connection: True -2024-01-09 15:06:55, INFO: Number of layers: 1 -2024-01-09 15:06:55, INFO: Similarity_func: concatenation -2024-01-09 15:06:55, INFO: Layerwise_graph: False -2024-01-09 15:06:55, INFO: Skip_connection: True -2024-01-09 15:06:55, INFO: Number of layers: 1 -2024-01-09 15:06:55, INFO: Planning depth: 1 -2024-01-09 15:06:55, INFO: Planning width: 10 -2024-01-09 15:06:55, INFO: Sparse search: None -2024-01-09 15:06:58, INFO: human number: 5 -2024-01-09 15:06:58, INFO: Not randomize human's radius and preferred speed -2024-01-09 15:06:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 15:06:58, INFO: Square width: 10, circle width: 4 -2024-01-09 15:06:58, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 15:06:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:08:16, INFO: Animation.save using -2024-01-09 15:08:16, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/HyperVnet_ICM/video_model_1_test_viz_10.mp4 -2024-01-09 15:09:19, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.060728 -2024-01-09 15:12:01, INFO: Using device: cpu -2024-01-09 15:12:01, INFO: Loaded RL weights with best VAL -2024-01-09 15:12:01, INFO: Similarity_func: concatenation -2024-01-09 15:12:01, INFO: Layerwise_graph: False -2024-01-09 15:12:01, INFO: Skip_connection: True -2024-01-09 15:12:01, INFO: Number of layers: 1 -2024-01-09 15:12:01, INFO: Similarity_func: concatenation -2024-01-09 15:12:01, INFO: Layerwise_graph: False -2024-01-09 15:12:01, INFO: Skip_connection: True -2024-01-09 15:12:01, INFO: Number of layers: 1 -2024-01-09 15:12:01, INFO: Planning depth: 1 -2024-01-09 15:12:01, INFO: Planning width: 10 -2024-01-09 15:12:01, INFO: Sparse search: None -2024-01-09 15:12:05, INFO: human number: 5 -2024-01-09 15:12:05, INFO: Not randomize human's radius and preferred speed -2024-01-09 15:12:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-09 15:12:05, INFO: Square width: 10, circle width: 4 -2024-01-09 15:12:05, INFO: rotation constraint: 0.5235987755982988 -2024-01-09 15:12:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-09 15:12:07, INFO: Animation.save using -2024-01-09 15:12:07, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 700x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y data/HyperVnet_HHICM/video_model_1_test_viz_10.mp4 -2024-01-09 15:13:10, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.060728 -2024-01-15 13:04:19, INFO: Using device: cpu -2024-01-15 13:04:19, INFO: Loaded RL weights with best VAL -2024-01-15 13:04:19, INFO: Similarity_func: concatenation -2024-01-15 13:04:19, INFO: Layerwise_graph: False -2024-01-15 13:04:19, INFO: Skip_connection: True -2024-01-15 13:04:19, INFO: Number of layers: 1 -2024-01-15 13:04:51, INFO: Using device: cpu -2024-01-15 13:04:51, INFO: Loaded RL weights with best VAL -2024-01-15 13:04:51, INFO: Similarity_func: concatenation -2024-01-15 13:04:51, INFO: Layerwise_graph: False -2024-01-15 13:04:51, INFO: Skip_connection: True -2024-01-15 13:04:51, INFO: Number of layers: 1 -2024-01-15 13:04:51, INFO: Similarity_func: concatenation -2024-01-15 13:04:51, INFO: Layerwise_graph: False -2024-01-15 13:04:51, INFO: Skip_connection: True -2024-01-15 13:04:51, INFO: Number of layers: 1 -2024-01-15 13:04:51, INFO: Planning depth: 1 -2024-01-15 13:04:51, INFO: Planning width: 10 -2024-01-15 13:04:51, INFO: Sparse search: None -2024-01-15 13:04:54, INFO: human number: 5 -2024-01-15 13:04:54, INFO: Not randomize human's radius and preferred speed -2024-01-15 13:04:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-15 13:04:54, INFO: Square width: 10, circle width: 4 -2024-01-15 13:04:54, INFO: rotation constraint: 0.5235987755982988 -2024-01-15 13:04:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-15 13:06:08, INFO: Using device: cpu -2024-01-15 13:06:08, INFO: Loaded RL weights with best VAL -2024-01-15 13:06:08, INFO: Similarity_func: concatenation -2024-01-15 13:06:08, INFO: Layerwise_graph: False -2024-01-15 13:06:08, INFO: Skip_connection: True -2024-01-15 13:06:08, INFO: Number of layers: 1 -2024-01-15 13:06:08, INFO: Similarity_func: concatenation -2024-01-15 13:06:08, INFO: Layerwise_graph: False -2024-01-15 13:06:08, INFO: Skip_connection: True -2024-01-15 13:06:08, INFO: Number of layers: 1 -2024-01-15 13:06:08, INFO: Planning depth: 1 -2024-01-15 13:06:08, INFO: Planning width: 10 -2024-01-15 13:06:08, INFO: Sparse search: None -2024-01-15 13:06:12, INFO: human number: 5 -2024-01-15 13:06:12, INFO: Not randomize human's radius and preferred speed -2024-01-15 13:06:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-01-15 13:06:12, INFO: Square width: 10, circle width: 4 -2024-01-15 13:06:12, INFO: rotation constraint: 0.5235987755982988 -2024-01-15 13:06:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-01-15 13:20:27, INFO: TEST has success rate: 0.980, collision rate: 0.020, nav time: 10.505, total reward: 1705.4363, average return: 0.6718 -2024-01-15 13:20:27, INFO: Frequency of being in danger: 0.040 and average min separate distance in danger: 0.17 -2024-01-15 13:20:27, INFO: discomfor nums is 1752 and return is 0.6732 and length is 41651 -2024-01-15 13:20:27, INFO: Collision cases: 21 87 161 322 344 367 411 470 500 546 548 645 665 764 791 819 854 887 967 991 -2024-01-15 13:20:27, INFO: Timeout cases: -2024-02-01 11:27:02, INFO: Using device: cpu -2024-02-01 11:27:02, INFO: Loaded RL weights with best VAL -2024-02-01 11:27:02, INFO: Similarity_func: concatenation -2024-02-01 11:27:02, INFO: Layerwise_graph: False -2024-02-01 11:27:02, INFO: Skip_connection: True -2024-02-01 11:27:02, INFO: Number of layers: 1 -2024-02-01 11:27:02, INFO: Similarity_func: concatenation -2024-02-01 11:27:02, INFO: Layerwise_graph: False -2024-02-01 11:27:02, INFO: Skip_connection: True -2024-02-01 11:27:02, INFO: Number of layers: 1 -2024-02-01 11:27:02, INFO: Planning depth: 1 -2024-02-01 11:27:02, INFO: Planning width: 10 -2024-02-01 11:27:02, INFO: Sparse search: None -2024-02-01 11:28:10, INFO: Using device: cpu -2024-02-01 11:28:22, INFO: Using device: cpu -2024-02-01 11:28:22, INFO: Loaded RL weights with best VAL -2024-02-01 11:28:22, INFO: Similarity_func: concatenation -2024-02-01 11:28:22, INFO: Layerwise_graph: False -2024-02-01 11:28:22, INFO: Skip_connection: True -2024-02-01 11:28:22, INFO: Number of layers: 1 -2024-02-01 11:28:22, INFO: Similarity_func: concatenation -2024-02-01 11:28:22, INFO: Layerwise_graph: False -2024-02-01 11:28:22, INFO: Skip_connection: True -2024-02-01 11:28:22, INFO: Number of layers: 1 -2024-02-01 11:28:22, INFO: Planning depth: 1 -2024-02-01 11:28:22, INFO: Planning width: 10 -2024-02-01 11:28:22, INFO: Sparse search: None -2024-02-01 11:28:47, INFO: Using device: cpu -2024-02-01 11:28:47, INFO: Loaded RL weights with best VAL -2024-02-01 11:28:47, INFO: Similarity_func: concatenation -2024-02-01 11:28:47, INFO: Layerwise_graph: False -2024-02-01 11:28:47, INFO: Skip_connection: True -2024-02-01 11:28:47, INFO: Number of layers: 1 -2024-02-01 11:28:47, INFO: Similarity_func: concatenation -2024-02-01 11:28:47, INFO: Layerwise_graph: False -2024-02-01 11:28:47, INFO: Skip_connection: True -2024-02-01 11:28:47, INFO: Number of layers: 1 -2024-02-01 11:28:47, INFO: Planning depth: 1 -2024-02-01 11:28:47, INFO: Planning width: 10 -2024-02-01 11:28:47, INFO: Sparse search: None -2024-02-01 11:29:51, INFO: Using device: cpu -2024-02-01 11:29:51, INFO: Loaded RL weights with best VAL -2024-02-01 11:29:51, INFO: Similarity_func: concatenation -2024-02-01 11:29:51, INFO: Layerwise_graph: False -2024-02-01 11:29:51, INFO: Skip_connection: True -2024-02-01 11:29:51, INFO: Number of layers: 1 -2024-02-01 11:29:51, INFO: Similarity_func: concatenation -2024-02-01 11:29:51, INFO: Layerwise_graph: False -2024-02-01 11:29:51, INFO: Skip_connection: True -2024-02-01 11:29:51, INFO: Number of layers: 1 -2024-02-01 11:29:51, INFO: Planning depth: 1 -2024-02-01 11:29:51, INFO: Planning width: 10 -2024-02-01 11:29:51, INFO: Sparse search: None -2024-02-01 11:33:09, INFO: Using device: cpu -2024-02-01 11:33:09, INFO: Loaded RL weights with best VAL -2024-02-01 11:33:09, INFO: Similarity_func: concatenation -2024-02-01 11:33:09, INFO: Layerwise_graph: False -2024-02-01 11:33:09, INFO: Skip_connection: True -2024-02-01 11:33:09, INFO: Number of layers: 1 -2024-02-01 11:33:09, INFO: Similarity_func: concatenation -2024-02-01 11:33:09, INFO: Layerwise_graph: False -2024-02-01 11:33:09, INFO: Skip_connection: True -2024-02-01 11:33:09, INFO: Number of layers: 1 -2024-02-01 11:33:09, INFO: Planning depth: 1 -2024-02-01 11:33:09, INFO: Planning width: 10 -2024-02-01 11:33:09, INFO: Sparse search: None -2024-02-01 11:33:35, INFO: Using device: cpu -2024-02-01 11:33:49, INFO: Using device: cpu -2024-02-01 11:33:49, INFO: Loaded RL weights with best VAL -2024-02-01 11:33:49, INFO: Similarity_func: concatenation -2024-02-01 11:33:49, INFO: Layerwise_graph: False -2024-02-01 11:33:49, INFO: Skip_connection: True -2024-02-01 11:33:49, INFO: Number of layers: 1 -2024-02-01 11:33:49, INFO: Similarity_func: concatenation -2024-02-01 11:33:49, INFO: Layerwise_graph: False -2024-02-01 11:33:49, INFO: Skip_connection: True -2024-02-01 11:33:49, INFO: Number of layers: 1 -2024-02-01 11:33:49, INFO: Planning depth: 1 -2024-02-01 11:33:49, INFO: Planning width: 10 -2024-02-01 11:33:49, INFO: Sparse search: None -2024-02-01 11:34:30, INFO: Using device: cpu -2024-02-01 11:34:30, INFO: Loaded RL weights with best VAL -2024-02-01 11:34:30, INFO: Similarity_func: concatenation -2024-02-01 11:34:30, INFO: Layerwise_graph: False -2024-02-01 11:34:30, INFO: Skip_connection: True -2024-02-01 11:34:30, INFO: Number of layers: 1 -2024-02-01 11:34:30, INFO: Similarity_func: concatenation -2024-02-01 11:34:30, INFO: Layerwise_graph: False -2024-02-01 11:34:30, INFO: Skip_connection: True -2024-02-01 11:34:30, INFO: Number of layers: 1 -2024-02-01 11:34:30, INFO: Planning depth: 1 -2024-02-01 11:34:30, INFO: Planning width: 10 -2024-02-01 11:34:30, INFO: Sparse search: None -2024-02-01 11:34:52, INFO: Using device: cpu -2024-02-01 11:34:52, INFO: Loaded RL weights with best VAL -2024-02-01 11:34:52, INFO: Similarity_func: concatenation -2024-02-01 11:34:52, INFO: Layerwise_graph: False -2024-02-01 11:34:52, INFO: Skip_connection: True -2024-02-01 11:34:52, INFO: Number of layers: 1 -2024-02-01 11:34:52, INFO: Similarity_func: concatenation -2024-02-01 11:34:52, INFO: Layerwise_graph: False -2024-02-01 11:34:52, INFO: Skip_connection: True -2024-02-01 11:34:52, INFO: Number of layers: 1 -2024-02-01 11:34:52, INFO: Planning depth: 1 -2024-02-01 11:34:52, INFO: Planning width: 10 -2024-02-01 11:34:52, INFO: Sparse search: None -2024-02-01 11:35:38, INFO: Using device: cpu -2024-02-01 11:35:38, INFO: Loaded RL weights with best VAL -2024-02-01 11:35:38, INFO: Similarity_func: concatenation -2024-02-01 11:35:38, INFO: Layerwise_graph: False -2024-02-01 11:35:38, INFO: Skip_connection: True -2024-02-01 11:35:38, INFO: Number of layers: 1 -2024-02-01 11:35:38, INFO: Similarity_func: concatenation -2024-02-01 11:35:38, INFO: Layerwise_graph: False -2024-02-01 11:35:38, INFO: Skip_connection: True -2024-02-01 11:35:38, INFO: Number of layers: 1 -2024-02-01 11:35:38, INFO: Planning depth: 1 -2024-02-01 11:35:38, INFO: Planning width: 10 -2024-02-01 11:35:38, INFO: Sparse search: None -2024-02-01 11:36:06, INFO: Using device: cpu -2024-02-01 11:36:06, INFO: Loaded RL weights with best VAL -2024-02-01 11:36:06, INFO: Similarity_func: concatenation -2024-02-01 11:36:06, INFO: Layerwise_graph: False -2024-02-01 11:36:06, INFO: Skip_connection: True -2024-02-01 11:36:06, INFO: Number of layers: 1 -2024-02-01 11:36:06, INFO: Similarity_func: concatenation -2024-02-01 11:36:06, INFO: Layerwise_graph: False -2024-02-01 11:36:06, INFO: Skip_connection: True -2024-02-01 11:36:06, INFO: Number of layers: 1 -2024-02-01 11:36:06, INFO: Planning depth: 1 -2024-02-01 11:36:06, INFO: Planning width: 10 -2024-02-01 11:36:06, INFO: Sparse search: None -2024-02-01 12:58:22, INFO: Using device: cpu -2024-02-01 12:58:22, INFO: Loaded RL weights with best VAL -2024-02-01 12:58:22, INFO: Similarity_func: concatenation -2024-02-01 12:58:22, INFO: Layerwise_graph: False -2024-02-01 12:58:22, INFO: Skip_connection: True -2024-02-01 12:58:22, INFO: Number of layers: 1 -2024-02-01 12:58:22, INFO: Similarity_func: concatenation -2024-02-01 12:58:22, INFO: Layerwise_graph: False -2024-02-01 12:58:22, INFO: Skip_connection: True -2024-02-01 12:58:22, INFO: Number of layers: 1 -2024-02-01 12:58:22, INFO: Planning depth: 1 -2024-02-01 12:58:22, INFO: Planning width: 10 -2024-02-01 12:58:22, INFO: Sparse search: None -2024-02-01 12:59:16, INFO: human number: 5 -2024-02-01 12:59:16, INFO: Not randomize human's radius and preferred speed -2024-02-01 12:59:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-01 12:59:16, INFO: Square width: 10, circle width: 4 -2024-02-01 12:59:16, INFO: rotation constraint: 3.141592653589793 -2024-02-01 12:59:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-01 13:07:33, INFO: TEST has success rate: 0.994, collision rate: 0.006, nav time: 9.764, total reward: 1759.9437, average return: 0.7362 -2024-02-01 13:07:33, INFO: Frequency of being in danger: 0.025 and average min separate distance in danger: 0.17 -2024-02-01 13:07:33, INFO: discomfor nums is 1044 and return is 0.7367 and length is 38941 -2024-02-01 13:07:33, INFO: Collision cases: 204 305 399 402 411 960 -2024-02-01 13:07:33, INFO: Timeout cases: -2024-02-01 13:09:42, INFO: Using device: cpu -2024-02-01 13:09:42, INFO: Loaded RL weights with best VAL -2024-02-01 13:09:42, INFO: Similarity_func: concatenation -2024-02-01 13:09:42, INFO: Layerwise_graph: False -2024-02-01 13:09:42, INFO: Skip_connection: True -2024-02-01 13:09:42, INFO: Number of layers: 1 -2024-02-01 13:09:42, INFO: Similarity_func: concatenation -2024-02-01 13:09:42, INFO: Layerwise_graph: False -2024-02-01 13:09:42, INFO: Skip_connection: True -2024-02-01 13:09:42, INFO: Number of layers: 1 -2024-02-01 13:09:42, INFO: Planning depth: 1 -2024-02-01 13:09:42, INFO: Planning width: 10 -2024-02-01 13:09:42, INFO: Sparse search: None -2024-02-01 13:27:20, INFO: Using device: cpu -2024-02-01 13:27:20, INFO: Loaded RL weights with best VAL -2024-02-01 13:27:20, INFO: Similarity_func: concatenation -2024-02-01 13:27:20, INFO: Layerwise_graph: False -2024-02-01 13:27:20, INFO: Skip_connection: True -2024-02-01 13:27:20, INFO: Number of layers: 1 -2024-02-01 13:27:20, INFO: Similarity_func: concatenation -2024-02-01 13:27:20, INFO: Layerwise_graph: False -2024-02-01 13:27:20, INFO: Skip_connection: True -2024-02-01 13:27:20, INFO: Number of layers: 1 -2024-02-01 13:27:20, INFO: Planning depth: 1 -2024-02-01 13:27:20, INFO: Planning width: 10 -2024-02-01 13:27:20, INFO: Sparse search: None -2024-02-01 13:27:23, INFO: human number: 5 -2024-02-01 13:27:23, INFO: Not randomize human's radius and preferred speed -2024-02-01 13:27:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-01 13:27:23, INFO: Square width: 10, circle width: 4 -2024-02-01 13:27:23, INFO: rotation constraint: 0.5235987755982988 -2024-02-01 13:27:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-01 13:36:16, INFO: TEST has success rate: 0.997, collision rate: 0.003, nav time: 11.140, total reward: 1784.2254, average return: 0.7209 -2024-02-01 13:36:16, INFO: Frequency of being in danger: 0.016 and average min separate distance in danger: 0.18 -2024-02-01 13:36:16, INFO: discomfor nums is 743 and return is 0.7100 and length is 44527 -2024-02-01 13:36:16, INFO: Collision cases: 128 455 632 -2024-02-01 13:36:16, INFO: Timeout cases: -2024-02-01 14:44:39, INFO: Using device: cpu -2024-02-01 14:44:39, INFO: Loaded RL weights with best VAL -2024-02-01 14:44:39, INFO: Similarity_func: concatenation -2024-02-01 14:44:39, INFO: Layerwise_graph: False -2024-02-01 14:44:39, INFO: Skip_connection: True -2024-02-01 14:44:39, INFO: Number of layers: 1 -2024-02-01 14:44:39, INFO: Similarity_func: concatenation -2024-02-01 14:44:39, INFO: Layerwise_graph: False -2024-02-01 14:44:39, INFO: Skip_connection: True -2024-02-01 14:44:39, INFO: Number of layers: 1 -2024-02-01 14:44:39, INFO: Planning depth: 1 -2024-02-01 14:44:39, INFO: Planning width: 10 -2024-02-01 14:44:39, INFO: Sparse search: None -2024-02-01 14:46:10, INFO: human number: 5 -2024-02-01 14:46:10, INFO: Not randomize human's radius and preferred speed -2024-02-01 14:46:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-01 14:46:10, INFO: Square width: 10, circle width: 4 -2024-02-01 14:46:10, INFO: rotation constraint: 0.5235987755982988 -2024-02-01 14:46:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-01 14:53:38, INFO: TEST has success rate: 0.974, collision rate: 0.026, nav time: 10.511, total reward: 1702.6515, average return: 0.6972 -2024-02-01 14:53:38, INFO: Frequency of being in danger: 0.029 and average min separate distance in danger: 0.16 -2024-02-01 14:53:38, INFO: discomfor nums is 1223 and return is 0.7104 and length is 41215 -2024-02-01 14:53:38, INFO: Collision cases: 45 74 95 170 265 275 295 301 310 395 400 409 426 470 505 510 553 581 614 679 693 754 844 901 925 968 -2024-02-01 14:53:38, INFO: Timeout cases: -2024-02-01 15:15:38, INFO: Using device: cpu -2024-02-01 15:15:38, INFO: Loaded RL weights with best VAL -2024-02-01 15:15:38, INFO: Similarity_func: concatenation -2024-02-01 15:15:38, INFO: Layerwise_graph: False -2024-02-01 15:15:38, INFO: Skip_connection: True -2024-02-01 15:15:38, INFO: Number of layers: 1 -2024-02-01 15:15:38, INFO: Similarity_func: concatenation -2024-02-01 15:15:38, INFO: Layerwise_graph: False -2024-02-01 15:15:38, INFO: Skip_connection: True -2024-02-01 15:15:38, INFO: Number of layers: 1 -2024-02-01 15:15:38, INFO: Planning depth: 1 -2024-02-01 15:15:38, INFO: Planning width: 10 -2024-02-01 15:15:38, INFO: Sparse search: None -2024-02-01 15:16:16, INFO: Using device: cpu -2024-02-01 15:16:16, INFO: Loaded RL weights with best VAL -2024-02-01 15:16:16, INFO: Similarity_func: concatenation -2024-02-01 15:16:16, INFO: Layerwise_graph: False -2024-02-01 15:16:16, INFO: Skip_connection: True -2024-02-01 15:16:16, INFO: Number of layers: 1 -2024-02-01 15:16:16, INFO: Similarity_func: concatenation -2024-02-01 15:16:16, INFO: Layerwise_graph: False -2024-02-01 15:16:16, INFO: Skip_connection: True -2024-02-01 15:16:16, INFO: Number of layers: 1 -2024-02-01 15:16:16, INFO: Planning depth: 1 -2024-02-01 15:16:16, INFO: Planning width: 10 -2024-02-01 15:16:16, INFO: Sparse search: None -2024-02-01 15:18:51, INFO: Using device: cpu -2024-02-01 15:18:51, INFO: Loaded RL weights with best VAL -2024-02-01 15:18:51, INFO: Similarity_func: concatenation -2024-02-01 15:18:51, INFO: Layerwise_graph: False -2024-02-01 15:18:51, INFO: Skip_connection: True -2024-02-01 15:18:51, INFO: Number of layers: 1 -2024-02-01 15:18:51, INFO: Similarity_func: concatenation -2024-02-01 15:18:51, INFO: Layerwise_graph: False -2024-02-01 15:18:51, INFO: Skip_connection: True -2024-02-01 15:18:51, INFO: Number of layers: 1 -2024-02-01 15:18:51, INFO: Planning depth: 1 -2024-02-01 15:18:51, INFO: Planning width: 10 -2024-02-01 15:18:51, INFO: Sparse search: None -2024-02-01 15:19:26, INFO: Using device: cpu -2024-02-01 15:19:26, INFO: Loaded RL weights with best VAL -2024-02-01 15:19:26, INFO: Similarity_func: concatenation -2024-02-01 15:19:26, INFO: Layerwise_graph: False -2024-02-01 15:19:26, INFO: Skip_connection: True -2024-02-01 15:19:26, INFO: Number of layers: 1 -2024-02-01 15:19:26, INFO: Similarity_func: concatenation -2024-02-01 15:19:26, INFO: Layerwise_graph: False -2024-02-01 15:19:26, INFO: Skip_connection: True -2024-02-01 15:19:26, INFO: Number of layers: 1 -2024-02-01 15:19:26, INFO: Planning depth: 1 -2024-02-01 15:19:26, INFO: Planning width: 10 -2024-02-01 15:19:26, INFO: Sparse search: None -2024-02-01 15:20:54, INFO: Using device: cpu -2024-02-01 15:20:54, INFO: Loaded RL weights with best VAL -2024-02-01 15:20:54, INFO: Similarity_func: concatenation -2024-02-01 15:20:54, INFO: Layerwise_graph: False -2024-02-01 15:20:54, INFO: Skip_connection: True -2024-02-01 15:20:54, INFO: Number of layers: 1 -2024-02-01 15:20:54, INFO: Similarity_func: concatenation -2024-02-01 15:20:54, INFO: Layerwise_graph: False -2024-02-01 15:20:54, INFO: Skip_connection: True -2024-02-01 15:20:54, INFO: Number of layers: 1 -2024-02-01 15:20:54, INFO: Planning depth: 1 -2024-02-01 15:20:54, INFO: Planning width: 10 -2024-02-01 15:20:54, INFO: Sparse search: None -2024-02-01 15:25:33, INFO: Using device: cpu -2024-02-01 15:25:33, INFO: Loaded RL weights with best VAL -2024-02-01 15:25:33, INFO: Similarity_func: concatenation -2024-02-01 15:25:33, INFO: Layerwise_graph: False -2024-02-01 15:25:33, INFO: Skip_connection: True -2024-02-01 15:25:33, INFO: Number of layers: 1 -2024-02-01 15:25:33, INFO: Similarity_func: concatenation -2024-02-01 15:25:33, INFO: Layerwise_graph: False -2024-02-01 15:25:33, INFO: Skip_connection: True -2024-02-01 15:25:33, INFO: Number of layers: 1 -2024-02-01 15:25:33, INFO: Planning depth: 1 -2024-02-01 15:25:33, INFO: Planning width: 10 -2024-02-01 15:25:33, INFO: Sparse search: None -2024-02-01 15:27:50, INFO: Using device: cpu -2024-02-01 15:27:50, INFO: Loaded RL weights with best VAL -2024-02-01 15:27:50, INFO: Similarity_func: concatenation -2024-02-01 15:27:50, INFO: Layerwise_graph: False -2024-02-01 15:27:50, INFO: Skip_connection: True -2024-02-01 15:27:50, INFO: Number of layers: 1 -2024-02-01 15:27:50, INFO: Similarity_func: concatenation -2024-02-01 15:27:50, INFO: Layerwise_graph: False -2024-02-01 15:27:50, INFO: Skip_connection: True -2024-02-01 15:27:50, INFO: Number of layers: 1 -2024-02-01 15:27:50, INFO: Planning depth: 1 -2024-02-01 15:27:50, INFO: Planning width: 10 -2024-02-01 15:27:50, INFO: Sparse search: None -2024-02-01 15:28:48, INFO: Using device: cpu -2024-02-01 15:28:48, INFO: Loaded RL weights with best VAL -2024-02-01 15:28:48, INFO: Similarity_func: concatenation -2024-02-01 15:28:48, INFO: Layerwise_graph: False -2024-02-01 15:28:48, INFO: Skip_connection: True -2024-02-01 15:28:48, INFO: Number of layers: 1 -2024-02-01 15:28:48, INFO: Similarity_func: concatenation -2024-02-01 15:28:48, INFO: Layerwise_graph: False -2024-02-01 15:28:48, INFO: Skip_connection: True -2024-02-01 15:28:48, INFO: Number of layers: 1 -2024-02-01 15:28:48, INFO: Planning depth: 1 -2024-02-01 15:28:48, INFO: Planning width: 10 -2024-02-01 15:28:48, INFO: Sparse search: None -2024-02-01 15:37:42, INFO: Using device: cpu -2024-02-01 15:37:42, INFO: Loaded RL weights with best VAL -2024-02-01 15:37:42, INFO: Similarity_func: concatenation -2024-02-01 15:37:42, INFO: Layerwise_graph: False -2024-02-01 15:37:42, INFO: Skip_connection: True -2024-02-01 15:37:42, INFO: Number of layers: 1 -2024-02-01 15:37:42, INFO: Similarity_func: concatenation -2024-02-01 15:37:42, INFO: Layerwise_graph: False -2024-02-01 15:37:42, INFO: Skip_connection: True -2024-02-01 15:37:42, INFO: Number of layers: 1 -2024-02-01 15:37:42, INFO: Planning depth: 1 -2024-02-01 15:37:42, INFO: Planning width: 10 -2024-02-01 15:37:42, INFO: Sparse search: None -2024-02-01 15:39:13, INFO: Using device: cpu -2024-02-01 15:39:13, INFO: Loaded RL weights with best VAL -2024-02-01 15:39:13, INFO: Similarity_func: concatenation -2024-02-01 15:39:13, INFO: Layerwise_graph: False -2024-02-01 15:39:13, INFO: Skip_connection: True -2024-02-01 15:39:13, INFO: Number of layers: 1 -2024-02-01 15:39:13, INFO: Similarity_func: concatenation -2024-02-01 15:39:13, INFO: Layerwise_graph: False -2024-02-01 15:39:13, INFO: Skip_connection: True -2024-02-01 15:39:13, INFO: Number of layers: 1 -2024-02-01 15:39:13, INFO: Planning depth: 1 -2024-02-01 15:39:13, INFO: Planning width: 10 -2024-02-01 15:39:13, INFO: Sparse search: None -2024-02-01 15:39:16, INFO: human number: 5 -2024-02-01 15:39:16, INFO: Not randomize human's radius and preferred speed -2024-02-01 15:39:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-01 15:39:16, INFO: Square width: 10, circle width: 4 -2024-02-01 15:39:16, INFO: rotation constraint: 0.5235987755982988 -2024-02-01 15:39:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-01 15:42:13, INFO: Using device: cpu -2024-02-01 15:42:13, INFO: Loaded RL weights with best VAL -2024-02-01 15:42:13, INFO: Similarity_func: concatenation -2024-02-01 15:42:13, INFO: Layerwise_graph: False -2024-02-01 15:42:13, INFO: Skip_connection: True -2024-02-01 15:42:13, INFO: Number of layers: 1 -2024-02-01 15:42:23, INFO: Using device: cpu -2024-02-01 15:42:23, INFO: Loaded RL weights with best VAL -2024-02-01 15:42:23, INFO: Similarity_func: concatenation -2024-02-01 15:42:23, INFO: Layerwise_graph: False -2024-02-01 15:42:23, INFO: Skip_connection: True -2024-02-01 15:42:23, INFO: Number of layers: 1 -2024-02-05 14:34:00, INFO: Using device: cpu -2024-02-05 14:34:00, INFO: Loaded RL weights with best VAL -2024-02-05 14:34:00, INFO: Similarity_func: concatenation -2024-02-05 14:34:00, INFO: Layerwise_graph: False -2024-02-05 14:34:00, INFO: Skip_connection: True -2024-02-05 14:34:00, INFO: Number of layers: 1 -2024-02-05 14:34:00, INFO: Similarity_func: concatenation -2024-02-05 14:34:00, INFO: Layerwise_graph: False -2024-02-05 14:34:00, INFO: Skip_connection: True -2024-02-05 14:34:00, INFO: Number of layers: 1 -2024-02-05 14:34:00, INFO: Planning depth: 1 -2024-02-05 14:34:00, INFO: Planning width: 10 -2024-02-05 14:34:00, INFO: Sparse search: None -2024-02-05 14:34:03, INFO: human number: 5 -2024-02-05 14:34:03, INFO: Not randomize human's radius and preferred speed -2024-02-05 14:34:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 14:34:03, INFO: Square width: 10, circle width: 4 -2024-02-05 14:34:03, INFO: rotation constraint: 3.141592653589793 -2024-02-05 14:34:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 14:45:43, INFO: Using device: cpu -2024-02-05 14:45:43, INFO: Loaded RL weights with best VAL -2024-02-05 14:45:43, INFO: Similarity_func: concatenation -2024-02-05 14:45:43, INFO: Layerwise_graph: False -2024-02-05 14:45:43, INFO: Skip_connection: True -2024-02-05 14:45:43, INFO: Number of layers: 1 -2024-02-05 14:45:43, INFO: Similarity_func: concatenation -2024-02-05 14:45:43, INFO: Layerwise_graph: False -2024-02-05 14:45:43, INFO: Skip_connection: True -2024-02-05 14:45:43, INFO: Number of layers: 1 -2024-02-05 14:45:43, INFO: Planning depth: 1 -2024-02-05 14:45:43, INFO: Planning width: 10 -2024-02-05 14:45:43, INFO: Sparse search: None -2024-02-05 14:45:46, INFO: human number: 5 -2024-02-05 14:45:46, INFO: Not randomize human's radius and preferred speed -2024-02-05 14:45:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 14:45:46, INFO: Square width: 10, circle width: 4 -2024-02-05 14:45:46, INFO: rotation constraint: 3.141592653589793 -2024-02-05 14:45:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 15:01:00, INFO: TEST has success rate: 0.991, collision rate: 0.009, nav time: 9.333, total reward: 1753.4165, average return: 0.7394 -2024-02-05 15:01:00, INFO: Frequency of being in danger: 0.023 and average min separate distance in danger: 0.16 -2024-02-05 15:01:00, INFO: discomfor nums is 862 and return is 0.7425 and length is 37091 -2024-02-05 15:01:00, INFO: Collision cases: 95 170 502 505 739 754 901 914 918 -2024-02-05 15:01:00, INFO: Timeout cases: -2024-02-05 15:05:10, INFO: Using device: cpu -2024-02-05 15:05:10, INFO: Loaded RL weights with best VAL -2024-02-05 15:05:10, INFO: Similarity_func: concatenation -2024-02-05 15:05:10, INFO: Layerwise_graph: False -2024-02-05 15:05:10, INFO: Skip_connection: True -2024-02-05 15:05:10, INFO: Number of layers: 1 -2024-02-05 15:05:10, INFO: Similarity_func: concatenation -2024-02-05 15:05:10, INFO: Layerwise_graph: False -2024-02-05 15:05:10, INFO: Skip_connection: True -2024-02-05 15:05:10, INFO: Number of layers: 1 -2024-02-05 15:05:10, INFO: Planning depth: 1 -2024-02-05 15:05:10, INFO: Planning width: 10 -2024-02-05 15:05:10, INFO: Sparse search: None -2024-02-05 15:07:28, INFO: Using device: cpu -2024-02-05 15:07:28, INFO: Loaded RL weights with best VAL -2024-02-05 15:07:28, INFO: Similarity_func: concatenation -2024-02-05 15:07:28, INFO: Layerwise_graph: False -2024-02-05 15:07:28, INFO: Skip_connection: True -2024-02-05 15:07:28, INFO: Number of layers: 1 -2024-02-05 15:07:28, INFO: Similarity_func: concatenation -2024-02-05 15:07:28, INFO: Layerwise_graph: False -2024-02-05 15:07:28, INFO: Skip_connection: True -2024-02-05 15:07:28, INFO: Number of layers: 1 -2024-02-05 15:07:28, INFO: Planning depth: 1 -2024-02-05 15:07:28, INFO: Planning width: 10 -2024-02-05 15:07:28, INFO: Sparse search: None -2024-02-05 15:07:31, INFO: human number: 5 -2024-02-05 15:07:31, INFO: Not randomize human's radius and preferred speed -2024-02-05 15:07:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 15:07:31, INFO: Square width: 10, circle width: 4 -2024-02-05 15:07:31, INFO: rotation constraint: 3.141592653589793 -2024-02-05 15:07:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 15:16:36, INFO: TEST has success rate: 0.990, collision rate: 0.010, nav time: 9.135, total reward: 1747.5755, average return: 0.7474 -2024-02-05 15:16:36, INFO: Frequency of being in danger: 0.029 and average min separate distance in danger: 0.16 -2024-02-05 15:16:36, INFO: discomfor nums is 1069 and return is 0.7522 and length is 36293 -2024-02-05 15:16:36, INFO: Collision cases: 35 95 295 437 452 505 614 754 791 901 -2024-02-05 15:16:36, INFO: Timeout cases: -2024-02-05 15:18:20, INFO: Using device: cpu -2024-02-05 15:18:20, INFO: Loaded RL weights with best VAL -2024-02-05 15:18:20, INFO: Similarity_func: concatenation -2024-02-05 15:18:20, INFO: Layerwise_graph: False -2024-02-05 15:18:20, INFO: Skip_connection: True -2024-02-05 15:18:20, INFO: Number of layers: 1 -2024-02-05 15:18:20, INFO: Similarity_func: concatenation -2024-02-05 15:18:20, INFO: Layerwise_graph: False -2024-02-05 15:18:20, INFO: Skip_connection: True -2024-02-05 15:18:20, INFO: Number of layers: 1 -2024-02-05 15:18:20, INFO: Planning depth: 1 -2024-02-05 15:18:20, INFO: Planning width: 10 -2024-02-05 15:18:20, INFO: Sparse search: None -2024-02-05 15:18:23, INFO: human number: 5 -2024-02-05 15:18:23, INFO: Not randomize human's radius and preferred speed -2024-02-05 15:18:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 15:18:23, INFO: Square width: 10, circle width: 4 -2024-02-05 15:18:23, INFO: rotation constraint: 3.141592653589793 -2024-02-05 15:18:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 15:28:04, INFO: TEST has success rate: 0.993, collision rate: 0.007, nav time: 9.234, total reward: 1756.5130, average return: 0.7462 -2024-02-05 15:28:04, INFO: Frequency of being in danger: 0.031 and average min separate distance in danger: 0.17 -2024-02-05 15:28:04, INFO: discomfor nums is 1152 and return is 0.7507 and length is 36714 -2024-02-05 15:28:04, INFO: Collision cases: 53 95 426 505 710 836 901 -2024-02-05 15:28:04, INFO: Timeout cases: -2024-02-05 15:29:49, INFO: Using device: cpu -2024-02-05 15:29:49, INFO: Loaded RL weights with best VAL -2024-02-05 15:29:49, INFO: Similarity_func: concatenation -2024-02-05 15:29:49, INFO: Layerwise_graph: False -2024-02-05 15:29:49, INFO: Skip_connection: True -2024-02-05 15:29:49, INFO: Number of layers: 1 -2024-02-05 15:29:49, INFO: Similarity_func: concatenation -2024-02-05 15:29:49, INFO: Layerwise_graph: False -2024-02-05 15:29:49, INFO: Skip_connection: True -2024-02-05 15:29:49, INFO: Number of layers: 1 -2024-02-05 15:29:49, INFO: Planning depth: 1 -2024-02-05 15:29:49, INFO: Planning width: 10 -2024-02-05 15:29:49, INFO: Sparse search: None -2024-02-05 15:29:53, INFO: human number: 5 -2024-02-05 15:29:53, INFO: Not randomize human's radius and preferred speed -2024-02-05 15:29:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 15:29:53, INFO: Square width: 10, circle width: 4 -2024-02-05 15:29:53, INFO: rotation constraint: 3.141592653589793 -2024-02-05 15:29:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 15:38:11, INFO: TEST has success rate: 0.986, collision rate: 0.014, nav time: 9.074, total reward: 1726.9612, average return: 0.7399 -2024-02-05 15:38:11, INFO: Frequency of being in danger: 0.035 and average min separate distance in danger: 0.16 -2024-02-05 15:38:11, INFO: discomfor nums is 1295 and return is 0.7509 and length is 35911 -2024-02-05 15:38:11, INFO: Collision cases: 64 95 114 168 170 275 295 415 505 754 800 901 925 964 -2024-02-05 15:38:11, INFO: Timeout cases: -2024-02-05 15:39:49, INFO: Using device: cpu -2024-02-05 15:39:49, INFO: Loaded RL weights with best VAL -2024-02-05 15:39:49, INFO: Similarity_func: concatenation -2024-02-05 15:39:49, INFO: Layerwise_graph: False -2024-02-05 15:39:49, INFO: Skip_connection: True -2024-02-05 15:39:49, INFO: Number of layers: 1 -2024-02-05 15:39:49, INFO: Similarity_func: concatenation -2024-02-05 15:39:49, INFO: Layerwise_graph: False -2024-02-05 15:39:49, INFO: Skip_connection: True -2024-02-05 15:39:49, INFO: Number of layers: 1 -2024-02-05 15:39:49, INFO: Planning depth: 1 -2024-02-05 15:39:49, INFO: Planning width: 10 -2024-02-05 15:39:49, INFO: Sparse search: None -2024-02-05 15:39:53, INFO: human number: 5 -2024-02-05 15:39:53, INFO: Not randomize human's radius and preferred speed -2024-02-05 15:39:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 15:39:53, INFO: Square width: 10, circle width: 4 -2024-02-05 15:39:53, INFO: rotation constraint: 3.141592653589793 -2024-02-05 15:39:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 15:49:01, INFO: TEST has success rate: 0.996, collision rate: 0.004, nav time: 9.276, total reward: 1768.0511, average return: 0.7548 -2024-02-05 15:49:01, INFO: Frequency of being in danger: 0.028 and average min separate distance in danger: 0.17 -2024-02-05 15:49:01, INFO: discomfor nums is 1070 and return is 0.7554 and length is 36990 -2024-02-05 15:49:01, INFO: Collision cases: 95 200 426 505 -2024-02-05 15:49:01, INFO: Timeout cases: -2024-02-05 15:53:31, INFO: Using device: cpu -2024-02-05 15:53:31, INFO: Loaded RL weights with best VAL -2024-02-05 15:53:31, INFO: Similarity_func: concatenation -2024-02-05 15:53:31, INFO: Layerwise_graph: False -2024-02-05 15:53:31, INFO: Skip_connection: True -2024-02-05 15:53:31, INFO: Number of layers: 1 -2024-02-05 15:53:31, INFO: Similarity_func: concatenation -2024-02-05 15:53:31, INFO: Layerwise_graph: False -2024-02-05 15:53:31, INFO: Skip_connection: True -2024-02-05 15:53:31, INFO: Number of layers: 1 -2024-02-05 15:53:31, INFO: Planning depth: 1 -2024-02-05 15:53:31, INFO: Planning width: 10 -2024-02-05 15:53:31, INFO: Sparse search: None -2024-02-05 15:53:35, INFO: human number: 5 -2024-02-05 15:53:35, INFO: Not randomize human's radius and preferred speed -2024-02-05 15:53:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 15:53:35, INFO: Square width: 10, circle width: 4 -2024-02-05 15:53:35, INFO: rotation constraint: 3.141592653589793 -2024-02-05 15:53:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:08:38, INFO: TEST has success rate: 0.996, collision rate: 0.004, nav time: 9.421, total reward: 1753.2414, average return: 0.7535 -2024-02-05 16:08:38, INFO: Frequency of being in danger: 0.032 and average min separate distance in danger: 0.16 -2024-02-05 16:08:38, INFO: discomfor nums is 1239 and return is 0.7538 and length is 37544 -2024-02-05 16:08:38, INFO: Collision cases: 505 621 754 901 -2024-02-05 16:08:38, INFO: Timeout cases: -2024-02-05 16:10:39, INFO: Using device: cpu -2024-02-05 16:10:39, INFO: Loaded RL weights with best VAL -2024-02-05 16:10:39, INFO: Similarity_func: concatenation -2024-02-05 16:10:39, INFO: Layerwise_graph: False -2024-02-05 16:10:39, INFO: Skip_connection: True -2024-02-05 16:10:39, INFO: Number of layers: 1 -2024-02-05 16:10:39, INFO: Similarity_func: concatenation -2024-02-05 16:10:39, INFO: Layerwise_graph: False -2024-02-05 16:10:39, INFO: Skip_connection: True -2024-02-05 16:10:39, INFO: Number of layers: 1 -2024-02-05 16:10:39, INFO: Planning depth: 1 -2024-02-05 16:10:39, INFO: Planning width: 10 -2024-02-05 16:10:39, INFO: Sparse search: None -2024-02-05 16:10:42, INFO: human number: 5 -2024-02-05 16:10:42, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:10:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:10:42, INFO: Square width: 10, circle width: 4 -2024-02-05 16:10:42, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:10:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:27:58, INFO: TEST has success rate: 1.000, collision rate: 0.000, nav time: 10.559, total reward: 1789.4983, average return: 0.7470 -2024-02-05 16:27:58, INFO: Frequency of being in danger: 0.018 and average min separate distance in danger: 0.17 -2024-02-05 16:27:58, INFO: discomfor nums is 763 and return is 0.7427 and length is 42235 -2024-02-05 16:27:58, INFO: Collision cases: -2024-02-05 16:27:58, INFO: Timeout cases: -2024-02-05 16:32:27, INFO: Using device: cpu -2024-02-05 16:32:27, INFO: Loaded RL weights with best VAL -2024-02-05 16:32:27, INFO: Similarity_func: concatenation -2024-02-05 16:32:27, INFO: Layerwise_graph: False -2024-02-05 16:32:27, INFO: Skip_connection: True -2024-02-05 16:32:27, INFO: Number of layers: 1 -2024-02-05 16:32:27, INFO: Similarity_func: concatenation -2024-02-05 16:32:27, INFO: Layerwise_graph: False -2024-02-05 16:32:27, INFO: Skip_connection: True -2024-02-05 16:32:27, INFO: Number of layers: 1 -2024-02-05 16:32:27, INFO: Planning depth: 1 -2024-02-05 16:32:27, INFO: Planning width: 10 -2024-02-05 16:32:27, INFO: Sparse search: None -2024-02-05 16:32:44, INFO: Using device: cpu -2024-02-05 16:32:44, INFO: Loaded RL weights with best VAL -2024-02-05 16:32:44, INFO: Similarity_func: concatenation -2024-02-05 16:32:44, INFO: Layerwise_graph: False -2024-02-05 16:32:44, INFO: Skip_connection: True -2024-02-05 16:32:44, INFO: Number of layers: 1 -2024-02-05 16:32:44, INFO: Similarity_func: concatenation -2024-02-05 16:32:44, INFO: Layerwise_graph: False -2024-02-05 16:32:44, INFO: Skip_connection: True -2024-02-05 16:32:44, INFO: Number of layers: 1 -2024-02-05 16:32:44, INFO: Planning depth: 1 -2024-02-05 16:32:44, INFO: Planning width: 10 -2024-02-05 16:32:44, INFO: Sparse search: None -2024-02-05 16:33:01, INFO: Using device: cpu -2024-02-05 16:33:01, INFO: Loaded RL weights with best VAL -2024-02-05 16:33:01, INFO: Similarity_func: concatenation -2024-02-05 16:33:01, INFO: Layerwise_graph: False -2024-02-05 16:33:01, INFO: Skip_connection: True -2024-02-05 16:33:01, INFO: Number of layers: 1 -2024-02-05 16:33:01, INFO: Similarity_func: concatenation -2024-02-05 16:33:01, INFO: Layerwise_graph: False -2024-02-05 16:33:01, INFO: Skip_connection: True -2024-02-05 16:33:01, INFO: Number of layers: 1 -2024-02-05 16:33:01, INFO: Planning depth: 1 -2024-02-05 16:33:01, INFO: Planning width: 10 -2024-02-05 16:33:01, INFO: Sparse search: None -2024-02-05 16:33:04, INFO: human number: 5 -2024-02-05 16:33:04, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:33:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:33:04, INFO: Square width: 10, circle width: 4 -2024-02-05 16:33:04, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:33:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:33:32, INFO: Using device: cpu -2024-02-05 16:33:32, INFO: Loaded RL weights with best VAL -2024-02-05 16:33:32, INFO: Similarity_func: concatenation -2024-02-05 16:33:32, INFO: Layerwise_graph: False -2024-02-05 16:33:32, INFO: Skip_connection: True -2024-02-05 16:33:32, INFO: Number of layers: 1 -2024-02-05 16:33:32, INFO: Similarity_func: concatenation -2024-02-05 16:33:32, INFO: Layerwise_graph: False -2024-02-05 16:33:32, INFO: Skip_connection: True -2024-02-05 16:33:32, INFO: Number of layers: 1 -2024-02-05 16:33:32, INFO: Planning depth: 1 -2024-02-05 16:33:32, INFO: Planning width: 10 -2024-02-05 16:33:32, INFO: Sparse search: None -2024-02-05 16:33:35, INFO: human number: 5 -2024-02-05 16:33:35, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:33:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:33:35, INFO: Square width: 10, circle width: 4 -2024-02-05 16:33:35, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:33:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:33:37, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.952923 -2024-02-05 16:37:56, INFO: Using device: cpu -2024-02-05 16:37:56, INFO: Loaded RL weights with best VAL -2024-02-05 16:37:56, INFO: Similarity_func: concatenation -2024-02-05 16:37:56, INFO: Layerwise_graph: False -2024-02-05 16:37:56, INFO: Skip_connection: True -2024-02-05 16:37:56, INFO: Number of layers: 1 -2024-02-05 16:37:56, INFO: Similarity_func: concatenation -2024-02-05 16:37:56, INFO: Layerwise_graph: False -2024-02-05 16:37:56, INFO: Skip_connection: True -2024-02-05 16:37:56, INFO: Number of layers: 1 -2024-02-05 16:37:56, INFO: Planning depth: 1 -2024-02-05 16:37:56, INFO: Planning width: 10 -2024-02-05 16:37:56, INFO: Sparse search: None -2024-02-05 16:38:00, INFO: human number: 5 -2024-02-05 16:38:00, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:38:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:38:00, INFO: Square width: 10, circle width: 4 -2024-02-05 16:38:00, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:38:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:38:02, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.952923 -2024-02-05 16:39:15, INFO: Using device: cpu -2024-02-05 16:39:15, INFO: Loaded RL weights with best VAL -2024-02-05 16:39:15, INFO: Similarity_func: concatenation -2024-02-05 16:39:15, INFO: Layerwise_graph: False -2024-02-05 16:39:15, INFO: Skip_connection: True -2024-02-05 16:39:15, INFO: Number of layers: 1 -2024-02-05 16:39:15, INFO: Similarity_func: concatenation -2024-02-05 16:39:15, INFO: Layerwise_graph: False -2024-02-05 16:39:15, INFO: Skip_connection: True -2024-02-05 16:39:15, INFO: Number of layers: 1 -2024-02-05 16:39:15, INFO: Planning depth: 1 -2024-02-05 16:39:15, INFO: Planning width: 10 -2024-02-05 16:39:15, INFO: Sparse search: None -2024-02-05 16:39:19, INFO: human number: 5 -2024-02-05 16:39:19, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:39:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:39:19, INFO: Square width: 10, circle width: 4 -2024-02-05 16:39:19, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:39:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:39:32, INFO: Using device: cpu -2024-02-05 16:39:32, INFO: Loaded RL weights with best VAL -2024-02-05 16:39:32, INFO: Similarity_func: concatenation -2024-02-05 16:39:32, INFO: Layerwise_graph: False -2024-02-05 16:39:32, INFO: Skip_connection: True -2024-02-05 16:39:32, INFO: Number of layers: 1 -2024-02-05 16:39:32, INFO: Similarity_func: concatenation -2024-02-05 16:39:32, INFO: Layerwise_graph: False -2024-02-05 16:39:32, INFO: Skip_connection: True -2024-02-05 16:39:32, INFO: Number of layers: 1 -2024-02-05 16:39:32, INFO: Planning depth: 1 -2024-02-05 16:39:32, INFO: Planning width: 10 -2024-02-05 16:39:32, INFO: Sparse search: None -2024-02-05 16:39:36, INFO: human number: 5 -2024-02-05 16:39:36, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:39:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:39:36, INFO: Square width: 10, circle width: 4 -2024-02-05 16:39:36, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:39:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:41:13, INFO: Using device: cpu -2024-02-05 16:41:13, INFO: Loaded RL weights with best VAL -2024-02-05 16:41:13, INFO: Similarity_func: concatenation -2024-02-05 16:41:13, INFO: Layerwise_graph: False -2024-02-05 16:41:13, INFO: Skip_connection: True -2024-02-05 16:41:13, INFO: Number of layers: 1 -2024-02-05 16:41:13, INFO: Similarity_func: concatenation -2024-02-05 16:41:13, INFO: Layerwise_graph: False -2024-02-05 16:41:13, INFO: Skip_connection: True -2024-02-05 16:41:13, INFO: Number of layers: 1 -2024-02-05 16:41:13, INFO: Planning depth: 1 -2024-02-05 16:41:13, INFO: Planning width: 10 -2024-02-05 16:41:13, INFO: Sparse search: None -2024-02-05 16:41:17, INFO: human number: 5 -2024-02-05 16:41:17, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:41:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:41:17, INFO: Square width: 10, circle width: 4 -2024-02-05 16:41:17, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:41:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:41:19, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.952923 -2024-02-05 16:42:50, INFO: Using device: cpu -2024-02-05 16:42:50, INFO: Loaded RL weights with best VAL -2024-02-05 16:42:50, INFO: Similarity_func: concatenation -2024-02-05 16:42:50, INFO: Layerwise_graph: False -2024-02-05 16:42:50, INFO: Skip_connection: True -2024-02-05 16:42:50, INFO: Number of layers: 1 -2024-02-05 16:42:50, INFO: Similarity_func: concatenation -2024-02-05 16:42:50, INFO: Layerwise_graph: False -2024-02-05 16:42:50, INFO: Skip_connection: True -2024-02-05 16:42:50, INFO: Number of layers: 1 -2024-02-05 16:42:50, INFO: Planning depth: 1 -2024-02-05 16:42:50, INFO: Planning width: 10 -2024-02-05 16:42:50, INFO: Sparse search: None -2024-02-05 16:42:54, INFO: human number: 5 -2024-02-05 16:42:54, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:42:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:42:54, INFO: Square width: 10, circle width: 4 -2024-02-05 16:42:54, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:42:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:43:01, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 16:43:58, INFO: Using device: cpu -2024-02-05 16:43:58, INFO: Loaded RL weights with best VAL -2024-02-05 16:43:58, INFO: Similarity_func: concatenation -2024-02-05 16:43:58, INFO: Layerwise_graph: False -2024-02-05 16:43:58, INFO: Skip_connection: True -2024-02-05 16:43:58, INFO: Number of layers: 1 -2024-02-05 16:43:58, INFO: Similarity_func: concatenation -2024-02-05 16:43:58, INFO: Layerwise_graph: False -2024-02-05 16:43:58, INFO: Skip_connection: True -2024-02-05 16:43:58, INFO: Number of layers: 1 -2024-02-05 16:43:58, INFO: Planning depth: 1 -2024-02-05 16:43:58, INFO: Planning width: 10 -2024-02-05 16:43:58, INFO: Sparse search: None -2024-02-05 16:44:02, INFO: human number: 5 -2024-02-05 16:44:02, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:44:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:44:02, INFO: Square width: 10, circle width: 4 -2024-02-05 16:44:02, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:44:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:44:04, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 16:47:05, INFO: Using device: cpu -2024-02-05 16:47:05, INFO: Loaded RL weights with best VAL -2024-02-05 16:47:05, INFO: Similarity_func: concatenation -2024-02-05 16:47:05, INFO: Layerwise_graph: False -2024-02-05 16:47:05, INFO: Skip_connection: True -2024-02-05 16:47:05, INFO: Number of layers: 1 -2024-02-05 16:47:05, INFO: Similarity_func: concatenation -2024-02-05 16:47:05, INFO: Layerwise_graph: False -2024-02-05 16:47:05, INFO: Skip_connection: True -2024-02-05 16:47:05, INFO: Number of layers: 1 -2024-02-05 16:47:05, INFO: Planning depth: 1 -2024-02-05 16:47:05, INFO: Planning width: 10 -2024-02-05 16:47:05, INFO: Sparse search: None -2024-02-05 16:47:09, INFO: human number: 5 -2024-02-05 16:47:09, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:47:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:47:09, INFO: Square width: 10, circle width: 4 -2024-02-05 16:47:09, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:47:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:47:10, INFO: Animation.save using -2024-02-05 16:47:10, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 1300x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y trial -2024-02-05 16:49:13, INFO: Using device: cpu -2024-02-05 16:49:13, INFO: Loaded RL weights with best VAL -2024-02-05 16:49:13, INFO: Similarity_func: concatenation -2024-02-05 16:49:13, INFO: Layerwise_graph: False -2024-02-05 16:49:13, INFO: Skip_connection: True -2024-02-05 16:49:13, INFO: Number of layers: 1 -2024-02-05 16:49:13, INFO: Similarity_func: concatenation -2024-02-05 16:49:13, INFO: Layerwise_graph: False -2024-02-05 16:49:13, INFO: Skip_connection: True -2024-02-05 16:49:13, INFO: Number of layers: 1 -2024-02-05 16:49:13, INFO: Planning depth: 1 -2024-02-05 16:49:13, INFO: Planning width: 10 -2024-02-05 16:49:13, INFO: Sparse search: None -2024-02-05 16:49:17, INFO: human number: 5 -2024-02-05 16:49:17, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:49:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:49:17, INFO: Square width: 10, circle width: 4 -2024-02-05 16:49:17, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:49:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:49:18, INFO: Animation.save using -2024-02-05 16:49:18, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 1300x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y trial -2024-02-05 16:52:35, INFO: Using device: cpu -2024-02-05 16:52:35, INFO: Loaded RL weights with best VAL -2024-02-05 16:52:35, INFO: Similarity_func: concatenation -2024-02-05 16:52:35, INFO: Layerwise_graph: False -2024-02-05 16:52:35, INFO: Skip_connection: True -2024-02-05 16:52:35, INFO: Number of layers: 1 -2024-02-05 16:52:35, INFO: Similarity_func: concatenation -2024-02-05 16:52:35, INFO: Layerwise_graph: False -2024-02-05 16:52:35, INFO: Skip_connection: True -2024-02-05 16:52:35, INFO: Number of layers: 1 -2024-02-05 16:52:35, INFO: Planning depth: 1 -2024-02-05 16:52:35, INFO: Planning width: 10 -2024-02-05 16:52:35, INFO: Sparse search: None -2024-02-05 16:52:39, INFO: human number: 5 -2024-02-05 16:52:39, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:52:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:52:39, INFO: Square width: 10, circle width: 4 -2024-02-05 16:52:39, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:52:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:52:40, INFO: Animation.save using -2024-02-05 16:52:40, INFO: MovieWriter._run: running command: ffmpeg -f rawvideo -vcodec rawvideo -s 1300x700 -pix_fmt rgba -r 4 -loglevel error -i pipe: -vcodec h264 -pix_fmt yuv420p -b 1800k -metadata artist=Me -y trial -2024-02-05 16:56:12, INFO: Using device: cpu -2024-02-05 16:56:12, INFO: Loaded RL weights with best VAL -2024-02-05 16:56:12, INFO: Similarity_func: concatenation -2024-02-05 16:56:12, INFO: Layerwise_graph: False -2024-02-05 16:56:12, INFO: Skip_connection: True -2024-02-05 16:56:12, INFO: Number of layers: 1 -2024-02-05 16:56:12, INFO: Similarity_func: concatenation -2024-02-05 16:56:12, INFO: Layerwise_graph: False -2024-02-05 16:56:12, INFO: Skip_connection: True -2024-02-05 16:56:12, INFO: Number of layers: 1 -2024-02-05 16:56:12, INFO: Planning depth: 1 -2024-02-05 16:56:12, INFO: Planning width: 10 -2024-02-05 16:56:12, INFO: Sparse search: None -2024-02-05 16:56:15, INFO: human number: 5 -2024-02-05 16:56:15, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:56:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:56:15, INFO: Square width: 10, circle width: 4 -2024-02-05 16:56:15, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:56:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:56:17, INFO: Animation.save using -2024-02-05 16:58:24, INFO: Using device: cpu -2024-02-05 16:58:24, INFO: Loaded RL weights with best VAL -2024-02-05 16:58:24, INFO: Similarity_func: concatenation -2024-02-05 16:58:24, INFO: Layerwise_graph: False -2024-02-05 16:58:24, INFO: Skip_connection: True -2024-02-05 16:58:24, INFO: Number of layers: 1 -2024-02-05 16:58:24, INFO: Similarity_func: concatenation -2024-02-05 16:58:24, INFO: Layerwise_graph: False -2024-02-05 16:58:24, INFO: Skip_connection: True -2024-02-05 16:58:24, INFO: Number of layers: 1 -2024-02-05 16:58:24, INFO: Planning depth: 1 -2024-02-05 16:58:24, INFO: Planning width: 10 -2024-02-05 16:58:24, INFO: Sparse search: None -2024-02-05 16:58:28, INFO: human number: 5 -2024-02-05 16:58:28, INFO: Not randomize human's radius and preferred speed -2024-02-05 16:58:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 16:58:28, INFO: Square width: 10, circle width: 4 -2024-02-05 16:58:28, INFO: rotation constraint: 3.141592653589793 -2024-02-05 16:58:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 16:58:29, INFO: Animation.save using -2024-02-05 17:01:31, INFO: Using device: cpu -2024-02-05 17:01:31, INFO: Loaded RL weights with best VAL -2024-02-05 17:01:31, INFO: Similarity_func: concatenation -2024-02-05 17:01:31, INFO: Layerwise_graph: False -2024-02-05 17:01:31, INFO: Skip_connection: True -2024-02-05 17:01:31, INFO: Number of layers: 1 -2024-02-05 17:01:31, INFO: Similarity_func: concatenation -2024-02-05 17:01:31, INFO: Layerwise_graph: False -2024-02-05 17:01:31, INFO: Skip_connection: True -2024-02-05 17:01:31, INFO: Number of layers: 1 -2024-02-05 17:01:31, INFO: Planning depth: 1 -2024-02-05 17:01:31, INFO: Planning width: 10 -2024-02-05 17:01:31, INFO: Sparse search: None -2024-02-05 17:01:35, INFO: human number: 5 -2024-02-05 17:01:35, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:01:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:01:35, INFO: Square width: 10, circle width: 4 -2024-02-05 17:01:35, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:01:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:01:52, INFO: Using device: cpu -2024-02-05 17:01:52, INFO: Loaded RL weights with best VAL -2024-02-05 17:01:52, INFO: Similarity_func: concatenation -2024-02-05 17:01:52, INFO: Layerwise_graph: False -2024-02-05 17:01:52, INFO: Skip_connection: True -2024-02-05 17:01:52, INFO: Number of layers: 1 -2024-02-05 17:01:52, INFO: Similarity_func: concatenation -2024-02-05 17:01:52, INFO: Layerwise_graph: False -2024-02-05 17:01:52, INFO: Skip_connection: True -2024-02-05 17:01:52, INFO: Number of layers: 1 -2024-02-05 17:01:52, INFO: Planning depth: 1 -2024-02-05 17:01:52, INFO: Planning width: 10 -2024-02-05 17:01:52, INFO: Sparse search: None -2024-02-05 17:01:55, INFO: human number: 5 -2024-02-05 17:01:55, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:01:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:01:55, INFO: Square width: 10, circle width: 4 -2024-02-05 17:01:55, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:01:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:01:57, INFO: Animation.save using -2024-02-05 17:02:18, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:08:38, INFO: Using device: cpu -2024-02-05 17:08:38, INFO: Loaded RL weights with best VAL -2024-02-05 17:08:38, INFO: Similarity_func: concatenation -2024-02-05 17:08:38, INFO: Layerwise_graph: False -2024-02-05 17:08:38, INFO: Skip_connection: True -2024-02-05 17:08:38, INFO: Number of layers: 1 -2024-02-05 17:08:38, INFO: Similarity_func: concatenation -2024-02-05 17:08:38, INFO: Layerwise_graph: False -2024-02-05 17:08:38, INFO: Skip_connection: True -2024-02-05 17:08:38, INFO: Number of layers: 1 -2024-02-05 17:08:38, INFO: Planning depth: 1 -2024-02-05 17:08:38, INFO: Planning width: 10 -2024-02-05 17:08:38, INFO: Sparse search: None -2024-02-05 17:08:41, INFO: human number: 5 -2024-02-05 17:08:41, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:08:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:08:41, INFO: Square width: 10, circle width: 4 -2024-02-05 17:08:41, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:08:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:08:43, INFO: Animation.save using -2024-02-05 17:09:03, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:12:01, INFO: Using device: cpu -2024-02-05 17:12:01, INFO: Loaded RL weights with best VAL -2024-02-05 17:12:01, INFO: Similarity_func: concatenation -2024-02-05 17:12:01, INFO: Layerwise_graph: False -2024-02-05 17:12:01, INFO: Skip_connection: True -2024-02-05 17:12:01, INFO: Number of layers: 1 -2024-02-05 17:12:01, INFO: Similarity_func: concatenation -2024-02-05 17:12:01, INFO: Layerwise_graph: False -2024-02-05 17:12:01, INFO: Skip_connection: True -2024-02-05 17:12:01, INFO: Number of layers: 1 -2024-02-05 17:12:01, INFO: Planning depth: 1 -2024-02-05 17:12:01, INFO: Planning width: 10 -2024-02-05 17:12:01, INFO: Sparse search: None -2024-02-05 17:12:05, INFO: human number: 5 -2024-02-05 17:12:05, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:12:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:12:05, INFO: Square width: 10, circle width: 4 -2024-02-05 17:12:05, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:12:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:12:06, INFO: Animation.save using -2024-02-05 17:12:26, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:14:32, INFO: Using device: cpu -2024-02-05 17:14:32, INFO: Loaded RL weights with best VAL -2024-02-05 17:14:32, INFO: Similarity_func: concatenation -2024-02-05 17:14:32, INFO: Layerwise_graph: False -2024-02-05 17:14:32, INFO: Skip_connection: True -2024-02-05 17:14:32, INFO: Number of layers: 1 -2024-02-05 17:14:32, INFO: Similarity_func: concatenation -2024-02-05 17:14:32, INFO: Layerwise_graph: False -2024-02-05 17:14:32, INFO: Skip_connection: True -2024-02-05 17:14:32, INFO: Number of layers: 1 -2024-02-05 17:14:32, INFO: Planning depth: 1 -2024-02-05 17:14:32, INFO: Planning width: 10 -2024-02-05 17:14:32, INFO: Sparse search: None -2024-02-05 17:14:35, INFO: human number: 5 -2024-02-05 17:14:35, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:14:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:14:35, INFO: Square width: 10, circle width: 4 -2024-02-05 17:14:35, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:14:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:14:37, INFO: Animation.save using -2024-02-05 17:14:57, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:16:53, INFO: Using device: cpu -2024-02-05 17:16:53, INFO: Loaded RL weights with best VAL -2024-02-05 17:16:53, INFO: Similarity_func: concatenation -2024-02-05 17:16:53, INFO: Layerwise_graph: False -2024-02-05 17:16:53, INFO: Skip_connection: True -2024-02-05 17:16:53, INFO: Number of layers: 1 -2024-02-05 17:16:53, INFO: Similarity_func: concatenation -2024-02-05 17:16:53, INFO: Layerwise_graph: False -2024-02-05 17:16:53, INFO: Skip_connection: True -2024-02-05 17:16:53, INFO: Number of layers: 1 -2024-02-05 17:16:53, INFO: Planning depth: 1 -2024-02-05 17:16:53, INFO: Planning width: 10 -2024-02-05 17:16:53, INFO: Sparse search: None -2024-02-05 17:16:57, INFO: human number: 5 -2024-02-05 17:16:57, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:16:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:16:57, INFO: Square width: 10, circle width: 4 -2024-02-05 17:16:57, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:16:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:16:59, INFO: Animation.save using -2024-02-05 17:17:20, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:18:49, INFO: Using device: cpu -2024-02-05 17:18:49, INFO: Loaded RL weights with best VAL -2024-02-05 17:18:49, INFO: Similarity_func: concatenation -2024-02-05 17:18:49, INFO: Layerwise_graph: False -2024-02-05 17:18:49, INFO: Skip_connection: True -2024-02-05 17:18:49, INFO: Number of layers: 1 -2024-02-05 17:18:49, INFO: Similarity_func: concatenation -2024-02-05 17:18:49, INFO: Layerwise_graph: False -2024-02-05 17:18:49, INFO: Skip_connection: True -2024-02-05 17:18:49, INFO: Number of layers: 1 -2024-02-05 17:18:49, INFO: Planning depth: 1 -2024-02-05 17:18:49, INFO: Planning width: 10 -2024-02-05 17:18:49, INFO: Sparse search: None -2024-02-05 17:18:53, INFO: human number: 5 -2024-02-05 17:18:53, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:18:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:18:53, INFO: Square width: 10, circle width: 4 -2024-02-05 17:18:53, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:18:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:18:54, INFO: Animation.save using -2024-02-05 17:19:15, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:37:33, INFO: Using device: cpu -2024-02-05 17:37:33, INFO: Loaded RL weights with best VAL -2024-02-05 17:37:33, INFO: Similarity_func: concatenation -2024-02-05 17:37:33, INFO: Layerwise_graph: False -2024-02-05 17:37:33, INFO: Skip_connection: True -2024-02-05 17:37:33, INFO: Number of layers: 1 -2024-02-05 17:37:33, INFO: Similarity_func: concatenation -2024-02-05 17:37:33, INFO: Layerwise_graph: False -2024-02-05 17:37:33, INFO: Skip_connection: True -2024-02-05 17:37:33, INFO: Number of layers: 1 -2024-02-05 17:37:33, INFO: Planning depth: 1 -2024-02-05 17:37:33, INFO: Planning width: 10 -2024-02-05 17:37:33, INFO: Sparse search: None -2024-02-05 17:37:37, INFO: human number: 5 -2024-02-05 17:37:37, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:37:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:37:37, INFO: Square width: 10, circle width: 4 -2024-02-05 17:37:37, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:37:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:37:57, INFO: Using device: cpu -2024-02-05 17:37:57, INFO: Loaded RL weights with best VAL -2024-02-05 17:37:57, INFO: Similarity_func: concatenation -2024-02-05 17:37:57, INFO: Layerwise_graph: False -2024-02-05 17:37:57, INFO: Skip_connection: True -2024-02-05 17:37:57, INFO: Number of layers: 1 -2024-02-05 17:37:57, INFO: Similarity_func: concatenation -2024-02-05 17:37:57, INFO: Layerwise_graph: False -2024-02-05 17:37:57, INFO: Skip_connection: True -2024-02-05 17:37:57, INFO: Number of layers: 1 -2024-02-05 17:37:57, INFO: Planning depth: 1 -2024-02-05 17:37:57, INFO: Planning width: 10 -2024-02-05 17:37:57, INFO: Sparse search: None -2024-02-05 17:38:01, INFO: human number: 5 -2024-02-05 17:38:01, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:38:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:38:01, INFO: Square width: 10, circle width: 4 -2024-02-05 17:38:01, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:38:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:38:03, INFO: Animation.save using -2024-02-05 17:38:24, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:39:10, INFO: Using device: cpu -2024-02-05 17:39:10, INFO: Loaded RL weights with best VAL -2024-02-05 17:39:10, INFO: Similarity_func: concatenation -2024-02-05 17:39:10, INFO: Layerwise_graph: False -2024-02-05 17:39:10, INFO: Skip_connection: True -2024-02-05 17:39:10, INFO: Number of layers: 1 -2024-02-05 17:39:10, INFO: Similarity_func: concatenation -2024-02-05 17:39:10, INFO: Layerwise_graph: False -2024-02-05 17:39:10, INFO: Skip_connection: True -2024-02-05 17:39:10, INFO: Number of layers: 1 -2024-02-05 17:39:10, INFO: Planning depth: 1 -2024-02-05 17:39:10, INFO: Planning width: 10 -2024-02-05 17:39:10, INFO: Sparse search: None -2024-02-05 17:39:13, INFO: human number: 5 -2024-02-05 17:39:13, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:39:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:39:13, INFO: Square width: 10, circle width: 4 -2024-02-05 17:39:13, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:39:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:39:15, INFO: Animation.save using -2024-02-05 17:39:34, INFO: Using device: cpu -2024-02-05 17:39:34, INFO: Loaded RL weights with best VAL -2024-02-05 17:39:34, INFO: Similarity_func: concatenation -2024-02-05 17:39:34, INFO: Layerwise_graph: False -2024-02-05 17:39:34, INFO: Skip_connection: True -2024-02-05 17:39:34, INFO: Number of layers: 1 -2024-02-05 17:39:34, INFO: Similarity_func: concatenation -2024-02-05 17:39:34, INFO: Layerwise_graph: False -2024-02-05 17:39:34, INFO: Skip_connection: True -2024-02-05 17:39:34, INFO: Number of layers: 1 -2024-02-05 17:39:34, INFO: Planning depth: 1 -2024-02-05 17:39:34, INFO: Planning width: 10 -2024-02-05 17:39:34, INFO: Sparse search: None -2024-02-05 17:39:37, INFO: human number: 5 -2024-02-05 17:39:37, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:39:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:39:37, INFO: Square width: 10, circle width: 4 -2024-02-05 17:39:37, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:39:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:39:39, INFO: Animation.save using -2024-02-05 17:39:59, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:41:11, INFO: Using device: cpu -2024-02-05 17:41:11, INFO: Loaded RL weights with best VAL -2024-02-05 17:41:11, INFO: Similarity_func: concatenation -2024-02-05 17:41:11, INFO: Layerwise_graph: False -2024-02-05 17:41:11, INFO: Skip_connection: True -2024-02-05 17:41:12, INFO: Number of layers: 1 -2024-02-05 17:41:12, INFO: Similarity_func: concatenation -2024-02-05 17:41:12, INFO: Layerwise_graph: False -2024-02-05 17:41:12, INFO: Skip_connection: True -2024-02-05 17:41:12, INFO: Number of layers: 1 -2024-02-05 17:41:12, INFO: Planning depth: 1 -2024-02-05 17:41:12, INFO: Planning width: 10 -2024-02-05 17:41:12, INFO: Sparse search: None -2024-02-05 17:41:15, INFO: human number: 5 -2024-02-05 17:41:15, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:41:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:41:15, INFO: Square width: 10, circle width: 4 -2024-02-05 17:41:15, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:41:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:41:16, INFO: Animation.save using -2024-02-05 17:41:37, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:42:15, INFO: Using device: cpu -2024-02-05 17:42:15, INFO: Loaded RL weights with best VAL -2024-02-05 17:42:15, INFO: Similarity_func: concatenation -2024-02-05 17:42:15, INFO: Layerwise_graph: False -2024-02-05 17:42:15, INFO: Skip_connection: True -2024-02-05 17:42:15, INFO: Number of layers: 1 -2024-02-05 17:42:15, INFO: Similarity_func: concatenation -2024-02-05 17:42:15, INFO: Layerwise_graph: False -2024-02-05 17:42:15, INFO: Skip_connection: True -2024-02-05 17:42:15, INFO: Number of layers: 1 -2024-02-05 17:42:15, INFO: Planning depth: 1 -2024-02-05 17:42:15, INFO: Planning width: 10 -2024-02-05 17:42:15, INFO: Sparse search: None -2024-02-05 17:42:19, INFO: human number: 5 -2024-02-05 17:42:19, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:42:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:42:19, INFO: Square width: 10, circle width: 4 -2024-02-05 17:42:19, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:42:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:42:21, INFO: Animation.save using -2024-02-05 17:42:41, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:43:03, INFO: Using device: cpu -2024-02-05 17:43:03, INFO: Loaded RL weights with best VAL -2024-02-05 17:43:03, INFO: Similarity_func: concatenation -2024-02-05 17:43:03, INFO: Layerwise_graph: False -2024-02-05 17:43:03, INFO: Skip_connection: True -2024-02-05 17:43:03, INFO: Number of layers: 1 -2024-02-05 17:43:03, INFO: Similarity_func: concatenation -2024-02-05 17:43:03, INFO: Layerwise_graph: False -2024-02-05 17:43:03, INFO: Skip_connection: True -2024-02-05 17:43:03, INFO: Number of layers: 1 -2024-02-05 17:43:03, INFO: Planning depth: 1 -2024-02-05 17:43:03, INFO: Planning width: 10 -2024-02-05 17:43:03, INFO: Sparse search: None -2024-02-05 17:43:07, INFO: human number: 5 -2024-02-05 17:43:07, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:43:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:43:07, INFO: Square width: 10, circle width: 4 -2024-02-05 17:43:07, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:43:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:43:08, INFO: Animation.save using -2024-02-05 17:43:29, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:47:27, INFO: Using device: cpu -2024-02-05 17:47:27, INFO: Loaded RL weights with best VAL -2024-02-05 17:47:27, INFO: Similarity_func: concatenation -2024-02-05 17:47:27, INFO: Layerwise_graph: False -2024-02-05 17:47:27, INFO: Skip_connection: True -2024-02-05 17:47:27, INFO: Number of layers: 1 -2024-02-05 17:47:27, INFO: Similarity_func: concatenation -2024-02-05 17:47:27, INFO: Layerwise_graph: False -2024-02-05 17:47:27, INFO: Skip_connection: True -2024-02-05 17:47:27, INFO: Number of layers: 1 -2024-02-05 17:47:27, INFO: Planning depth: 1 -2024-02-05 17:47:27, INFO: Planning width: 10 -2024-02-05 17:47:27, INFO: Sparse search: None -2024-02-05 17:47:31, INFO: human number: 5 -2024-02-05 17:47:31, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:47:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:47:31, INFO: Square width: 10, circle width: 4 -2024-02-05 17:47:31, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:47:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:47:32, INFO: Animation.save using -2024-02-05 17:47:53, INFO: Using device: cpu -2024-02-05 17:47:53, INFO: Loaded RL weights with best VAL -2024-02-05 17:47:53, INFO: Similarity_func: concatenation -2024-02-05 17:47:53, INFO: Layerwise_graph: False -2024-02-05 17:47:53, INFO: Skip_connection: True -2024-02-05 17:47:53, INFO: Number of layers: 1 -2024-02-05 17:47:53, INFO: Similarity_func: concatenation -2024-02-05 17:47:53, INFO: Layerwise_graph: False -2024-02-05 17:47:53, INFO: Skip_connection: True -2024-02-05 17:47:53, INFO: Number of layers: 1 -2024-02-05 17:47:53, INFO: Planning depth: 1 -2024-02-05 17:47:53, INFO: Planning width: 10 -2024-02-05 17:47:53, INFO: Sparse search: None -2024-02-05 17:47:56, INFO: human number: 5 -2024-02-05 17:47:56, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:47:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:47:56, INFO: Square width: 10, circle width: 4 -2024-02-05 17:47:56, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:47:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:47:58, INFO: Animation.save using -2024-02-05 17:48:19, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:50:07, INFO: Using device: cpu -2024-02-05 17:50:07, INFO: Loaded RL weights with best VAL -2024-02-05 17:50:07, INFO: Similarity_func: concatenation -2024-02-05 17:50:07, INFO: Layerwise_graph: False -2024-02-05 17:50:07, INFO: Skip_connection: True -2024-02-05 17:50:07, INFO: Number of layers: 1 -2024-02-05 17:50:07, INFO: Similarity_func: concatenation -2024-02-05 17:50:07, INFO: Layerwise_graph: False -2024-02-05 17:50:07, INFO: Skip_connection: True -2024-02-05 17:50:07, INFO: Number of layers: 1 -2024-02-05 17:50:07, INFO: Planning depth: 1 -2024-02-05 17:50:07, INFO: Planning width: 10 -2024-02-05 17:50:07, INFO: Sparse search: None -2024-02-05 17:50:10, INFO: human number: 5 -2024-02-05 17:50:10, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:50:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:50:10, INFO: Square width: 10, circle width: 4 -2024-02-05 17:50:10, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:50:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:50:13, INFO: Animation.save using -2024-02-05 17:50:33, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:52:34, INFO: Using device: cpu -2024-02-05 17:52:34, INFO: Loaded RL weights with best VAL -2024-02-05 17:52:34, INFO: Similarity_func: concatenation -2024-02-05 17:52:34, INFO: Layerwise_graph: False -2024-02-05 17:52:34, INFO: Skip_connection: True -2024-02-05 17:52:34, INFO: Number of layers: 1 -2024-02-05 17:52:34, INFO: Similarity_func: concatenation -2024-02-05 17:52:34, INFO: Layerwise_graph: False -2024-02-05 17:52:34, INFO: Skip_connection: True -2024-02-05 17:52:34, INFO: Number of layers: 1 -2024-02-05 17:52:34, INFO: Planning depth: 1 -2024-02-05 17:52:34, INFO: Planning width: 10 -2024-02-05 17:52:34, INFO: Sparse search: None -2024-02-05 17:52:37, INFO: human number: 5 -2024-02-05 17:52:37, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:52:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:52:37, INFO: Square width: 10, circle width: 4 -2024-02-05 17:52:37, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:52:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:52:38, INFO: Animation.save using -2024-02-05 17:52:59, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-05 17:58:59, INFO: Using device: cpu -2024-02-05 17:58:59, INFO: Loaded RL weights with best VAL -2024-02-05 17:58:59, INFO: Similarity_func: concatenation -2024-02-05 17:58:59, INFO: Layerwise_graph: False -2024-02-05 17:58:59, INFO: Skip_connection: True -2024-02-05 17:58:59, INFO: Number of layers: 1 -2024-02-05 17:58:59, INFO: Similarity_func: concatenation -2024-02-05 17:58:59, INFO: Layerwise_graph: False -2024-02-05 17:58:59, INFO: Skip_connection: True -2024-02-05 17:58:59, INFO: Number of layers: 1 -2024-02-05 17:58:59, INFO: Planning depth: 1 -2024-02-05 17:58:59, INFO: Planning width: 10 -2024-02-05 17:58:59, INFO: Sparse search: None -2024-02-05 17:59:02, INFO: human number: 5 -2024-02-05 17:59:02, INFO: Not randomize human's radius and preferred speed -2024-02-05 17:59:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-05 17:59:02, INFO: Square width: 10, circle width: 4 -2024-02-05 17:59:02, INFO: rotation constraint: 3.141592653589793 -2024-02-05 17:59:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-05 17:59:03, INFO: Animation.save using -2024-02-05 17:59:24, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087109 -2024-02-06 10:03:39, INFO: Using device: cpu -2024-02-06 10:03:39, INFO: Loaded RL weights with best VAL -2024-02-06 10:03:40, INFO: Similarity_func: concatenation -2024-02-06 10:03:40, INFO: Layerwise_graph: False -2024-02-06 10:03:40, INFO: Skip_connection: True -2024-02-06 10:03:40, INFO: Number of layers: 1 -2024-02-06 10:03:40, INFO: Similarity_func: concatenation -2024-02-06 10:03:40, INFO: Layerwise_graph: False -2024-02-06 10:03:40, INFO: Skip_connection: True -2024-02-06 10:03:40, INFO: Number of layers: 1 -2024-02-06 10:03:40, INFO: Planning depth: 1 -2024-02-06 10:03:40, INFO: Planning width: 10 -2024-02-06 10:03:40, INFO: Sparse search: None -2024-02-06 10:05:20, INFO: Using device: cpu -2024-02-06 10:05:20, INFO: Loaded RL weights with best VAL -2024-02-06 10:05:20, INFO: Similarity_func: concatenation -2024-02-06 10:05:20, INFO: Layerwise_graph: False -2024-02-06 10:05:20, INFO: Skip_connection: True -2024-02-06 10:05:20, INFO: Number of layers: 1 -2024-02-06 10:05:20, INFO: Similarity_func: concatenation -2024-02-06 10:05:20, INFO: Layerwise_graph: False -2024-02-06 10:05:20, INFO: Skip_connection: True -2024-02-06 10:05:20, INFO: Number of layers: 1 -2024-02-06 10:05:20, INFO: Planning depth: 1 -2024-02-06 10:05:20, INFO: Planning width: 10 -2024-02-06 10:05:20, INFO: Sparse search: None -2024-02-06 10:05:23, INFO: human number: 5 -2024-02-06 10:05:23, INFO: Not randomize human's radius and preferred speed -2024-02-06 10:05:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 10:05:23, INFO: Square width: 10, circle width: 4 -2024-02-06 10:05:23, INFO: rotation constraint: 3.141592653589793 -2024-02-06 10:05:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 10:11:50, INFO: Using device: cpu -2024-02-06 10:11:50, INFO: Using device: cpu -2024-02-06 10:11:50, INFO: Loaded RL weights with best VAL -2024-02-06 10:11:50, INFO: Loaded RL weights with best VAL -2024-02-06 10:11:51, INFO: Similarity_func: concatenation -2024-02-06 10:11:51, INFO: Layerwise_graph: False -2024-02-06 10:11:51, INFO: Skip_connection: True -2024-02-06 10:11:51, INFO: Similarity_func: concatenation -2024-02-06 10:11:51, INFO: Number of layers: 1 -2024-02-06 10:11:51, INFO: Layerwise_graph: False -2024-02-06 10:11:51, INFO: Skip_connection: True -2024-02-06 10:11:51, INFO: Number of layers: 1 -2024-02-06 10:11:51, INFO: Similarity_func: concatenation -2024-02-06 10:11:51, INFO: Layerwise_graph: False -2024-02-06 10:11:51, INFO: Skip_connection: True -2024-02-06 10:11:51, INFO: Number of layers: 1 -2024-02-06 10:11:51, INFO: Similarity_func: concatenation -2024-02-06 10:11:51, INFO: Layerwise_graph: False -2024-02-06 10:11:51, INFO: Skip_connection: True -2024-02-06 10:11:51, INFO: Number of layers: 1 -2024-02-06 10:11:51, INFO: Planning depth: 1 -2024-02-06 10:11:51, INFO: Planning width: 10 -2024-02-06 10:11:51, INFO: Sparse search: None -2024-02-06 10:11:51, INFO: Planning depth: 1 -2024-02-06 10:11:51, INFO: Planning width: 10 -2024-02-06 10:11:51, INFO: Sparse search: None -2024-02-06 10:13:52, INFO: Using device: cpu -2024-02-06 10:13:52, INFO: Loaded RL weights with best VAL -2024-02-06 10:13:52, INFO: Similarity_func: concatenation -2024-02-06 10:13:52, INFO: Layerwise_graph: False -2024-02-06 10:13:52, INFO: Skip_connection: True -2024-02-06 10:13:52, INFO: Number of layers: 1 -2024-02-06 10:13:52, INFO: Similarity_func: concatenation -2024-02-06 10:13:52, INFO: Layerwise_graph: False -2024-02-06 10:13:52, INFO: Skip_connection: True -2024-02-06 10:13:52, INFO: Number of layers: 1 -2024-02-06 10:13:52, INFO: Planning depth: 1 -2024-02-06 10:13:52, INFO: Planning width: 10 -2024-02-06 10:13:52, INFO: Sparse search: None -2024-02-06 10:14:52, INFO: Using device: cpu -2024-02-06 10:14:52, INFO: Loaded RL weights with best VAL -2024-02-06 10:14:52, INFO: Similarity_func: concatenation -2024-02-06 10:14:52, INFO: Layerwise_graph: False -2024-02-06 10:14:52, INFO: Skip_connection: True -2024-02-06 10:14:52, INFO: Number of layers: 1 -2024-02-06 10:14:52, INFO: Similarity_func: concatenation -2024-02-06 10:14:52, INFO: Layerwise_graph: False -2024-02-06 10:14:52, INFO: Skip_connection: True -2024-02-06 10:14:52, INFO: Number of layers: 1 -2024-02-06 10:14:52, INFO: Planning depth: 1 -2024-02-06 10:14:52, INFO: Planning width: 10 -2024-02-06 10:14:52, INFO: Sparse search: None -2024-02-06 10:16:30, INFO: Using device: cpu -2024-02-06 10:16:30, INFO: Loaded RL weights with best VAL -2024-02-06 10:16:30, INFO: Similarity_func: concatenation -2024-02-06 10:16:30, INFO: Layerwise_graph: False -2024-02-06 10:16:30, INFO: Skip_connection: True -2024-02-06 10:16:30, INFO: Number of layers: 1 -2024-02-06 10:18:23, INFO: Using device: cpu -2024-02-06 10:18:23, INFO: Loaded RL weights with best VAL -2024-02-06 10:21:33, INFO: TEST has success rate: 0.991, collision rate: 0.009, nav time: 11.317, total reward: 1759.4677, average return: 0.6753 -2024-02-06 10:21:33, INFO: Frequency of being in danger: 0.015 and average min separate distance in danger: 0.16 -2024-02-06 10:21:33, INFO: discomfor nums is 714 and return is 0.6733 and length is 45072 -2024-02-06 10:21:33, INFO: Collision cases: 96 242 290 601 603 707 928 969 979 -2024-02-06 10:21:33, INFO: Timeout cases: -2024-02-06 10:25:05, INFO: Using device: cpu -2024-02-06 10:25:05, INFO: Loaded RL weights with best VAL -2024-02-06 10:25:05, INFO: Similarity_func: concatenation -2024-02-06 10:25:05, INFO: Layerwise_graph: False -2024-02-06 10:25:05, INFO: Skip_connection: True -2024-02-06 10:25:05, INFO: Number of layers: 1 -2024-02-06 10:25:05, INFO: Similarity_func: concatenation -2024-02-06 10:25:05, INFO: Layerwise_graph: False -2024-02-06 10:25:05, INFO: Skip_connection: True -2024-02-06 10:25:05, INFO: Number of layers: 1 -2024-02-06 10:25:05, INFO: Planning depth: 1 -2024-02-06 10:25:05, INFO: Planning width: 10 -2024-02-06 10:25:05, INFO: Sparse search: None -2024-02-06 10:25:07, INFO: human number: 5 -2024-02-06 10:25:07, INFO: Not randomize human's radius and preferred speed -2024-02-06 10:25:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 10:25:07, INFO: Square width: 10, circle width: 4 -2024-02-06 10:25:07, INFO: rotation constraint: 3.141592653589793 -2024-02-06 10:25:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 10:25:58, INFO: Using device: cpu -2024-02-06 10:25:58, INFO: Loaded RL weights with best VAL -2024-02-06 10:25:58, INFO: Similarity_func: concatenation -2024-02-06 10:25:58, INFO: Layerwise_graph: False -2024-02-06 10:25:58, INFO: Skip_connection: True -2024-02-06 10:25:58, INFO: Number of layers: 1 -2024-02-06 10:25:58, INFO: Similarity_func: concatenation -2024-02-06 10:25:58, INFO: Layerwise_graph: False -2024-02-06 10:25:58, INFO: Skip_connection: True -2024-02-06 10:25:58, INFO: Number of layers: 1 -2024-02-06 10:25:58, INFO: Planning depth: 1 -2024-02-06 10:25:58, INFO: Planning width: 10 -2024-02-06 10:25:58, INFO: Sparse search: None -2024-02-06 10:26:01, INFO: human number: 5 -2024-02-06 10:26:01, INFO: Not randomize human's radius and preferred speed -2024-02-06 10:26:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 10:26:01, INFO: Square width: 10, circle width: 4 -2024-02-06 10:26:01, INFO: rotation constraint: 3.141592653589793 -2024-02-06 10:26:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 10:34:29, INFO: TEST has success rate: 0.981, collision rate: 0.019, nav time: 10.178, total reward: 1713.6735, average return: 0.7017 -2024-02-06 10:34:29, INFO: Frequency of being in danger: 0.031 and average min separate distance in danger: 0.16 -2024-02-06 10:34:29, INFO: discomfor nums is 1271 and return is 0.7058 and length is 40376 -2024-02-06 10:34:29, INFO: Collision cases: 145 214 283 296 303 345 487 505 554 659 667 702 715 728 754 765 925 957 971 -2024-02-06 10:34:29, INFO: Timeout cases: -2024-02-06 10:34:39, INFO: TEST has success rate: 0.972, collision rate: 0.028, nav time: 9.469, total reward: 1676.1909, average return: 0.7010 -2024-02-06 10:34:39, INFO: Frequency of being in danger: 0.044 and average min separate distance in danger: 0.15 -2024-02-06 10:34:39, INFO: discomfor nums is 1661 and return is 0.7121 and length is 37383 -2024-02-06 10:34:39, INFO: Collision cases: 80 95 96 170 244 254 263 269 276 345 353 409 474 501 507 583 614 693 702 713 781 829 850 889 901 971 985 993 -2024-02-06 10:34:39, INFO: Timeout cases: -2024-02-06 10:39:08, INFO: Using device: cpu -2024-02-06 10:39:08, INFO: Loaded RL weights with best VAL -2024-02-06 10:39:08, INFO: Similarity_func: concatenation -2024-02-06 10:39:08, INFO: Layerwise_graph: False -2024-02-06 10:39:08, INFO: Skip_connection: True -2024-02-06 10:39:08, INFO: Number of layers: 1 -2024-02-06 10:39:08, INFO: Similarity_func: concatenation -2024-02-06 10:39:08, INFO: Layerwise_graph: False -2024-02-06 10:39:08, INFO: Skip_connection: True -2024-02-06 10:39:08, INFO: Number of layers: 1 -2024-02-06 10:39:08, INFO: Planning depth: 1 -2024-02-06 10:39:08, INFO: Planning width: 10 -2024-02-06 10:39:08, INFO: Sparse search: None -2024-02-06 10:41:30, INFO: Using device: cpu -2024-02-06 10:41:30, INFO: Loaded RL weights with best VAL -2024-02-06 10:41:30, INFO: Similarity_func: concatenation -2024-02-06 10:41:30, INFO: Layerwise_graph: False -2024-02-06 10:41:30, INFO: Skip_connection: True -2024-02-06 10:41:30, INFO: Number of layers: 1 -2024-02-06 10:41:30, INFO: Similarity_func: concatenation -2024-02-06 10:41:30, INFO: Layerwise_graph: False -2024-02-06 10:41:30, INFO: Skip_connection: True -2024-02-06 10:41:30, INFO: Number of layers: 1 -2024-02-06 10:41:30, INFO: Planning depth: 1 -2024-02-06 10:41:30, INFO: Planning width: 10 -2024-02-06 10:41:30, INFO: Sparse search: None -2024-02-06 10:41:32, INFO: human number: 5 -2024-02-06 10:41:32, INFO: Not randomize human's radius and preferred speed -2024-02-06 10:41:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 10:41:32, INFO: Square width: 10, circle width: 4 -2024-02-06 10:41:32, INFO: rotation constraint: 3.141592653589793 -2024-02-06 10:41:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 10:55:43, INFO: TEST has success rate: 0.998, collision rate: 0.002, nav time: 9.865, total reward: 1770.5528, average return: 0.7215 -2024-02-06 10:55:43, INFO: Frequency of being in danger: 0.020 and average min separate distance in danger: 0.16 -2024-02-06 10:55:43, INFO: discomfor nums is 786 and return is 0.7186 and length is 39387 -2024-02-06 10:55:43, INFO: Collision cases: 170 505 -2024-02-06 10:55:43, INFO: Timeout cases: -2024-02-06 11:55:48, INFO: Using device: cpu -2024-02-06 11:55:48, INFO: Loaded RL weights with best VAL -2024-02-06 11:55:48, INFO: Similarity_func: concatenation -2024-02-06 11:55:48, INFO: Layerwise_graph: False -2024-02-06 11:55:48, INFO: Skip_connection: True -2024-02-06 11:55:48, INFO: Number of layers: 1 -2024-02-06 11:55:48, INFO: Similarity_func: concatenation -2024-02-06 11:55:48, INFO: Layerwise_graph: False -2024-02-06 11:55:48, INFO: Skip_connection: True -2024-02-06 11:55:48, INFO: Number of layers: 1 -2024-02-06 11:55:48, INFO: Planning depth: 1 -2024-02-06 11:55:48, INFO: Planning width: 10 -2024-02-06 11:55:48, INFO: Sparse search: None -2024-02-06 11:56:07, INFO: Using device: cpu -2024-02-06 11:56:07, INFO: Loaded RL weights with best VAL -2024-02-06 11:56:07, INFO: Similarity_func: concatenation -2024-02-06 11:56:07, INFO: Layerwise_graph: False -2024-02-06 11:56:07, INFO: Skip_connection: True -2024-02-06 11:56:07, INFO: Number of layers: 1 -2024-02-06 11:56:07, INFO: Similarity_func: concatenation -2024-02-06 11:56:07, INFO: Layerwise_graph: False -2024-02-06 11:56:07, INFO: Skip_connection: True -2024-02-06 11:56:07, INFO: Number of layers: 1 -2024-02-06 11:56:07, INFO: Planning depth: 1 -2024-02-06 11:56:07, INFO: Planning width: 10 -2024-02-06 11:56:07, INFO: Sparse search: None -2024-02-06 13:16:42, INFO: Using device: cpu -2024-02-06 13:16:42, INFO: Loaded RL weights with best VAL -2024-02-06 13:16:43, INFO: Similarity_func: concatenation -2024-02-06 13:16:43, INFO: Layerwise_graph: False -2024-02-06 13:16:43, INFO: Skip_connection: True -2024-02-06 13:16:43, INFO: Number of layers: 1 -2024-02-06 13:16:43, INFO: Similarity_func: concatenation -2024-02-06 13:16:43, INFO: Layerwise_graph: False -2024-02-06 13:16:43, INFO: Skip_connection: True -2024-02-06 13:16:43, INFO: Number of layers: 1 -2024-02-06 13:16:43, INFO: Planning depth: 1 -2024-02-06 13:16:43, INFO: Planning width: 10 -2024-02-06 13:16:43, INFO: Sparse search: None -2024-02-06 13:18:07, INFO: Using device: cpu -2024-02-06 13:18:07, INFO: Loaded RL weights with best VAL -2024-02-06 13:18:08, INFO: Similarity_func: concatenation -2024-02-06 13:18:08, INFO: Layerwise_graph: False -2024-02-06 13:18:08, INFO: Skip_connection: True -2024-02-06 13:18:08, INFO: Number of layers: 1 -2024-02-06 13:18:08, INFO: Similarity_func: concatenation -2024-02-06 13:18:08, INFO: Layerwise_graph: False -2024-02-06 13:18:08, INFO: Skip_connection: True -2024-02-06 13:18:08, INFO: Number of layers: 1 -2024-02-06 13:18:08, INFO: Planning depth: 1 -2024-02-06 13:18:08, INFO: Planning width: 10 -2024-02-06 13:18:08, INFO: Sparse search: None -2024-02-06 13:21:08, INFO: Using device: cpu -2024-02-06 13:21:08, INFO: Loaded RL weights with best VAL -2024-02-06 13:21:08, INFO: Similarity_func: concatenation -2024-02-06 13:21:08, INFO: Layerwise_graph: False -2024-02-06 13:21:08, INFO: Skip_connection: True -2024-02-06 13:21:08, INFO: Number of layers: 1 -2024-02-06 13:21:08, INFO: Similarity_func: concatenation -2024-02-06 13:21:08, INFO: Layerwise_graph: False -2024-02-06 13:21:08, INFO: Skip_connection: True -2024-02-06 13:21:08, INFO: Number of layers: 1 -2024-02-06 13:21:08, INFO: Planning depth: 1 -2024-02-06 13:21:08, INFO: Planning width: 10 -2024-02-06 13:21:08, INFO: Sparse search: None -2024-02-06 13:21:10, INFO: human number: 5 -2024-02-06 13:21:10, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:21:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:21:10, INFO: Square width: 10, circle width: 4 -2024-02-06 13:21:10, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:21:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:23:07, INFO: Using device: cpu -2024-02-06 13:23:07, INFO: Loaded RL weights with best VAL -2024-02-06 13:23:07, INFO: Similarity_func: concatenation -2024-02-06 13:23:07, INFO: Layerwise_graph: False -2024-02-06 13:23:07, INFO: Skip_connection: True -2024-02-06 13:23:07, INFO: Number of layers: 1 -2024-02-06 13:23:07, INFO: Similarity_func: concatenation -2024-02-06 13:23:07, INFO: Layerwise_graph: False -2024-02-06 13:23:07, INFO: Skip_connection: True -2024-02-06 13:23:07, INFO: Number of layers: 1 -2024-02-06 13:23:07, INFO: Planning depth: 1 -2024-02-06 13:23:07, INFO: Planning width: 10 -2024-02-06 13:23:07, INFO: Sparse search: None -2024-02-06 13:23:10, INFO: human number: 5 -2024-02-06 13:23:10, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:23:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:23:10, INFO: Square width: 10, circle width: 4 -2024-02-06 13:23:10, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:23:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:24:43, INFO: Using device: cpu -2024-02-06 13:24:43, INFO: Loaded RL weights with best VAL -2024-02-06 13:24:43, INFO: Similarity_func: concatenation -2024-02-06 13:24:43, INFO: Layerwise_graph: False -2024-02-06 13:24:43, INFO: Skip_connection: True -2024-02-06 13:24:43, INFO: Number of layers: 1 -2024-02-06 13:24:43, INFO: Similarity_func: concatenation -2024-02-06 13:24:43, INFO: Layerwise_graph: False -2024-02-06 13:24:43, INFO: Skip_connection: True -2024-02-06 13:24:43, INFO: Number of layers: 1 -2024-02-06 13:24:43, INFO: Planning depth: 1 -2024-02-06 13:24:43, INFO: Planning width: 10 -2024-02-06 13:24:43, INFO: Sparse search: None -2024-02-06 13:24:46, INFO: human number: 5 -2024-02-06 13:24:46, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:24:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:24:46, INFO: Square width: 10, circle width: 4 -2024-02-06 13:24:46, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:24:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:26:02, INFO: Using device: cpu -2024-02-06 13:26:02, INFO: Loaded RL weights with best VAL -2024-02-06 13:26:02, INFO: Similarity_func: concatenation -2024-02-06 13:26:02, INFO: Layerwise_graph: False -2024-02-06 13:26:02, INFO: Skip_connection: True -2024-02-06 13:26:02, INFO: Number of layers: 1 -2024-02-06 13:26:02, INFO: Similarity_func: concatenation -2024-02-06 13:26:02, INFO: Layerwise_graph: False -2024-02-06 13:26:02, INFO: Skip_connection: True -2024-02-06 13:26:02, INFO: Number of layers: 1 -2024-02-06 13:26:02, INFO: Planning depth: 1 -2024-02-06 13:26:02, INFO: Planning width: 10 -2024-02-06 13:26:02, INFO: Sparse search: None -2024-02-06 13:26:05, INFO: human number: 5 -2024-02-06 13:26:05, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:26:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:26:05, INFO: Square width: 10, circle width: 4 -2024-02-06 13:26:05, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:26:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:26:49, INFO: Using device: cpu -2024-02-06 13:26:49, INFO: Loaded RL weights with best VAL -2024-02-06 13:26:49, INFO: Similarity_func: concatenation -2024-02-06 13:26:49, INFO: Layerwise_graph: False -2024-02-06 13:26:49, INFO: Skip_connection: True -2024-02-06 13:26:49, INFO: Number of layers: 1 -2024-02-06 13:26:49, INFO: Similarity_func: concatenation -2024-02-06 13:26:49, INFO: Layerwise_graph: False -2024-02-06 13:26:49, INFO: Skip_connection: True -2024-02-06 13:26:49, INFO: Number of layers: 1 -2024-02-06 13:26:49, INFO: Planning depth: 1 -2024-02-06 13:26:49, INFO: Planning width: 10 -2024-02-06 13:26:49, INFO: Sparse search: None -2024-02-06 13:26:52, INFO: human number: 5 -2024-02-06 13:26:52, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:26:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:26:52, INFO: Square width: 10, circle width: 4 -2024-02-06 13:26:52, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:26:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:27:23, INFO: Using device: cpu -2024-02-06 13:27:23, INFO: Loaded RL weights with best VAL -2024-02-06 13:27:23, INFO: Similarity_func: concatenation -2024-02-06 13:27:23, INFO: Layerwise_graph: False -2024-02-06 13:27:23, INFO: Skip_connection: True -2024-02-06 13:27:23, INFO: Number of layers: 1 -2024-02-06 13:27:23, INFO: Similarity_func: concatenation -2024-02-06 13:27:23, INFO: Layerwise_graph: False -2024-02-06 13:27:23, INFO: Skip_connection: True -2024-02-06 13:27:23, INFO: Number of layers: 1 -2024-02-06 13:27:23, INFO: Planning depth: 1 -2024-02-06 13:27:23, INFO: Planning width: 10 -2024-02-06 13:27:23, INFO: Sparse search: None -2024-02-06 13:27:26, INFO: human number: 5 -2024-02-06 13:27:26, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:27:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:27:26, INFO: Square width: 10, circle width: 4 -2024-02-06 13:27:26, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:27:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:28:16, INFO: Using device: cpu -2024-02-06 13:28:16, INFO: Loaded RL weights with best VAL -2024-02-06 13:28:16, INFO: Similarity_func: concatenation -2024-02-06 13:28:16, INFO: Layerwise_graph: False -2024-02-06 13:28:16, INFO: Skip_connection: True -2024-02-06 13:28:16, INFO: Number of layers: 1 -2024-02-06 13:28:16, INFO: Similarity_func: concatenation -2024-02-06 13:28:16, INFO: Layerwise_graph: False -2024-02-06 13:28:16, INFO: Skip_connection: True -2024-02-06 13:28:16, INFO: Number of layers: 1 -2024-02-06 13:28:16, INFO: Planning depth: 1 -2024-02-06 13:28:16, INFO: Planning width: 10 -2024-02-06 13:28:16, INFO: Sparse search: None -2024-02-06 13:28:19, INFO: human number: 5 -2024-02-06 13:28:19, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:28:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:28:19, INFO: Square width: 10, circle width: 4 -2024-02-06 13:28:19, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:28:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:28:35, INFO: Using device: cpu -2024-02-06 13:28:35, INFO: Loaded RL weights with best VAL -2024-02-06 13:28:35, INFO: Similarity_func: concatenation -2024-02-06 13:28:35, INFO: Layerwise_graph: False -2024-02-06 13:28:35, INFO: Skip_connection: True -2024-02-06 13:28:35, INFO: Number of layers: 1 -2024-02-06 13:28:35, INFO: Similarity_func: concatenation -2024-02-06 13:28:35, INFO: Layerwise_graph: False -2024-02-06 13:28:35, INFO: Skip_connection: True -2024-02-06 13:28:35, INFO: Number of layers: 1 -2024-02-06 13:28:35, INFO: Planning depth: 1 -2024-02-06 13:28:35, INFO: Planning width: 10 -2024-02-06 13:28:35, INFO: Sparse search: None -2024-02-06 13:28:38, INFO: human number: 5 -2024-02-06 13:28:38, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:28:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:28:38, INFO: Square width: 10, circle width: 4 -2024-02-06 13:28:38, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:28:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:29:12, INFO: Using device: cpu -2024-02-06 13:29:12, INFO: Loaded RL weights with best VAL -2024-02-06 13:29:12, INFO: Similarity_func: concatenation -2024-02-06 13:29:12, INFO: Layerwise_graph: False -2024-02-06 13:29:12, INFO: Skip_connection: True -2024-02-06 13:29:12, INFO: Number of layers: 1 -2024-02-06 13:29:12, INFO: Similarity_func: concatenation -2024-02-06 13:29:12, INFO: Layerwise_graph: False -2024-02-06 13:29:12, INFO: Skip_connection: True -2024-02-06 13:29:12, INFO: Number of layers: 1 -2024-02-06 13:29:12, INFO: Planning depth: 1 -2024-02-06 13:29:12, INFO: Planning width: 10 -2024-02-06 13:29:12, INFO: Sparse search: None -2024-02-06 13:29:15, INFO: human number: 5 -2024-02-06 13:29:15, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:29:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:29:15, INFO: Square width: 10, circle width: 4 -2024-02-06 13:29:15, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:29:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:29:28, INFO: Using device: cpu -2024-02-06 13:29:28, INFO: Loaded RL weights with best VAL -2024-02-06 13:29:28, INFO: Similarity_func: concatenation -2024-02-06 13:29:28, INFO: Layerwise_graph: False -2024-02-06 13:29:28, INFO: Skip_connection: True -2024-02-06 13:29:28, INFO: Number of layers: 1 -2024-02-06 13:29:28, INFO: Similarity_func: concatenation -2024-02-06 13:29:28, INFO: Layerwise_graph: False -2024-02-06 13:29:28, INFO: Skip_connection: True -2024-02-06 13:29:28, INFO: Number of layers: 1 -2024-02-06 13:29:28, INFO: Planning depth: 1 -2024-02-06 13:29:28, INFO: Planning width: 10 -2024-02-06 13:29:28, INFO: Sparse search: None -2024-02-06 13:29:31, INFO: human number: 5 -2024-02-06 13:29:31, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:29:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:29:31, INFO: Square width: 10, circle width: 4 -2024-02-06 13:29:31, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:29:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:33:09, INFO: Using device: cpu -2024-02-06 13:33:09, INFO: Loaded RL weights with best VAL -2024-02-06 13:33:09, INFO: Similarity_func: concatenation -2024-02-06 13:33:09, INFO: Layerwise_graph: False -2024-02-06 13:33:09, INFO: Skip_connection: True -2024-02-06 13:33:09, INFO: Number of layers: 1 -2024-02-06 13:33:09, INFO: Similarity_func: concatenation -2024-02-06 13:33:09, INFO: Layerwise_graph: False -2024-02-06 13:33:09, INFO: Skip_connection: True -2024-02-06 13:33:09, INFO: Number of layers: 1 -2024-02-06 13:33:09, INFO: Planning depth: 1 -2024-02-06 13:33:09, INFO: Planning width: 10 -2024-02-06 13:33:09, INFO: Sparse search: None -2024-02-06 13:33:12, INFO: human number: 5 -2024-02-06 13:33:12, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:33:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:33:12, INFO: Square width: 10, circle width: 4 -2024-02-06 13:33:12, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:33:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:33:38, INFO: Using device: cpu -2024-02-06 13:33:38, INFO: Loaded RL weights with best VAL -2024-02-06 13:33:38, INFO: Similarity_func: concatenation -2024-02-06 13:33:38, INFO: Layerwise_graph: False -2024-02-06 13:33:38, INFO: Skip_connection: True -2024-02-06 13:33:38, INFO: Number of layers: 1 -2024-02-06 13:33:38, INFO: Similarity_func: concatenation -2024-02-06 13:33:38, INFO: Layerwise_graph: False -2024-02-06 13:33:38, INFO: Skip_connection: True -2024-02-06 13:33:38, INFO: Number of layers: 1 -2024-02-06 13:33:38, INFO: Planning depth: 1 -2024-02-06 13:33:38, INFO: Planning width: 10 -2024-02-06 13:33:38, INFO: Sparse search: None -2024-02-06 13:33:41, INFO: human number: 5 -2024-02-06 13:33:41, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:33:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:33:41, INFO: Square width: 10, circle width: 4 -2024-02-06 13:33:41, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:33:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:34:10, INFO: Using device: cpu -2024-02-06 13:34:10, INFO: Loaded RL weights with best VAL -2024-02-06 13:34:10, INFO: Similarity_func: concatenation -2024-02-06 13:34:10, INFO: Layerwise_graph: False -2024-02-06 13:34:10, INFO: Skip_connection: True -2024-02-06 13:34:10, INFO: Number of layers: 1 -2024-02-06 13:34:10, INFO: Similarity_func: concatenation -2024-02-06 13:34:10, INFO: Layerwise_graph: False -2024-02-06 13:34:10, INFO: Skip_connection: True -2024-02-06 13:34:10, INFO: Number of layers: 1 -2024-02-06 13:34:10, INFO: Planning depth: 1 -2024-02-06 13:34:10, INFO: Planning width: 10 -2024-02-06 13:34:10, INFO: Sparse search: None -2024-02-06 13:34:13, INFO: human number: 5 -2024-02-06 13:34:13, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:34:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:34:13, INFO: Square width: 10, circle width: 4 -2024-02-06 13:34:13, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:34:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:34:24, INFO: Using device: cpu -2024-02-06 13:34:24, INFO: Loaded RL weights with best VAL -2024-02-06 13:34:24, INFO: Similarity_func: concatenation -2024-02-06 13:34:24, INFO: Layerwise_graph: False -2024-02-06 13:34:24, INFO: Skip_connection: True -2024-02-06 13:34:24, INFO: Number of layers: 1 -2024-02-06 13:34:24, INFO: Similarity_func: concatenation -2024-02-06 13:34:24, INFO: Layerwise_graph: False -2024-02-06 13:34:24, INFO: Skip_connection: True -2024-02-06 13:34:24, INFO: Number of layers: 1 -2024-02-06 13:34:24, INFO: Planning depth: 1 -2024-02-06 13:34:24, INFO: Planning width: 10 -2024-02-06 13:34:24, INFO: Sparse search: None -2024-02-06 13:34:27, INFO: human number: 5 -2024-02-06 13:34:27, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:34:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:34:27, INFO: Square width: 10, circle width: 4 -2024-02-06 13:34:27, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:34:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:34:47, INFO: Using device: cpu -2024-02-06 13:34:47, INFO: Loaded RL weights with best VAL -2024-02-06 13:34:47, INFO: Similarity_func: concatenation -2024-02-06 13:34:47, INFO: Layerwise_graph: False -2024-02-06 13:34:47, INFO: Skip_connection: True -2024-02-06 13:34:47, INFO: Number of layers: 1 -2024-02-06 13:34:47, INFO: Similarity_func: concatenation -2024-02-06 13:34:47, INFO: Layerwise_graph: False -2024-02-06 13:34:47, INFO: Skip_connection: True -2024-02-06 13:34:47, INFO: Number of layers: 1 -2024-02-06 13:34:47, INFO: Planning depth: 1 -2024-02-06 13:34:47, INFO: Planning width: 10 -2024-02-06 13:34:47, INFO: Sparse search: None -2024-02-06 13:34:50, INFO: human number: 5 -2024-02-06 13:34:50, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:34:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:34:50, INFO: Square width: 10, circle width: 4 -2024-02-06 13:34:50, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:34:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:36:07, INFO: Using device: cpu -2024-02-06 13:36:07, INFO: Loaded RL weights with best VAL -2024-02-06 13:36:07, INFO: Similarity_func: concatenation -2024-02-06 13:36:07, INFO: Layerwise_graph: False -2024-02-06 13:36:07, INFO: Skip_connection: True -2024-02-06 13:36:07, INFO: Number of layers: 1 -2024-02-06 13:36:07, INFO: Similarity_func: concatenation -2024-02-06 13:36:07, INFO: Layerwise_graph: False -2024-02-06 13:36:07, INFO: Skip_connection: True -2024-02-06 13:36:07, INFO: Number of layers: 1 -2024-02-06 13:36:07, INFO: Planning depth: 1 -2024-02-06 13:36:07, INFO: Planning width: 10 -2024-02-06 13:36:07, INFO: Sparse search: None -2024-02-06 13:36:10, INFO: human number: 5 -2024-02-06 13:36:10, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:36:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:36:10, INFO: Square width: 10, circle width: 4 -2024-02-06 13:36:10, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:36:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:36:54, INFO: Using device: cpu -2024-02-06 13:36:54, INFO: Loaded RL weights with best VAL -2024-02-06 13:36:54, INFO: Similarity_func: concatenation -2024-02-06 13:36:54, INFO: Layerwise_graph: False -2024-02-06 13:36:54, INFO: Skip_connection: True -2024-02-06 13:36:54, INFO: Number of layers: 1 -2024-02-06 13:36:54, INFO: Similarity_func: concatenation -2024-02-06 13:36:54, INFO: Layerwise_graph: False -2024-02-06 13:36:54, INFO: Skip_connection: True -2024-02-06 13:36:54, INFO: Number of layers: 1 -2024-02-06 13:36:54, INFO: Planning depth: 1 -2024-02-06 13:36:54, INFO: Planning width: 10 -2024-02-06 13:36:54, INFO: Sparse search: None -2024-02-06 13:36:57, INFO: human number: 5 -2024-02-06 13:36:57, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:36:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:36:57, INFO: Square width: 10, circle width: 4 -2024-02-06 13:36:57, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:36:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:40:08, INFO: Using device: cpu -2024-02-06 13:40:08, INFO: Loaded RL weights with best VAL -2024-02-06 13:40:08, INFO: Similarity_func: concatenation -2024-02-06 13:40:08, INFO: Layerwise_graph: False -2024-02-06 13:40:08, INFO: Skip_connection: True -2024-02-06 13:40:08, INFO: Number of layers: 1 -2024-02-06 13:40:08, INFO: Similarity_func: concatenation -2024-02-06 13:40:08, INFO: Layerwise_graph: False -2024-02-06 13:40:08, INFO: Skip_connection: True -2024-02-06 13:40:08, INFO: Number of layers: 1 -2024-02-06 13:40:08, INFO: Planning depth: 1 -2024-02-06 13:40:08, INFO: Planning width: 10 -2024-02-06 13:40:08, INFO: Sparse search: None -2024-02-06 13:40:11, INFO: human number: 5 -2024-02-06 13:40:11, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:40:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:40:11, INFO: Square width: 10, circle width: 4 -2024-02-06 13:40:11, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:40:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:40:27, INFO: Animation.save using -2024-02-06 13:40:56, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.983853 -2024-02-06 13:44:25, INFO: Using device: cpu -2024-02-06 13:44:25, INFO: Loaded RL weights with best VAL -2024-02-06 13:44:25, INFO: Similarity_func: concatenation -2024-02-06 13:44:25, INFO: Layerwise_graph: False -2024-02-06 13:44:25, INFO: Skip_connection: True -2024-02-06 13:44:25, INFO: Number of layers: 1 -2024-02-06 13:44:25, INFO: Similarity_func: concatenation -2024-02-06 13:44:25, INFO: Layerwise_graph: False -2024-02-06 13:44:25, INFO: Skip_connection: True -2024-02-06 13:44:25, INFO: Number of layers: 1 -2024-02-06 13:44:25, INFO: Planning depth: 1 -2024-02-06 13:44:25, INFO: Planning width: 10 -2024-02-06 13:44:25, INFO: Sparse search: None -2024-02-06 13:44:28, INFO: human number: 5 -2024-02-06 13:44:28, INFO: Not randomize human's radius and preferred speed -2024-02-06 13:44:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 13:44:28, INFO: Square width: 10, circle width: 4 -2024-02-06 13:44:28, INFO: rotation constraint: 3.141592653589793 -2024-02-06 13:44:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 13:44:30, INFO: Animation.save using -2024-02-06 13:44:54, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 14:14:02, INFO: Using device: cpu -2024-02-06 14:14:02, INFO: Loaded RL weights with best VAL -2024-02-06 14:14:02, INFO: Similarity_func: concatenation -2024-02-06 14:14:02, INFO: Layerwise_graph: False -2024-02-06 14:14:02, INFO: Skip_connection: True -2024-02-06 14:14:02, INFO: Number of layers: 1 -2024-02-06 14:14:02, INFO: Similarity_func: concatenation -2024-02-06 14:14:02, INFO: Layerwise_graph: False -2024-02-06 14:14:02, INFO: Skip_connection: True -2024-02-06 14:14:02, INFO: Number of layers: 1 -2024-02-06 14:14:02, INFO: Planning depth: 1 -2024-02-06 14:14:02, INFO: Planning width: 10 -2024-02-06 14:14:02, INFO: Sparse search: None -2024-02-06 14:14:05, INFO: human number: 5 -2024-02-06 14:14:05, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:14:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:14:05, INFO: Square width: 10, circle width: 4 -2024-02-06 14:14:05, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:14:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:14:27, INFO: Using device: cpu -2024-02-06 14:14:27, INFO: Loaded RL weights with best VAL -2024-02-06 14:14:27, INFO: Similarity_func: concatenation -2024-02-06 14:14:27, INFO: Layerwise_graph: False -2024-02-06 14:14:27, INFO: Skip_connection: True -2024-02-06 14:14:27, INFO: Number of layers: 1 -2024-02-06 14:14:27, INFO: Similarity_func: concatenation -2024-02-06 14:14:27, INFO: Layerwise_graph: False -2024-02-06 14:14:27, INFO: Skip_connection: True -2024-02-06 14:14:27, INFO: Number of layers: 1 -2024-02-06 14:14:27, INFO: Planning depth: 1 -2024-02-06 14:14:27, INFO: Planning width: 10 -2024-02-06 14:14:27, INFO: Sparse search: None -2024-02-06 14:14:29, INFO: human number: 5 -2024-02-06 14:14:29, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:14:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:14:29, INFO: Square width: 10, circle width: 4 -2024-02-06 14:14:29, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:14:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:14:31, INFO: Animation.save using -2024-02-06 14:14:34, INFO: Animation.save using -2024-02-06 14:14:59, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 14:18:05, INFO: Using device: cpu -2024-02-06 14:18:05, INFO: Loaded RL weights with best VAL -2024-02-06 14:18:05, INFO: Similarity_func: concatenation -2024-02-06 14:18:05, INFO: Layerwise_graph: False -2024-02-06 14:18:05, INFO: Skip_connection: True -2024-02-06 14:18:05, INFO: Number of layers: 1 -2024-02-06 14:18:05, INFO: Similarity_func: concatenation -2024-02-06 14:18:05, INFO: Layerwise_graph: False -2024-02-06 14:18:05, INFO: Skip_connection: True -2024-02-06 14:18:05, INFO: Number of layers: 1 -2024-02-06 14:18:05, INFO: Planning depth: 1 -2024-02-06 14:18:05, INFO: Planning width: 10 -2024-02-06 14:18:05, INFO: Sparse search: None -2024-02-06 14:19:22, INFO: Using device: cpu -2024-02-06 14:19:22, INFO: Loaded RL weights with best VAL -2024-02-06 14:19:22, INFO: Similarity_func: concatenation -2024-02-06 14:19:22, INFO: Layerwise_graph: False -2024-02-06 14:19:22, INFO: Skip_connection: True -2024-02-06 14:19:22, INFO: Number of layers: 1 -2024-02-06 14:19:22, INFO: Similarity_func: concatenation -2024-02-06 14:19:22, INFO: Layerwise_graph: False -2024-02-06 14:19:22, INFO: Skip_connection: True -2024-02-06 14:19:22, INFO: Number of layers: 1 -2024-02-06 14:19:22, INFO: Planning depth: 1 -2024-02-06 14:19:22, INFO: Planning width: 10 -2024-02-06 14:19:22, INFO: Sparse search: None -2024-02-06 14:19:25, INFO: human number: 5 -2024-02-06 14:19:25, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:19:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:19:25, INFO: Square width: 10, circle width: 4 -2024-02-06 14:19:25, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:19:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:19:26, INFO: Animation.save using -2024-02-06 14:19:30, INFO: Animation.save using -2024-02-06 14:19:47, INFO: Using device: cpu -2024-02-06 14:19:47, INFO: Loaded RL weights with best VAL -2024-02-06 14:19:47, INFO: Similarity_func: concatenation -2024-02-06 14:19:47, INFO: Layerwise_graph: False -2024-02-06 14:19:47, INFO: Skip_connection: True -2024-02-06 14:19:47, INFO: Number of layers: 1 -2024-02-06 14:19:47, INFO: Similarity_func: concatenation -2024-02-06 14:19:47, INFO: Layerwise_graph: False -2024-02-06 14:19:47, INFO: Skip_connection: True -2024-02-06 14:19:47, INFO: Number of layers: 1 -2024-02-06 14:19:47, INFO: Planning depth: 1 -2024-02-06 14:19:47, INFO: Planning width: 10 -2024-02-06 14:19:47, INFO: Sparse search: None -2024-02-06 14:19:50, INFO: human number: 5 -2024-02-06 14:19:50, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:19:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:19:50, INFO: Square width: 10, circle width: 4 -2024-02-06 14:19:50, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:19:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:19:52, INFO: Animation.save using -2024-02-06 14:19:55, INFO: Animation.save using -2024-02-06 14:20:20, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 14:51:37, INFO: Using device: cpu -2024-02-06 14:51:37, INFO: Loaded RL weights with best VAL -2024-02-06 14:51:37, INFO: Similarity_func: concatenation -2024-02-06 14:51:37, INFO: Layerwise_graph: False -2024-02-06 14:51:37, INFO: Skip_connection: True -2024-02-06 14:51:37, INFO: Number of layers: 1 -2024-02-06 14:51:37, INFO: Similarity_func: concatenation -2024-02-06 14:51:37, INFO: Layerwise_graph: False -2024-02-06 14:51:37, INFO: Skip_connection: True -2024-02-06 14:51:37, INFO: Number of layers: 1 -2024-02-06 14:51:37, INFO: Planning depth: 1 -2024-02-06 14:51:37, INFO: Planning width: 10 -2024-02-06 14:51:37, INFO: Sparse search: None -2024-02-06 14:51:40, INFO: human number: 5 -2024-02-06 14:51:40, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:51:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:51:40, INFO: Square width: 10, circle width: 4 -2024-02-06 14:51:40, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:51:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:51:41, INFO: Animation.save using -2024-02-06 14:51:45, INFO: Animation.save using -2024-02-06 14:52:09, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 14:53:53, INFO: Using device: cpu -2024-02-06 14:53:53, INFO: Loaded RL weights with best VAL -2024-02-06 14:53:53, INFO: Similarity_func: concatenation -2024-02-06 14:53:53, INFO: Layerwise_graph: False -2024-02-06 14:53:53, INFO: Skip_connection: True -2024-02-06 14:53:53, INFO: Number of layers: 1 -2024-02-06 14:53:53, INFO: Similarity_func: concatenation -2024-02-06 14:53:53, INFO: Layerwise_graph: False -2024-02-06 14:53:53, INFO: Skip_connection: True -2024-02-06 14:53:53, INFO: Number of layers: 1 -2024-02-06 14:53:53, INFO: Planning depth: 1 -2024-02-06 14:53:53, INFO: Planning width: 10 -2024-02-06 14:53:53, INFO: Sparse search: None -2024-02-06 14:53:56, INFO: human number: 5 -2024-02-06 14:53:56, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:53:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:53:56, INFO: Square width: 10, circle width: 4 -2024-02-06 14:53:56, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:53:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:53:58, INFO: Animation.save using -2024-02-06 14:54:37, INFO: Using device: cpu -2024-02-06 14:54:37, INFO: Loaded RL weights with best VAL -2024-02-06 14:54:37, INFO: Similarity_func: concatenation -2024-02-06 14:54:37, INFO: Layerwise_graph: False -2024-02-06 14:54:37, INFO: Skip_connection: True -2024-02-06 14:54:37, INFO: Number of layers: 1 -2024-02-06 14:54:37, INFO: Similarity_func: concatenation -2024-02-06 14:54:37, INFO: Layerwise_graph: False -2024-02-06 14:54:37, INFO: Skip_connection: True -2024-02-06 14:54:37, INFO: Number of layers: 1 -2024-02-06 14:54:37, INFO: Planning depth: 1 -2024-02-06 14:54:37, INFO: Planning width: 10 -2024-02-06 14:54:37, INFO: Sparse search: None -2024-02-06 14:54:40, INFO: human number: 5 -2024-02-06 14:54:40, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:54:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:54:40, INFO: Square width: 10, circle width: 4 -2024-02-06 14:54:40, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:54:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:54:41, INFO: Animation.save using -2024-02-06 14:56:33, INFO: Using device: cpu -2024-02-06 14:56:33, INFO: Loaded RL weights with best VAL -2024-02-06 14:56:33, INFO: Similarity_func: concatenation -2024-02-06 14:56:33, INFO: Layerwise_graph: False -2024-02-06 14:56:33, INFO: Skip_connection: True -2024-02-06 14:56:33, INFO: Number of layers: 1 -2024-02-06 14:56:33, INFO: Similarity_func: concatenation -2024-02-06 14:56:33, INFO: Layerwise_graph: False -2024-02-06 14:56:33, INFO: Skip_connection: True -2024-02-06 14:56:33, INFO: Number of layers: 1 -2024-02-06 14:56:33, INFO: Planning depth: 1 -2024-02-06 14:56:33, INFO: Planning width: 10 -2024-02-06 14:56:33, INFO: Sparse search: None -2024-02-06 14:56:36, INFO: human number: 5 -2024-02-06 14:56:36, INFO: Not randomize human's radius and preferred speed -2024-02-06 14:56:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 14:56:36, INFO: Square width: 10, circle width: 4 -2024-02-06 14:56:36, INFO: rotation constraint: 3.141592653589793 -2024-02-06 14:56:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 14:56:38, INFO: Animation.save using -2024-02-06 15:01:25, INFO: Using device: cpu -2024-02-06 15:01:25, INFO: Loaded RL weights with best VAL -2024-02-06 15:01:25, INFO: Similarity_func: concatenation -2024-02-06 15:01:25, INFO: Layerwise_graph: False -2024-02-06 15:01:25, INFO: Skip_connection: True -2024-02-06 15:01:25, INFO: Number of layers: 1 -2024-02-06 15:01:25, INFO: Similarity_func: concatenation -2024-02-06 15:01:25, INFO: Layerwise_graph: False -2024-02-06 15:01:25, INFO: Skip_connection: True -2024-02-06 15:01:25, INFO: Number of layers: 1 -2024-02-06 15:01:25, INFO: Planning depth: 1 -2024-02-06 15:01:25, INFO: Planning width: 10 -2024-02-06 15:01:25, INFO: Sparse search: None -2024-02-06 15:01:28, INFO: human number: 5 -2024-02-06 15:01:28, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:01:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:01:28, INFO: Square width: 10, circle width: 4 -2024-02-06 15:01:28, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:01:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:01:30, INFO: Animation.save using -2024-02-06 15:03:39, INFO: Using device: cpu -2024-02-06 15:03:39, INFO: Loaded RL weights with best VAL -2024-02-06 15:03:39, INFO: Similarity_func: concatenation -2024-02-06 15:03:39, INFO: Layerwise_graph: False -2024-02-06 15:03:39, INFO: Skip_connection: True -2024-02-06 15:03:39, INFO: Number of layers: 1 -2024-02-06 15:03:39, INFO: Similarity_func: concatenation -2024-02-06 15:03:39, INFO: Layerwise_graph: False -2024-02-06 15:03:39, INFO: Skip_connection: True -2024-02-06 15:03:39, INFO: Number of layers: 1 -2024-02-06 15:03:39, INFO: Planning depth: 1 -2024-02-06 15:03:39, INFO: Planning width: 10 -2024-02-06 15:03:39, INFO: Sparse search: None -2024-02-06 15:03:42, INFO: human number: 5 -2024-02-06 15:03:42, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:03:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:03:42, INFO: Square width: 10, circle width: 4 -2024-02-06 15:03:42, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:03:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:03:43, INFO: Animation.save using -2024-02-06 15:06:25, INFO: Using device: cpu -2024-02-06 15:06:25, INFO: Loaded RL weights with best VAL -2024-02-06 15:06:25, INFO: Similarity_func: concatenation -2024-02-06 15:06:25, INFO: Layerwise_graph: False -2024-02-06 15:06:25, INFO: Skip_connection: True -2024-02-06 15:06:25, INFO: Number of layers: 1 -2024-02-06 15:06:25, INFO: Similarity_func: concatenation -2024-02-06 15:06:25, INFO: Layerwise_graph: False -2024-02-06 15:06:25, INFO: Skip_connection: True -2024-02-06 15:06:25, INFO: Number of layers: 1 -2024-02-06 15:06:25, INFO: Planning depth: 1 -2024-02-06 15:06:25, INFO: Planning width: 10 -2024-02-06 15:06:25, INFO: Sparse search: None -2024-02-06 15:06:28, INFO: human number: 5 -2024-02-06 15:06:28, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:06:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:06:28, INFO: Square width: 10, circle width: 4 -2024-02-06 15:06:28, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:06:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:06:30, INFO: Animation.save using -2024-02-06 15:07:11, INFO: Using device: cpu -2024-02-06 15:07:11, INFO: Loaded RL weights with best VAL -2024-02-06 15:07:11, INFO: Similarity_func: concatenation -2024-02-06 15:07:11, INFO: Layerwise_graph: False -2024-02-06 15:07:11, INFO: Skip_connection: True -2024-02-06 15:07:11, INFO: Number of layers: 1 -2024-02-06 15:07:11, INFO: Similarity_func: concatenation -2024-02-06 15:07:11, INFO: Layerwise_graph: False -2024-02-06 15:07:11, INFO: Skip_connection: True -2024-02-06 15:07:11, INFO: Number of layers: 1 -2024-02-06 15:07:11, INFO: Planning depth: 1 -2024-02-06 15:07:11, INFO: Planning width: 10 -2024-02-06 15:07:11, INFO: Sparse search: None -2024-02-06 15:07:14, INFO: human number: 5 -2024-02-06 15:07:14, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:07:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:07:14, INFO: Square width: 10, circle width: 4 -2024-02-06 15:07:14, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:07:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:07:15, INFO: Animation.save using -2024-02-06 15:10:32, INFO: Using device: cpu -2024-02-06 15:10:32, INFO: Loaded RL weights with best VAL -2024-02-06 15:10:32, INFO: Similarity_func: concatenation -2024-02-06 15:10:32, INFO: Layerwise_graph: False -2024-02-06 15:10:32, INFO: Skip_connection: True -2024-02-06 15:10:32, INFO: Number of layers: 1 -2024-02-06 15:10:32, INFO: Similarity_func: concatenation -2024-02-06 15:10:32, INFO: Layerwise_graph: False -2024-02-06 15:10:32, INFO: Skip_connection: True -2024-02-06 15:10:32, INFO: Number of layers: 1 -2024-02-06 15:10:32, INFO: Planning depth: 1 -2024-02-06 15:10:32, INFO: Planning width: 10 -2024-02-06 15:10:32, INFO: Sparse search: None -2024-02-06 15:10:35, INFO: human number: 5 -2024-02-06 15:10:35, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:10:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:10:35, INFO: Square width: 10, circle width: 4 -2024-02-06 15:10:35, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:10:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:10:36, INFO: Animation.save using -2024-02-06 15:17:24, INFO: Using device: cpu -2024-02-06 15:17:24, INFO: Loaded RL weights with best VAL -2024-02-06 15:17:24, INFO: Similarity_func: concatenation -2024-02-06 15:17:24, INFO: Layerwise_graph: False -2024-02-06 15:17:24, INFO: Skip_connection: True -2024-02-06 15:17:24, INFO: Number of layers: 1 -2024-02-06 15:17:24, INFO: Similarity_func: concatenation -2024-02-06 15:17:24, INFO: Layerwise_graph: False -2024-02-06 15:17:24, INFO: Skip_connection: True -2024-02-06 15:17:24, INFO: Number of layers: 1 -2024-02-06 15:17:24, INFO: Planning depth: 1 -2024-02-06 15:17:24, INFO: Planning width: 10 -2024-02-06 15:17:24, INFO: Sparse search: None -2024-02-06 15:17:27, INFO: human number: 5 -2024-02-06 15:17:27, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:17:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:17:27, INFO: Square width: 10, circle width: 4 -2024-02-06 15:17:27, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:17:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:17:28, INFO: Animation.save using -2024-02-06 15:17:58, INFO: Using device: cpu -2024-02-06 15:17:58, INFO: Loaded RL weights with best VAL -2024-02-06 15:17:58, INFO: Similarity_func: concatenation -2024-02-06 15:17:58, INFO: Layerwise_graph: False -2024-02-06 15:17:58, INFO: Skip_connection: True -2024-02-06 15:17:58, INFO: Number of layers: 1 -2024-02-06 15:17:58, INFO: Similarity_func: concatenation -2024-02-06 15:17:58, INFO: Layerwise_graph: False -2024-02-06 15:17:58, INFO: Skip_connection: True -2024-02-06 15:17:58, INFO: Number of layers: 1 -2024-02-06 15:17:58, INFO: Planning depth: 1 -2024-02-06 15:17:58, INFO: Planning width: 10 -2024-02-06 15:17:58, INFO: Sparse search: None -2024-02-06 15:18:01, INFO: human number: 5 -2024-02-06 15:18:01, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:18:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:18:01, INFO: Square width: 10, circle width: 4 -2024-02-06 15:18:01, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:18:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:18:03, INFO: Animation.save using -2024-02-06 15:18:06, INFO: Animation.save using -2024-02-06 15:18:33, INFO: Animation.save using -2024-02-06 15:19:29, INFO: Using device: cpu -2024-02-06 15:19:29, INFO: Loaded RL weights with best VAL -2024-02-06 15:19:29, INFO: Similarity_func: concatenation -2024-02-06 15:19:29, INFO: Layerwise_graph: False -2024-02-06 15:19:29, INFO: Skip_connection: True -2024-02-06 15:19:29, INFO: Number of layers: 1 -2024-02-06 15:19:29, INFO: Similarity_func: concatenation -2024-02-06 15:19:29, INFO: Layerwise_graph: False -2024-02-06 15:19:29, INFO: Skip_connection: True -2024-02-06 15:19:29, INFO: Number of layers: 1 -2024-02-06 15:19:29, INFO: Planning depth: 1 -2024-02-06 15:19:29, INFO: Planning width: 10 -2024-02-06 15:19:29, INFO: Sparse search: None -2024-02-06 15:19:32, INFO: human number: 5 -2024-02-06 15:19:32, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:19:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:19:32, INFO: Square width: 10, circle width: 4 -2024-02-06 15:19:32, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:19:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:19:34, INFO: Animation.save using -2024-02-06 15:19:37, INFO: Animation.save using -2024-02-06 15:20:03, INFO: Animation.save using -2024-02-06 15:20:38, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:22:24, INFO: Using device: cpu -2024-02-06 15:22:24, INFO: Loaded RL weights with best VAL -2024-02-06 15:22:24, INFO: Similarity_func: concatenation -2024-02-06 15:22:24, INFO: Layerwise_graph: False -2024-02-06 15:22:24, INFO: Skip_connection: True -2024-02-06 15:22:24, INFO: Number of layers: 1 -2024-02-06 15:22:24, INFO: Similarity_func: concatenation -2024-02-06 15:22:24, INFO: Layerwise_graph: False -2024-02-06 15:22:24, INFO: Skip_connection: True -2024-02-06 15:22:24, INFO: Number of layers: 1 -2024-02-06 15:22:24, INFO: Planning depth: 1 -2024-02-06 15:22:24, INFO: Planning width: 10 -2024-02-06 15:22:24, INFO: Sparse search: None -2024-02-06 15:22:27, INFO: human number: 5 -2024-02-06 15:22:27, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:22:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:22:27, INFO: Square width: 10, circle width: 4 -2024-02-06 15:22:27, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:22:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:22:28, INFO: Animation.save using -2024-02-06 15:22:32, INFO: Animation.save using -2024-02-06 15:22:58, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:23:38, INFO: Using device: cpu -2024-02-06 15:23:38, INFO: Loaded RL weights with best VAL -2024-02-06 15:23:38, INFO: Similarity_func: concatenation -2024-02-06 15:23:38, INFO: Layerwise_graph: False -2024-02-06 15:23:38, INFO: Skip_connection: True -2024-02-06 15:23:38, INFO: Number of layers: 1 -2024-02-06 15:23:38, INFO: Similarity_func: concatenation -2024-02-06 15:23:38, INFO: Layerwise_graph: False -2024-02-06 15:23:38, INFO: Skip_connection: True -2024-02-06 15:23:38, INFO: Number of layers: 1 -2024-02-06 15:23:38, INFO: Planning depth: 1 -2024-02-06 15:23:38, INFO: Planning width: 10 -2024-02-06 15:23:38, INFO: Sparse search: None -2024-02-06 15:23:41, INFO: human number: 5 -2024-02-06 15:23:41, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:23:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:23:41, INFO: Square width: 10, circle width: 4 -2024-02-06 15:23:41, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:23:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:23:43, INFO: Animation.save using -2024-02-06 15:23:46, INFO: Animation.save using -2024-02-06 15:24:13, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:27:41, INFO: Using device: cpu -2024-02-06 15:27:41, INFO: Loaded RL weights with best VAL -2024-02-06 15:27:41, INFO: Similarity_func: concatenation -2024-02-06 15:27:41, INFO: Layerwise_graph: False -2024-02-06 15:27:41, INFO: Skip_connection: True -2024-02-06 15:27:41, INFO: Number of layers: 1 -2024-02-06 15:27:41, INFO: Similarity_func: concatenation -2024-02-06 15:27:41, INFO: Layerwise_graph: False -2024-02-06 15:27:41, INFO: Skip_connection: True -2024-02-06 15:27:41, INFO: Number of layers: 1 -2024-02-06 15:27:41, INFO: Planning depth: 1 -2024-02-06 15:27:41, INFO: Planning width: 10 -2024-02-06 15:27:41, INFO: Sparse search: None -2024-02-06 15:27:44, INFO: human number: 5 -2024-02-06 15:27:44, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:27:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:27:44, INFO: Square width: 10, circle width: 4 -2024-02-06 15:27:44, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:27:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:27:46, INFO: Animation.save using -2024-02-06 15:28:45, INFO: Using device: cpu -2024-02-06 15:28:45, INFO: Loaded RL weights with best VAL -2024-02-06 15:28:45, INFO: Similarity_func: concatenation -2024-02-06 15:28:45, INFO: Layerwise_graph: False -2024-02-06 15:28:45, INFO: Skip_connection: True -2024-02-06 15:28:45, INFO: Number of layers: 1 -2024-02-06 15:28:45, INFO: Similarity_func: concatenation -2024-02-06 15:28:45, INFO: Layerwise_graph: False -2024-02-06 15:28:45, INFO: Skip_connection: True -2024-02-06 15:28:45, INFO: Number of layers: 1 -2024-02-06 15:28:45, INFO: Planning depth: 1 -2024-02-06 15:28:45, INFO: Planning width: 10 -2024-02-06 15:28:45, INFO: Sparse search: None -2024-02-06 15:28:48, INFO: human number: 5 -2024-02-06 15:28:48, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:28:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:28:48, INFO: Square width: 10, circle width: 4 -2024-02-06 15:28:48, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:28:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:28:49, INFO: Animation.save using -2024-02-06 15:30:11, INFO: Using device: cpu -2024-02-06 15:30:11, INFO: Loaded RL weights with best VAL -2024-02-06 15:30:11, INFO: Similarity_func: concatenation -2024-02-06 15:30:11, INFO: Layerwise_graph: False -2024-02-06 15:30:11, INFO: Skip_connection: True -2024-02-06 15:30:11, INFO: Number of layers: 1 -2024-02-06 15:30:11, INFO: Similarity_func: concatenation -2024-02-06 15:30:11, INFO: Layerwise_graph: False -2024-02-06 15:30:11, INFO: Skip_connection: True -2024-02-06 15:30:11, INFO: Number of layers: 1 -2024-02-06 15:30:11, INFO: Planning depth: 1 -2024-02-06 15:30:11, INFO: Planning width: 10 -2024-02-06 15:30:11, INFO: Sparse search: None -2024-02-06 15:30:14, INFO: human number: 5 -2024-02-06 15:30:14, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:30:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:30:14, INFO: Square width: 10, circle width: 4 -2024-02-06 15:30:14, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:30:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:30:15, INFO: Animation.save using -2024-02-06 15:30:24, INFO: Using device: cpu -2024-02-06 15:30:24, INFO: Loaded RL weights with best VAL -2024-02-06 15:30:24, INFO: Similarity_func: concatenation -2024-02-06 15:30:24, INFO: Layerwise_graph: False -2024-02-06 15:30:24, INFO: Skip_connection: True -2024-02-06 15:30:24, INFO: Number of layers: 1 -2024-02-06 15:30:24, INFO: Similarity_func: concatenation -2024-02-06 15:30:24, INFO: Layerwise_graph: False -2024-02-06 15:30:24, INFO: Skip_connection: True -2024-02-06 15:30:24, INFO: Number of layers: 1 -2024-02-06 15:30:24, INFO: Planning depth: 1 -2024-02-06 15:30:24, INFO: Planning width: 10 -2024-02-06 15:30:24, INFO: Sparse search: None -2024-02-06 15:30:27, INFO: human number: 5 -2024-02-06 15:30:27, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:30:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:30:27, INFO: Square width: 10, circle width: 4 -2024-02-06 15:30:27, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:30:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:30:28, INFO: Animation.save using -2024-02-06 15:30:32, INFO: Animation.save using -2024-02-06 15:30:59, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:31:38, INFO: Using device: cpu -2024-02-06 15:31:38, INFO: Loaded RL weights with best VAL -2024-02-06 15:31:38, INFO: Similarity_func: concatenation -2024-02-06 15:31:38, INFO: Layerwise_graph: False -2024-02-06 15:31:38, INFO: Skip_connection: True -2024-02-06 15:31:38, INFO: Number of layers: 1 -2024-02-06 15:31:38, INFO: Similarity_func: concatenation -2024-02-06 15:31:38, INFO: Layerwise_graph: False -2024-02-06 15:31:38, INFO: Skip_connection: True -2024-02-06 15:31:38, INFO: Number of layers: 1 -2024-02-06 15:31:38, INFO: Planning depth: 1 -2024-02-06 15:31:38, INFO: Planning width: 10 -2024-02-06 15:31:38, INFO: Sparse search: None -2024-02-06 15:31:41, INFO: human number: 5 -2024-02-06 15:31:41, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:31:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:31:41, INFO: Square width: 10, circle width: 4 -2024-02-06 15:31:41, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:31:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:31:42, INFO: Animation.save using -2024-02-06 15:31:46, INFO: Animation.save using -2024-02-06 15:32:13, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:32:46, INFO: Using device: cpu -2024-02-06 15:32:46, INFO: Loaded RL weights with best VAL -2024-02-06 15:32:46, INFO: Similarity_func: concatenation -2024-02-06 15:32:46, INFO: Layerwise_graph: False -2024-02-06 15:32:46, INFO: Skip_connection: True -2024-02-06 15:32:46, INFO: Number of layers: 1 -2024-02-06 15:32:46, INFO: Similarity_func: concatenation -2024-02-06 15:32:46, INFO: Layerwise_graph: False -2024-02-06 15:32:46, INFO: Skip_connection: True -2024-02-06 15:32:46, INFO: Number of layers: 1 -2024-02-06 15:32:46, INFO: Planning depth: 1 -2024-02-06 15:32:46, INFO: Planning width: 10 -2024-02-06 15:32:46, INFO: Sparse search: None -2024-02-06 15:32:49, INFO: human number: 5 -2024-02-06 15:32:49, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:32:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:32:49, INFO: Square width: 10, circle width: 4 -2024-02-06 15:32:49, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:32:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:32:50, INFO: Animation.save using -2024-02-06 15:33:20, INFO: Using device: cpu -2024-02-06 15:33:20, INFO: Loaded RL weights with best VAL -2024-02-06 15:33:20, INFO: Similarity_func: concatenation -2024-02-06 15:33:20, INFO: Layerwise_graph: False -2024-02-06 15:33:20, INFO: Skip_connection: True -2024-02-06 15:33:20, INFO: Number of layers: 1 -2024-02-06 15:33:20, INFO: Similarity_func: concatenation -2024-02-06 15:33:20, INFO: Layerwise_graph: False -2024-02-06 15:33:20, INFO: Skip_connection: True -2024-02-06 15:33:20, INFO: Number of layers: 1 -2024-02-06 15:33:20, INFO: Planning depth: 1 -2024-02-06 15:33:20, INFO: Planning width: 10 -2024-02-06 15:33:20, INFO: Sparse search: None -2024-02-06 15:33:23, INFO: human number: 5 -2024-02-06 15:33:23, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:33:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:33:23, INFO: Square width: 10, circle width: 4 -2024-02-06 15:33:23, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:33:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:33:24, INFO: Animation.save using -2024-02-06 15:33:55, INFO: Using device: cpu -2024-02-06 15:33:55, INFO: Loaded RL weights with best VAL -2024-02-06 15:33:55, INFO: Similarity_func: concatenation -2024-02-06 15:33:55, INFO: Layerwise_graph: False -2024-02-06 15:33:55, INFO: Skip_connection: True -2024-02-06 15:33:55, INFO: Number of layers: 1 -2024-02-06 15:33:55, INFO: Similarity_func: concatenation -2024-02-06 15:33:55, INFO: Layerwise_graph: False -2024-02-06 15:33:55, INFO: Skip_connection: True -2024-02-06 15:33:55, INFO: Number of layers: 1 -2024-02-06 15:33:55, INFO: Planning depth: 1 -2024-02-06 15:33:55, INFO: Planning width: 10 -2024-02-06 15:33:55, INFO: Sparse search: None -2024-02-06 15:33:58, INFO: human number: 5 -2024-02-06 15:33:58, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:33:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:33:58, INFO: Square width: 10, circle width: 4 -2024-02-06 15:33:58, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:33:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:34:00, INFO: Animation.save using -2024-02-06 15:34:04, INFO: Animation.save using -2024-02-06 15:34:31, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-06 15:35:14, INFO: Using device: cpu -2024-02-06 15:35:14, INFO: Loaded RL weights with best VAL -2024-02-06 15:35:14, INFO: Similarity_func: concatenation -2024-02-06 15:35:14, INFO: Layerwise_graph: False -2024-02-06 15:35:14, INFO: Skip_connection: True -2024-02-06 15:35:14, INFO: Number of layers: 1 -2024-02-06 15:35:14, INFO: Similarity_func: concatenation -2024-02-06 15:35:14, INFO: Layerwise_graph: False -2024-02-06 15:35:14, INFO: Skip_connection: True -2024-02-06 15:35:14, INFO: Number of layers: 1 -2024-02-06 15:35:14, INFO: Planning depth: 1 -2024-02-06 15:35:14, INFO: Planning width: 10 -2024-02-06 15:35:14, INFO: Sparse search: None -2024-02-06 15:35:16, INFO: human number: 5 -2024-02-06 15:35:16, INFO: Not randomize human's radius and preferred speed -2024-02-06 15:35:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-06 15:35:16, INFO: Square width: 10, circle width: 4 -2024-02-06 15:35:16, INFO: rotation constraint: 3.141592653589793 -2024-02-06 15:35:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-06 15:35:18, INFO: Animation.save using -2024-02-06 15:35:21, INFO: Animation.save using -2024-02-06 15:35:48, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.051045 -2024-02-07 10:35:14, INFO: Using device: cpu -2024-02-07 10:35:14, INFO: Loaded RL weights with best VAL -2024-02-07 10:35:14, INFO: Similarity_func: concatenation -2024-02-07 10:35:14, INFO: Layerwise_graph: False -2024-02-07 10:35:14, INFO: Skip_connection: True -2024-02-07 10:35:14, INFO: Number of layers: 1 -2024-02-07 10:35:14, INFO: Similarity_func: concatenation -2024-02-07 10:35:14, INFO: Layerwise_graph: False -2024-02-07 10:35:14, INFO: Skip_connection: True -2024-02-07 10:35:14, INFO: Number of layers: 1 -2024-02-07 10:35:14, INFO: Planning depth: 1 -2024-02-07 10:35:14, INFO: Planning width: 10 -2024-02-07 10:35:14, INFO: Sparse search: None -2024-02-07 10:35:54, INFO: Using device: cpu -2024-02-07 10:35:54, INFO: Loaded RL weights with best VAL -2024-02-07 10:35:54, INFO: Similarity_func: concatenation -2024-02-07 10:35:54, INFO: Layerwise_graph: False -2024-02-07 10:35:54, INFO: Skip_connection: True -2024-02-07 10:35:54, INFO: Number of layers: 1 -2024-02-07 10:35:54, INFO: Similarity_func: concatenation -2024-02-07 10:35:54, INFO: Layerwise_graph: False -2024-02-07 10:35:54, INFO: Skip_connection: True -2024-02-07 10:35:54, INFO: Number of layers: 1 -2024-02-07 10:35:54, INFO: Planning depth: 1 -2024-02-07 10:35:54, INFO: Planning width: 10 -2024-02-07 10:35:54, INFO: Sparse search: None -2024-02-12 13:42:51, INFO: Using device: cpu -2024-02-12 13:42:51, INFO: Loaded RL weights with best VAL -2024-02-12 13:42:52, INFO: Similarity_func: concatenation -2024-02-12 13:42:52, INFO: Layerwise_graph: False -2024-02-12 13:42:52, INFO: Skip_connection: True -2024-02-12 13:42:52, INFO: Number of layers: 1 -2024-02-12 13:42:52, INFO: Similarity_func: concatenation -2024-02-12 13:42:52, INFO: Layerwise_graph: False -2024-02-12 13:42:52, INFO: Skip_connection: True -2024-02-12 13:42:52, INFO: Number of layers: 1 -2024-02-12 13:42:52, INFO: Planning depth: 1 -2024-02-12 13:42:52, INFO: Planning width: 10 -2024-02-12 13:42:52, INFO: Sparse search: None -2024-02-12 13:42:55, INFO: human number: 10 -2024-02-12 13:42:55, INFO: Not randomize human's radius and preferred speed -2024-02-12 13:42:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 13:42:55, INFO: Square width: 10, circle width: 4 -2024-02-12 13:42:55, INFO: rotation constraint: 3.141592653589793 -2024-02-12 13:42:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 13:43:50, INFO: Using device: cpu -2024-02-12 13:43:50, INFO: Loaded RL weights with best VAL -2024-02-12 13:43:50, INFO: Similarity_func: concatenation -2024-02-12 13:43:50, INFO: Layerwise_graph: False -2024-02-12 13:43:50, INFO: Skip_connection: True -2024-02-12 13:43:50, INFO: Number of layers: 1 -2024-02-12 13:43:50, INFO: Similarity_func: concatenation -2024-02-12 13:43:50, INFO: Layerwise_graph: False -2024-02-12 13:43:50, INFO: Skip_connection: True -2024-02-12 13:43:50, INFO: Number of layers: 1 -2024-02-12 13:43:50, INFO: Planning depth: 1 -2024-02-12 13:43:50, INFO: Planning width: 10 -2024-02-12 13:43:50, INFO: Sparse search: None -2024-02-12 13:43:52, INFO: human number: 10 -2024-02-12 13:43:52, INFO: Not randomize human's radius and preferred speed -2024-02-12 13:43:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 13:43:52, INFO: Square width: 10, circle width: 4 -2024-02-12 13:43:52, INFO: rotation constraint: 3.141592653589793 -2024-02-12 13:43:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 13:44:00, INFO: Using device: cpu -2024-02-12 13:44:00, INFO: Loaded RL weights with best VAL -2024-02-12 13:44:00, INFO: Similarity_func: concatenation -2024-02-12 13:44:00, INFO: Layerwise_graph: False -2024-02-12 13:44:00, INFO: Skip_connection: True -2024-02-12 13:44:00, INFO: Number of layers: 1 -2024-02-12 13:44:00, INFO: Similarity_func: concatenation -2024-02-12 13:44:00, INFO: Layerwise_graph: False -2024-02-12 13:44:00, INFO: Skip_connection: True -2024-02-12 13:44:00, INFO: Number of layers: 1 -2024-02-12 13:44:00, INFO: Planning depth: 1 -2024-02-12 13:44:00, INFO: Planning width: 10 -2024-02-12 13:44:00, INFO: Sparse search: None -2024-02-12 13:44:03, INFO: human number: 10 -2024-02-12 13:44:03, INFO: Not randomize human's radius and preferred speed -2024-02-12 13:44:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 13:44:03, INFO: Square width: 10, circle width: 4 -2024-02-12 13:44:03, INFO: rotation constraint: 3.141592653589793 -2024-02-12 13:44:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 13:45:11, INFO: Using device: cpu -2024-02-12 13:45:11, INFO: Loaded RL weights with best VAL -2024-02-12 13:45:13, INFO: Similarity_func: concatenation -2024-02-12 13:45:13, INFO: Layerwise_graph: False -2024-02-12 13:45:13, INFO: Skip_connection: True -2024-02-12 13:45:13, INFO: Number of layers: 1 -2024-02-12 13:45:13, INFO: Similarity_func: concatenation -2024-02-12 13:45:13, INFO: Layerwise_graph: False -2024-02-12 13:45:13, INFO: Skip_connection: True -2024-02-12 13:45:13, INFO: Number of layers: 1 -2024-02-12 13:45:13, INFO: Planning depth: 1 -2024-02-12 13:45:13, INFO: Planning width: 10 -2024-02-12 13:45:13, INFO: Sparse search: None -2024-02-12 13:47:17, INFO: human number: 10 -2024-02-12 13:47:17, INFO: Not randomize human's radius and preferred speed -2024-02-12 13:47:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 13:47:17, INFO: Square width: 10, circle width: 4 -2024-02-12 13:47:17, INFO: rotation constraint: 3.141592653589793 -2024-02-12 13:47:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 14:05:17, INFO: TEST has success rate: 0.997, collision rate: 0.003, nav time: 10.370, total reward: 1737.9133, average return: 0.7167 -2024-02-12 14:05:17, INFO: Frequency of being in danger: 0.041 and average min separate distance in danger: 0.16 -2024-02-12 14:05:17, INFO: discomfor nums is 1806 and return is 0.7113 and length is 41430 -2024-02-12 14:05:17, INFO: Collision cases: 225 233 938 -2024-02-12 14:05:17, INFO: Timeout cases: -2024-02-12 14:09:58, INFO: Using device: cpu -2024-02-12 14:09:58, INFO: Loaded RL weights with best VAL -2024-02-12 14:09:58, INFO: Similarity_func: concatenation -2024-02-12 14:09:58, INFO: Layerwise_graph: False -2024-02-12 14:09:58, INFO: Skip_connection: True -2024-02-12 14:09:58, INFO: Number of layers: 1 -2024-02-12 14:09:58, INFO: Similarity_func: concatenation -2024-02-12 14:09:58, INFO: Layerwise_graph: False -2024-02-12 14:09:58, INFO: Skip_connection: True -2024-02-12 14:09:58, INFO: Number of layers: 1 -2024-02-12 14:09:58, INFO: Planning depth: 1 -2024-02-12 14:09:58, INFO: Planning width: 10 -2024-02-12 14:09:58, INFO: Sparse search: None -2024-02-12 14:10:02, INFO: human number: 10 -2024-02-12 14:10:02, INFO: Not randomize human's radius and preferred speed -2024-02-12 14:10:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 14:10:02, INFO: Square width: 10, circle width: 4 -2024-02-12 14:10:02, INFO: rotation constraint: 3.141592653589793 -2024-02-12 14:10:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 14:12:20, INFO: Using device: cpu -2024-02-12 14:12:20, INFO: Loaded RL weights with best VAL -2024-02-12 14:12:20, INFO: Similarity_func: concatenation -2024-02-12 14:12:20, INFO: Layerwise_graph: False -2024-02-12 14:12:20, INFO: Skip_connection: True -2024-02-12 14:12:20, INFO: Number of layers: 1 -2024-02-12 14:12:20, INFO: Similarity_func: concatenation -2024-02-12 14:12:20, INFO: Layerwise_graph: False -2024-02-12 14:12:20, INFO: Skip_connection: True -2024-02-12 14:12:20, INFO: Number of layers: 1 -2024-02-12 14:12:20, INFO: Planning depth: 1 -2024-02-12 14:12:20, INFO: Planning width: 10 -2024-02-12 14:12:20, INFO: Sparse search: None -2024-02-12 14:12:23, INFO: human number: 10 -2024-02-12 14:12:23, INFO: Not randomize human's radius and preferred speed -2024-02-12 14:12:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 14:12:23, INFO: Square width: 10, circle width: 4 -2024-02-12 14:12:23, INFO: rotation constraint: 3.141592653589793 -2024-02-12 14:12:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 14:12:46, INFO: Using device: cpu -2024-02-12 14:12:46, INFO: Loaded RL weights with best VAL -2024-02-12 14:12:47, INFO: Similarity_func: concatenation -2024-02-12 14:12:47, INFO: Layerwise_graph: False -2024-02-12 14:12:47, INFO: Skip_connection: True -2024-02-12 14:12:47, INFO: Number of layers: 1 -2024-02-12 14:12:47, INFO: Similarity_func: concatenation -2024-02-12 14:12:47, INFO: Layerwise_graph: False -2024-02-12 14:12:47, INFO: Skip_connection: True -2024-02-12 14:12:47, INFO: Number of layers: 1 -2024-02-12 14:12:47, INFO: Planning depth: 1 -2024-02-12 14:12:47, INFO: Planning width: 10 -2024-02-12 14:12:47, INFO: Sparse search: None -2024-02-12 14:14:18, INFO: human number: 10 -2024-02-12 14:14:18, INFO: Not randomize human's radius and preferred speed -2024-02-12 14:14:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 14:14:18, INFO: Square width: 10, circle width: 4 -2024-02-12 14:14:18, INFO: rotation constraint: 3.141592653589793 -2024-02-12 14:14:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 14:21:30, INFO: TEST has success rate: 0.367, collision rate: 0.633, nav time: 18.201, total reward: 100.9525, average return: -0.1542 -2024-02-12 14:21:30, INFO: Frequency of being in danger: 0.170 and average min separate distance in danger: 0.14 -2024-02-12 14:21:30, INFO: discomfor nums is 8551 and return is 0.0758 and length is 45260 -2024-02-12 14:21:30, INFO: Collision cases: 1 3 4 5 6 9 13 15 17 18 22 23 24 25 26 29 30 31 34 35 36 37 38 39 42 43 44 45 46 49 50 51 52 55 56 58 59 60 61 64 65 66 67 69 70 71 73 74 77 78 79 81 82 87 88 89 90 91 92 93 94 95 97 98 99 102 103 106 107 108 110 114 115 117 120 123 124 126 127 128 130 131 132 133 135 136 137 138 139 140 142 143 144 145 147 148 152 153 154 155 156 158 159 160 161 162 163 164 165 166 169 170 171 172 173 174 175 176 178 179 185 187 188 189 192 193 195 196 197 199 202 203 206 207 208 212 213 214 215 216 217 218 220 221 224 225 226 227 229 231 234 236 237 238 239 240 241 245 246 247 248 249 250 251 252 254 255 256 257 259 260 263 265 266 268 269 270 272 274 275 276 277 278 280 281 282 283 285 287 293 294 295 298 299 301 302 303 304 306 307 308 310 312 314 316 317 318 319 320 321 326 328 330 331 333 335 337 339 340 341 342 344 345 346 347 348 350 351 352 353 354 357 358 359 360 362 364 365 370 374 375 376 379 380 381 382 383 384 385 387 389 391 392 393 395 396 397 398 399 400 402 403 404 405 406 407 409 411 412 413 414 415 416 417 418 420 423 426 428 429 430 431 432 434 435 436 437 438 439 441 442 443 444 445 446 449 452 453 454 455 456 459 460 462 463 464 466 467 468 469 470 475 477 478 479 483 485 486 487 490 496 497 500 501 502 503 504 505 506 507 510 511 513 514 515 516 517 518 519 520 522 523 529 532 534 536 537 538 539 540 544 545 549 552 554 557 559 562 563 564 565 568 569 572 573 574 575 578 579 582 583 584 586 589 590 595 596 598 599 603 604 605 606 607 608 609 611 615 618 619 620 621 622 624 628 629 630 632 635 637 639 642 643 644 645 647 649 650 651 656 659 661 662 663 666 667 668 669 671 677 678 679 681 684 687 689 692 693 694 696 697 699 701 702 704 705 706 709 710 714 715 716 717 718 719 720 721 722 724 726 727 728 730 734 735 736 737 738 740 741 744 746 747 748 749 750 751 752 755 756 757 758 759 760 761 764 765 766 768 770 773 774 776 777 778 779 782 783 785 786 788 789 790 792 794 795 796 797 798 799 800 801 802 804 805 806 807 809 810 812 818 819 822 824 825 827 831 832 834 835 836 837 838 840 842 843 844 845 846 848 849 850 852 854 855 856 858 861 862 863 864 865 867 868 869 870 872 873 874 878 879 881 882 883 884 885 886 888 889 890 891 892 893 896 897 898 900 901 903 904 906 907 908 909 910 912 914 915 917 918 919 922 923 924 925 926 927 929 930 931 932 935 937 940 941 943 948 949 950 951 953 954 959 962 963 964 965 966 967 969 970 972 973 977 978 979 980 981 982 983 984 985 986 987 988 990 992 993 994 995 996 998 999 -2024-02-12 14:21:30, INFO: Timeout cases: -2024-02-12 14:21:58, INFO: TEST has success rate: 0.997, collision rate: 0.003, nav time: 10.743, total reward: 1759.9810, average return: 0.7255 -2024-02-12 14:21:58, INFO: Frequency of being in danger: 0.024 and average min separate distance in danger: 0.16 -2024-02-12 14:21:58, INFO: discomfor nums is 1111 and return is 0.7227 and length is 42876 -2024-02-12 14:21:58, INFO: Collision cases: 502 599 754 -2024-02-12 14:21:58, INFO: Timeout cases: -2024-02-12 14:23:48, INFO: TEST has success rate: 0.994, collision rate: 0.006, nav time: 10.146, total reward: 1732.2725, average return: 0.7204 -2024-02-12 14:23:48, INFO: Frequency of being in danger: 0.036 and average min separate distance in danger: 0.16 -2024-02-12 14:23:48, INFO: discomfor nums is 1599 and return is 0.7170 and length is 40466 -2024-02-12 14:23:48, INFO: Collision cases: 205 233 301 505 522 889 -2024-02-12 14:23:48, INFO: Timeout cases: -2024-02-12 14:24:14, INFO: TEST has success rate: 0.995, collision rate: 0.005, nav time: 10.147, total reward: 1736.2903, average return: 0.7262 -2024-02-12 14:24:14, INFO: Frequency of being in danger: 0.042 and average min separate distance in danger: 0.16 -2024-02-12 14:24:14, INFO: discomfor nums is 1864 and return is 0.7222 and length is 40530 -2024-02-12 14:24:14, INFO: Collision cases: 205 233 704 776 824 -2024-02-12 14:24:14, INFO: Timeout cases: -2024-02-12 14:26:37, INFO: Using device: cpu -2024-02-12 14:26:37, INFO: Loaded RL weights with best VAL -2024-02-12 14:26:37, INFO: Similarity_func: concatenation -2024-02-12 14:26:37, INFO: Layerwise_graph: False -2024-02-12 14:26:37, INFO: Skip_connection: True -2024-02-12 14:26:37, INFO: Number of layers: 1 -2024-02-12 14:26:37, INFO: Similarity_func: concatenation -2024-02-12 14:26:37, INFO: Layerwise_graph: False -2024-02-12 14:26:37, INFO: Skip_connection: True -2024-02-12 14:26:37, INFO: Number of layers: 1 -2024-02-12 14:26:37, INFO: Planning depth: 1 -2024-02-12 14:26:37, INFO: Planning width: 10 -2024-02-12 14:26:37, INFO: Sparse search: None -2024-02-12 14:26:40, INFO: human number: 10 -2024-02-12 14:26:40, INFO: Not randomize human's radius and preferred speed -2024-02-12 14:26:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 14:26:40, INFO: Square width: 10, circle width: 4 -2024-02-12 14:26:40, INFO: rotation constraint: 3.141592653589793 -2024-02-12 14:26:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 14:38:04, INFO: TEST has success rate: 0.991, collision rate: 0.009, nav time: 9.951, total reward: 1709.4417, average return: 0.7169 -2024-02-12 14:38:04, INFO: Frequency of being in danger: 0.049 and average min separate distance in danger: 0.16 -2024-02-12 14:38:04, INFO: discomfor nums is 2147 and return is 0.7158 and length is 39653 -2024-02-12 14:38:04, INFO: Collision cases: 48 205 233 282 395 435 456 522 971 -2024-02-12 14:38:04, INFO: Timeout cases: -2024-02-12 15:15:33, INFO: Using device: cpu -2024-02-12 15:15:33, INFO: Loaded RL weights with best VAL -2024-02-12 15:15:33, INFO: Similarity_func: concatenation -2024-02-12 15:15:33, INFO: Layerwise_graph: False -2024-02-12 15:15:33, INFO: Skip_connection: True -2024-02-12 15:15:33, INFO: Number of layers: 1 -2024-02-12 15:15:33, INFO: Similarity_func: concatenation -2024-02-12 15:15:33, INFO: Layerwise_graph: False -2024-02-12 15:15:33, INFO: Skip_connection: True -2024-02-12 15:15:33, INFO: Number of layers: 1 -2024-02-12 15:15:33, INFO: Planning depth: 1 -2024-02-12 15:15:33, INFO: Planning width: 10 -2024-02-12 15:15:33, INFO: Sparse search: None -2024-02-12 15:15:36, INFO: human number: 10 -2024-02-12 15:15:36, INFO: Not randomize human's radius and preferred speed -2024-02-12 15:15:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 15:15:36, INFO: Square width: 10, circle width: 4 -2024-02-12 15:15:36, INFO: rotation constraint: 3.141592653589793 -2024-02-12 15:15:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 15:16:05, INFO: Using device: cpu -2024-02-12 15:16:05, INFO: Loaded RL weights with best VAL -2024-02-12 15:16:05, INFO: Similarity_func: concatenation -2024-02-12 15:16:05, INFO: Layerwise_graph: False -2024-02-12 15:16:05, INFO: Skip_connection: True -2024-02-12 15:16:05, INFO: Number of layers: 1 -2024-02-12 15:16:05, INFO: Similarity_func: concatenation -2024-02-12 15:16:05, INFO: Layerwise_graph: False -2024-02-12 15:16:05, INFO: Skip_connection: True -2024-02-12 15:16:05, INFO: Number of layers: 1 -2024-02-12 15:16:05, INFO: Planning depth: 1 -2024-02-12 15:16:05, INFO: Planning width: 10 -2024-02-12 15:16:05, INFO: Sparse search: None -2024-02-12 15:16:08, INFO: human number: 10 -2024-02-12 15:16:08, INFO: Not randomize human's radius and preferred speed -2024-02-12 15:16:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 15:16:08, INFO: Square width: 10, circle width: 4 -2024-02-12 15:16:08, INFO: rotation constraint: 3.141592653589793 -2024-02-12 15:16:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 15:16:34, INFO: Using device: cpu -2024-02-12 15:16:34, INFO: Loaded RL weights with best VAL -2024-02-12 15:16:34, INFO: Similarity_func: concatenation -2024-02-12 15:16:34, INFO: Layerwise_graph: False -2024-02-12 15:16:34, INFO: Skip_connection: True -2024-02-12 15:16:34, INFO: Number of layers: 1 -2024-02-12 15:16:34, INFO: Similarity_func: concatenation -2024-02-12 15:16:34, INFO: Layerwise_graph: False -2024-02-12 15:16:34, INFO: Skip_connection: True -2024-02-12 15:16:34, INFO: Number of layers: 1 -2024-02-12 15:16:34, INFO: Planning depth: 1 -2024-02-12 15:16:34, INFO: Planning width: 10 -2024-02-12 15:16:34, INFO: Sparse search: None -2024-02-12 15:16:37, INFO: human number: 10 -2024-02-12 15:16:37, INFO: Not randomize human's radius and preferred speed -2024-02-12 15:16:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 15:16:37, INFO: Square width: 10, circle width: 4 -2024-02-12 15:16:37, INFO: rotation constraint: 3.141592653589793 -2024-02-12 15:16:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 15:16:50, INFO: Using device: cpu -2024-02-12 15:16:50, INFO: Loaded RL weights with best VAL -2024-02-12 15:16:51, INFO: Similarity_func: concatenation -2024-02-12 15:16:51, INFO: Layerwise_graph: False -2024-02-12 15:16:51, INFO: Skip_connection: True -2024-02-12 15:16:51, INFO: Number of layers: 1 -2024-02-12 15:16:51, INFO: Similarity_func: concatenation -2024-02-12 15:16:51, INFO: Layerwise_graph: False -2024-02-12 15:16:51, INFO: Skip_connection: True -2024-02-12 15:16:51, INFO: Number of layers: 1 -2024-02-12 15:16:51, INFO: Planning depth: 1 -2024-02-12 15:16:51, INFO: Planning width: 10 -2024-02-12 15:16:51, INFO: Sparse search: None -2024-02-12 15:18:28, INFO: human number: 10 -2024-02-12 15:18:28, INFO: Not randomize human's radius and preferred speed -2024-02-12 15:18:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 15:18:28, INFO: Square width: 10, circle width: 4 -2024-02-12 15:18:28, INFO: rotation constraint: 3.141592653589793 -2024-02-12 15:18:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 15:27:17, INFO: TEST has success rate: 0.803, collision rate: 0.197, nav time: 14.126, total reward: 646.9254, average return: 0.2072 -2024-02-12 15:27:17, INFO: Frequency of being in danger: 0.214 and average min separate distance in danger: 0.13 -2024-02-12 15:27:17, INFO: discomfor nums is 12178 and return is 0.2886 and length is 50310 -2024-02-12 15:27:17, INFO: Collision cases: 5 8 10 12 14 22 25 26 40 46 47 49 57 63 64 66 69 70 79 84 87 92 94 95 101 107 115 116 118 121 122 126 132 133 135 137 143 147 154 155 161 162 166 173 178 192 199 202 205 208 222 224 226 230 231 236 238 255 259 270 272 278 281 284 291 301 304 305 307 309 315 323 325 334 343 355 361 370 376 380 382 389 391 395 400 413 435 439 444 464 478 479 482 484 491 497 503 508 510 514 524 527 528 531 536 540 549 558 563 574 583 591 606 611 612 614 621 623 627 630 634 635 639 641 651 653 656 659 663 664 668 674 679 693 695 699 700 701 704 707 710 715 724 726 733 739 742 743 746 753 761 767 768 771 773 774 780 784 788 789 793 796 798 799 800 803 812 818 834 845 850 874 878 879 885 892 896 897 898 901 916 920 924 925 928 934 941 959 962 963 981 982 983 985 990 992 996 -2024-02-12 15:27:17, INFO: Timeout cases: -2024-02-12 15:27:32, INFO: TEST has success rate: 0.994, collision rate: 0.006, nav time: 10.254, total reward: 1730.0170, average return: 0.7237 -2024-02-12 15:27:32, INFO: Frequency of being in danger: 0.037 and average min separate distance in danger: 0.16 -2024-02-12 15:27:32, INFO: discomfor nums is 1638 and return is 0.7210 and length is 40939 -2024-02-12 15:27:32, INFO: Collision cases: 107 205 247 395 549 704 -2024-02-12 15:27:32, INFO: Timeout cases: -2024-02-12 15:28:12, INFO: TEST has success rate: 0.989, collision rate: 0.011, nav time: 9.946, total reward: 1707.2922, average return: 0.7179 -2024-02-12 15:28:12, INFO: Frequency of being in danger: 0.047 and average min separate distance in danger: 0.16 -2024-02-12 15:28:12, INFO: discomfor nums is 2051 and return is 0.7178 and length is 39585 -2024-02-12 15:28:12, INFO: Collision cases: 80 82 233 522 528 664 701 776 905 934 997 -2024-02-12 15:28:12, INFO: Timeout cases: -2024-02-12 15:28:14, INFO: TEST has success rate: 0.992, collision rate: 0.008, nav time: 10.529, total reward: 1733.6429, average return: 0.7070 -2024-02-12 15:28:14, INFO: Frequency of being in danger: 0.036 and average min separate distance in danger: 0.16 -2024-02-12 15:28:14, INFO: discomfor nums is 1591 and return is 0.7038 and length is 41976 -2024-02-12 15:28:14, INFO: Collision cases: 195 205 233 247 250 522 730 891 -2024-02-12 15:28:14, INFO: Timeout cases: -2024-02-12 17:26:45, INFO: Using device: cpu -2024-02-12 17:26:45, INFO: Loaded RL weights with best VAL -2024-02-12 17:26:45, INFO: Similarity_func: concatenation -2024-02-12 17:26:45, INFO: Layerwise_graph: False -2024-02-12 17:26:45, INFO: Skip_connection: True -2024-02-12 17:26:45, INFO: Number of layers: 1 -2024-02-12 17:26:45, INFO: Similarity_func: concatenation -2024-02-12 17:26:45, INFO: Layerwise_graph: False -2024-02-12 17:26:45, INFO: Skip_connection: True -2024-02-12 17:26:45, INFO: Number of layers: 1 -2024-02-12 17:26:45, INFO: Planning depth: 1 -2024-02-12 17:26:45, INFO: Planning width: 10 -2024-02-12 17:26:45, INFO: Sparse search: None -2024-02-12 17:26:48, INFO: human number: 5 -2024-02-12 17:26:48, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:26:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:26:48, INFO: Square width: 10, circle width: 4 -2024-02-12 17:26:48, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:26:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:28:42, INFO: Using device: cpu -2024-02-12 17:28:42, INFO: Loaded RL weights with best VAL -2024-02-12 17:28:42, INFO: Similarity_func: concatenation -2024-02-12 17:28:42, INFO: Layerwise_graph: False -2024-02-12 17:28:42, INFO: Skip_connection: True -2024-02-12 17:28:42, INFO: Number of layers: 1 -2024-02-12 17:28:42, INFO: Similarity_func: concatenation -2024-02-12 17:28:42, INFO: Layerwise_graph: False -2024-02-12 17:28:42, INFO: Skip_connection: True -2024-02-12 17:28:42, INFO: Number of layers: 1 -2024-02-12 17:28:42, INFO: Planning depth: 1 -2024-02-12 17:28:42, INFO: Planning width: 10 -2024-02-12 17:28:42, INFO: Sparse search: None -2024-02-12 17:28:45, INFO: human number: 5 -2024-02-12 17:28:45, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:28:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:28:45, INFO: Square width: 10, circle width: 4 -2024-02-12 17:28:45, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:28:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:29:24, INFO: Using device: cpu -2024-02-12 17:29:24, INFO: Loaded RL weights with best VAL -2024-02-12 17:29:24, INFO: Similarity_func: concatenation -2024-02-12 17:29:24, INFO: Layerwise_graph: False -2024-02-12 17:29:24, INFO: Skip_connection: True -2024-02-12 17:29:24, INFO: Number of layers: 1 -2024-02-12 17:29:24, INFO: Similarity_func: concatenation -2024-02-12 17:29:24, INFO: Layerwise_graph: False -2024-02-12 17:29:24, INFO: Skip_connection: True -2024-02-12 17:29:24, INFO: Number of layers: 1 -2024-02-12 17:29:24, INFO: Planning depth: 1 -2024-02-12 17:29:24, INFO: Planning width: 10 -2024-02-12 17:29:24, INFO: Sparse search: None -2024-02-12 17:29:26, INFO: human number: 5 -2024-02-12 17:29:26, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:29:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:29:26, INFO: Square width: 10, circle width: 4 -2024-02-12 17:29:26, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:29:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:30:26, INFO: Using device: cpu -2024-02-12 17:30:26, INFO: Loaded RL weights with best VAL -2024-02-12 17:30:26, INFO: Similarity_func: concatenation -2024-02-12 17:30:26, INFO: Layerwise_graph: False -2024-02-12 17:30:26, INFO: Skip_connection: True -2024-02-12 17:30:26, INFO: Number of layers: 1 -2024-02-12 17:30:26, INFO: Similarity_func: concatenation -2024-02-12 17:30:26, INFO: Layerwise_graph: False -2024-02-12 17:30:26, INFO: Skip_connection: True -2024-02-12 17:30:26, INFO: Number of layers: 1 -2024-02-12 17:30:26, INFO: Planning depth: 1 -2024-02-12 17:30:26, INFO: Planning width: 10 -2024-02-12 17:30:26, INFO: Sparse search: None -2024-02-12 17:30:29, INFO: human number: 5 -2024-02-12 17:30:29, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:30:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:30:29, INFO: Square width: 10, circle width: 4 -2024-02-12 17:30:29, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:30:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:34:07, INFO: Using device: cpu -2024-02-12 17:34:07, INFO: Loaded RL weights with best VAL -2024-02-12 17:34:07, INFO: Similarity_func: concatenation -2024-02-12 17:34:07, INFO: Layerwise_graph: False -2024-02-12 17:34:07, INFO: Skip_connection: True -2024-02-12 17:34:07, INFO: Number of layers: 1 -2024-02-12 17:34:07, INFO: Similarity_func: concatenation -2024-02-12 17:34:07, INFO: Layerwise_graph: False -2024-02-12 17:34:07, INFO: Skip_connection: True -2024-02-12 17:34:07, INFO: Number of layers: 1 -2024-02-12 17:34:07, INFO: Planning depth: 1 -2024-02-12 17:34:07, INFO: Planning width: 10 -2024-02-12 17:34:07, INFO: Sparse search: None -2024-02-12 17:34:09, INFO: human number: 5 -2024-02-12 17:34:09, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:34:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:34:09, INFO: Square width: 10, circle width: 4 -2024-02-12 17:34:09, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:34:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:34:28, INFO: Using device: cpu -2024-02-12 17:34:28, INFO: Loaded RL weights with best VAL -2024-02-12 17:34:28, INFO: Similarity_func: concatenation -2024-02-12 17:34:28, INFO: Layerwise_graph: False -2024-02-12 17:34:28, INFO: Skip_connection: True -2024-02-12 17:34:28, INFO: Number of layers: 1 -2024-02-12 17:34:28, INFO: Similarity_func: concatenation -2024-02-12 17:34:28, INFO: Layerwise_graph: False -2024-02-12 17:34:28, INFO: Skip_connection: True -2024-02-12 17:34:28, INFO: Number of layers: 1 -2024-02-12 17:34:28, INFO: Planning depth: 1 -2024-02-12 17:34:28, INFO: Planning width: 10 -2024-02-12 17:34:28, INFO: Sparse search: None -2024-02-12 17:34:30, INFO: human number: 5 -2024-02-12 17:34:30, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:34:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:34:30, INFO: Square width: 10, circle width: 4 -2024-02-12 17:34:30, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:34:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:38:00, INFO: Using device: cpu -2024-02-12 17:38:00, INFO: Loaded RL weights with best VAL -2024-02-12 17:38:00, INFO: Similarity_func: concatenation -2024-02-12 17:38:00, INFO: Layerwise_graph: False -2024-02-12 17:38:00, INFO: Skip_connection: True -2024-02-12 17:38:00, INFO: Number of layers: 1 -2024-02-12 17:38:00, INFO: Similarity_func: concatenation -2024-02-12 17:38:00, INFO: Layerwise_graph: False -2024-02-12 17:38:00, INFO: Skip_connection: True -2024-02-12 17:38:00, INFO: Number of layers: 1 -2024-02-12 17:38:00, INFO: Planning depth: 1 -2024-02-12 17:38:00, INFO: Planning width: 10 -2024-02-12 17:38:00, INFO: Sparse search: None -2024-02-12 17:38:03, INFO: human number: 5 -2024-02-12 17:38:03, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:38:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:38:03, INFO: Square width: 10, circle width: 4 -2024-02-12 17:38:03, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:38:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:51:28, INFO: Using device: cpu -2024-02-12 17:51:28, INFO: Loaded RL weights with best VAL -2024-02-12 17:51:28, INFO: Similarity_func: concatenation -2024-02-12 17:51:28, INFO: Layerwise_graph: False -2024-02-12 17:51:28, INFO: Skip_connection: True -2024-02-12 17:51:28, INFO: Number of layers: 1 -2024-02-12 17:51:28, INFO: Similarity_func: concatenation -2024-02-12 17:51:28, INFO: Layerwise_graph: False -2024-02-12 17:51:28, INFO: Skip_connection: True -2024-02-12 17:51:28, INFO: Number of layers: 1 -2024-02-12 17:51:28, INFO: Planning depth: 1 -2024-02-12 17:51:28, INFO: Planning width: 10 -2024-02-12 17:51:28, INFO: Sparse search: None -2024-02-12 17:51:31, INFO: human number: 5 -2024-02-12 17:51:31, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:51:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:51:31, INFO: Square width: 10, circle width: 4 -2024-02-12 17:51:31, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:51:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:51:32, INFO: Animation.save using -2024-02-12 17:51:35, INFO: Animation.save using -2024-02-12 17:51:38, INFO: Animation.save using -2024-02-12 17:52:02, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.081203 -2024-02-12 17:52:47, INFO: Using device: cpu -2024-02-12 17:52:47, INFO: Loaded RL weights with best VAL -2024-02-12 17:52:47, INFO: Similarity_func: concatenation -2024-02-12 17:52:47, INFO: Layerwise_graph: False -2024-02-12 17:52:47, INFO: Skip_connection: True -2024-02-12 17:52:47, INFO: Number of layers: 1 -2024-02-12 17:52:47, INFO: Similarity_func: concatenation -2024-02-12 17:52:47, INFO: Layerwise_graph: False -2024-02-12 17:52:47, INFO: Skip_connection: True -2024-02-12 17:52:47, INFO: Number of layers: 1 -2024-02-12 17:52:47, INFO: Planning depth: 1 -2024-02-12 17:52:47, INFO: Planning width: 10 -2024-02-12 17:52:47, INFO: Sparse search: None -2024-02-12 17:52:49, INFO: human number: 5 -2024-02-12 17:52:49, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:52:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:52:49, INFO: Square width: 10, circle width: 4 -2024-02-12 17:52:49, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:52:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:52:51, INFO: Animation.save using -2024-02-12 17:52:54, INFO: Animation.save using -2024-02-12 17:52:57, INFO: Animation.save using -2024-02-12 17:53:21, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.081203 -2024-02-12 17:53:49, INFO: Using device: cpu -2024-02-12 17:53:49, INFO: Loaded RL weights with best VAL -2024-02-12 17:53:49, INFO: Similarity_func: concatenation -2024-02-12 17:53:49, INFO: Layerwise_graph: False -2024-02-12 17:53:49, INFO: Skip_connection: True -2024-02-12 17:53:49, INFO: Number of layers: 1 -2024-02-12 17:53:49, INFO: Similarity_func: concatenation -2024-02-12 17:53:49, INFO: Layerwise_graph: False -2024-02-12 17:53:49, INFO: Skip_connection: True -2024-02-12 17:53:49, INFO: Number of layers: 1 -2024-02-12 17:53:49, INFO: Planning depth: 1 -2024-02-12 17:53:49, INFO: Planning width: 10 -2024-02-12 17:53:49, INFO: Sparse search: None -2024-02-12 17:53:51, INFO: human number: 5 -2024-02-12 17:53:51, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:53:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:53:51, INFO: Square width: 10, circle width: 4 -2024-02-12 17:53:51, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:53:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:53:53, INFO: Animation.save using -2024-02-12 17:53:56, INFO: Animation.save using -2024-02-12 17:53:59, INFO: Animation.save using -2024-02-12 17:54:23, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.081203 -2024-02-12 17:57:12, INFO: Using device: cpu -2024-02-12 17:57:12, INFO: Loaded RL weights with best VAL -2024-02-12 17:57:12, INFO: Similarity_func: concatenation -2024-02-12 17:57:12, INFO: Layerwise_graph: False -2024-02-12 17:57:12, INFO: Skip_connection: True -2024-02-12 17:57:12, INFO: Number of layers: 1 -2024-02-12 17:57:12, INFO: Similarity_func: concatenation -2024-02-12 17:57:12, INFO: Layerwise_graph: False -2024-02-12 17:57:12, INFO: Skip_connection: True -2024-02-12 17:57:12, INFO: Number of layers: 1 -2024-02-12 17:57:12, INFO: Planning depth: 1 -2024-02-12 17:57:12, INFO: Planning width: 10 -2024-02-12 17:57:12, INFO: Sparse search: None -2024-02-12 17:57:15, INFO: human number: 5 -2024-02-12 17:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-12 17:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 17:57:15, INFO: Square width: 10, circle width: 4 -2024-02-12 17:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-12 17:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 17:57:16, INFO: Animation.save using -2024-02-12 17:57:21, INFO: Animation.save using -2024-02-12 17:57:25, INFO: Animation.save using -2024-02-12 17:57:57, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.963774 -2024-02-12 18:09:51, INFO: Using device: cpu -2024-02-12 18:09:51, INFO: Loaded RL weights with best VAL -2024-02-12 18:09:51, INFO: Similarity_func: concatenation -2024-02-12 18:09:51, INFO: Layerwise_graph: False -2024-02-12 18:09:51, INFO: Skip_connection: True -2024-02-12 18:09:51, INFO: Number of layers: 1 -2024-02-12 18:09:51, INFO: Similarity_func: concatenation -2024-02-12 18:09:51, INFO: Layerwise_graph: False -2024-02-12 18:09:51, INFO: Skip_connection: True -2024-02-12 18:09:51, INFO: Number of layers: 1 -2024-02-12 18:09:51, INFO: Planning depth: 1 -2024-02-12 18:09:51, INFO: Planning width: 10 -2024-02-12 18:09:51, INFO: Sparse search: None -2024-02-12 18:09:54, INFO: human number: 10 -2024-02-12 18:09:54, INFO: Not randomize human's radius and preferred speed -2024-02-12 18:09:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 18:09:54, INFO: Square width: 10, circle width: 4 -2024-02-12 18:09:54, INFO: rotation constraint: 3.141592653589793 -2024-02-12 18:09:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 18:09:55, INFO: Animation.save using -2024-02-12 18:09:59, INFO: Animation.save using -2024-02-12 18:10:03, INFO: Animation.save using -2024-02-12 18:10:41, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-12 18:12:52, INFO: Using device: cpu -2024-02-12 18:12:52, INFO: Loaded RL weights with best VAL -2024-02-12 18:12:52, INFO: Similarity_func: concatenation -2024-02-12 18:12:52, INFO: Layerwise_graph: False -2024-02-12 18:12:52, INFO: Skip_connection: True -2024-02-12 18:12:52, INFO: Number of layers: 1 -2024-02-12 18:12:52, INFO: Similarity_func: concatenation -2024-02-12 18:12:52, INFO: Layerwise_graph: False -2024-02-12 18:12:52, INFO: Skip_connection: True -2024-02-12 18:12:52, INFO: Number of layers: 1 -2024-02-12 18:12:52, INFO: Planning depth: 1 -2024-02-12 18:12:52, INFO: Planning width: 10 -2024-02-12 18:12:52, INFO: Sparse search: None -2024-02-12 18:12:56, INFO: human number: 10 -2024-02-12 18:12:56, INFO: Not randomize human's radius and preferred speed -2024-02-12 18:12:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 18:12:56, INFO: Square width: 10, circle width: 4 -2024-02-12 18:12:56, INFO: rotation constraint: 3.141592653589793 -2024-02-12 18:12:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 18:12:58, INFO: Animation.save using -2024-02-12 18:13:06, INFO: Animation.save using -2024-02-12 18:13:15, INFO: Animation.save using -2024-02-12 18:13:52, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-12 18:17:27, INFO: Using device: cpu -2024-02-12 18:17:27, INFO: Loaded RL weights with best VAL -2024-02-12 18:17:27, INFO: Similarity_func: concatenation -2024-02-12 18:17:27, INFO: Layerwise_graph: False -2024-02-12 18:17:27, INFO: Skip_connection: True -2024-02-12 18:17:27, INFO: Number of layers: 1 -2024-02-12 18:17:27, INFO: Similarity_func: concatenation -2024-02-12 18:17:27, INFO: Layerwise_graph: False -2024-02-12 18:17:27, INFO: Skip_connection: True -2024-02-12 18:17:27, INFO: Number of layers: 1 -2024-02-12 18:17:27, INFO: Planning depth: 1 -2024-02-12 18:17:27, INFO: Planning width: 10 -2024-02-12 18:17:27, INFO: Sparse search: None -2024-02-12 18:17:45, INFO: Using device: cpu -2024-02-12 18:17:45, INFO: Loaded RL weights with best VAL -2024-02-12 18:17:45, INFO: Similarity_func: concatenation -2024-02-12 18:17:45, INFO: Layerwise_graph: False -2024-02-12 18:17:45, INFO: Skip_connection: True -2024-02-12 18:17:45, INFO: Number of layers: 1 -2024-02-12 18:17:45, INFO: Similarity_func: concatenation -2024-02-12 18:17:45, INFO: Layerwise_graph: False -2024-02-12 18:17:45, INFO: Skip_connection: True -2024-02-12 18:17:45, INFO: Number of layers: 1 -2024-02-12 18:17:45, INFO: Planning depth: 1 -2024-02-12 18:17:45, INFO: Planning width: 10 -2024-02-12 18:17:45, INFO: Sparse search: None -2024-02-12 18:17:48, INFO: human number: 10 -2024-02-12 18:17:48, INFO: Not randomize human's radius and preferred speed -2024-02-12 18:17:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-12 18:17:48, INFO: Square width: 10, circle width: 4 -2024-02-12 18:17:48, INFO: rotation constraint: 3.141592653589793 -2024-02-12 18:17:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-12 18:17:49, INFO: Animation.save using -2024-02-12 18:17:54, INFO: Animation.save using -2024-02-12 18:17:57, INFO: Animation.save using -2024-02-12 18:18:35, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:25:04, INFO: Using device: cpu -2024-02-13 15:25:04, INFO: Loaded RL weights with best VAL -2024-02-13 15:25:04, INFO: Similarity_func: concatenation -2024-02-13 15:25:04, INFO: Layerwise_graph: False -2024-02-13 15:25:04, INFO: Skip_connection: True -2024-02-13 15:25:04, INFO: Number of layers: 1 -2024-02-13 15:25:04, INFO: Similarity_func: concatenation -2024-02-13 15:25:04, INFO: Layerwise_graph: False -2024-02-13 15:25:04, INFO: Skip_connection: True -2024-02-13 15:25:04, INFO: Number of layers: 1 -2024-02-13 15:25:04, INFO: Planning depth: 1 -2024-02-13 15:25:04, INFO: Planning width: 10 -2024-02-13 15:25:04, INFO: Sparse search: None -2024-02-13 15:25:06, INFO: human number: 10 -2024-02-13 15:25:06, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:25:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:25:06, INFO: Square width: 10, circle width: 4 -2024-02-13 15:25:06, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:25:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:25:08, INFO: Animation.save using -2024-02-13 15:25:12, INFO: Animation.save using -2024-02-13 15:25:16, INFO: Animation.save using -2024-02-13 15:25:53, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:26:14, INFO: Using device: cpu -2024-02-13 15:26:14, INFO: Loaded RL weights with best VAL -2024-02-13 15:26:14, INFO: Similarity_func: concatenation -2024-02-13 15:26:14, INFO: Layerwise_graph: False -2024-02-13 15:26:14, INFO: Skip_connection: True -2024-02-13 15:26:14, INFO: Number of layers: 1 -2024-02-13 15:26:14, INFO: Similarity_func: concatenation -2024-02-13 15:26:14, INFO: Layerwise_graph: False -2024-02-13 15:26:14, INFO: Skip_connection: True -2024-02-13 15:26:14, INFO: Number of layers: 1 -2024-02-13 15:26:14, INFO: Planning depth: 1 -2024-02-13 15:26:14, INFO: Planning width: 10 -2024-02-13 15:26:14, INFO: Sparse search: None -2024-02-13 15:26:17, INFO: human number: 10 -2024-02-13 15:26:17, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:26:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:26:17, INFO: Square width: 10, circle width: 4 -2024-02-13 15:26:17, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:26:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:26:19, INFO: Animation.save using -2024-02-13 15:26:23, INFO: Animation.save using -2024-02-13 15:26:27, INFO: Animation.save using -2024-02-13 15:27:03, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:27:10, INFO: Using device: cpu -2024-02-13 15:27:10, INFO: Loaded RL weights with best VAL -2024-02-13 15:27:10, INFO: Similarity_func: concatenation -2024-02-13 15:27:10, INFO: Layerwise_graph: False -2024-02-13 15:27:10, INFO: Skip_connection: True -2024-02-13 15:27:10, INFO: Number of layers: 1 -2024-02-13 15:27:10, INFO: Similarity_func: concatenation -2024-02-13 15:27:10, INFO: Layerwise_graph: False -2024-02-13 15:27:10, INFO: Skip_connection: True -2024-02-13 15:27:10, INFO: Number of layers: 1 -2024-02-13 15:27:10, INFO: Planning depth: 1 -2024-02-13 15:27:10, INFO: Planning width: 10 -2024-02-13 15:27:10, INFO: Sparse search: None -2024-02-13 15:27:13, INFO: human number: 10 -2024-02-13 15:27:13, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:27:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:27:13, INFO: Square width: 10, circle width: 4 -2024-02-13 15:27:13, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:27:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:27:15, INFO: Animation.save using -2024-02-13 15:27:19, INFO: Animation.save using -2024-02-13 15:27:23, INFO: Animation.save using -2024-02-13 15:28:00, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:28:16, INFO: Using device: cpu -2024-02-13 15:28:16, INFO: Loaded RL weights with best VAL -2024-02-13 15:28:16, INFO: Similarity_func: concatenation -2024-02-13 15:28:16, INFO: Layerwise_graph: False -2024-02-13 15:28:16, INFO: Skip_connection: True -2024-02-13 15:28:16, INFO: Number of layers: 1 -2024-02-13 15:28:16, INFO: Similarity_func: concatenation -2024-02-13 15:28:16, INFO: Layerwise_graph: False -2024-02-13 15:28:16, INFO: Skip_connection: True -2024-02-13 15:28:16, INFO: Number of layers: 1 -2024-02-13 15:28:16, INFO: Planning depth: 1 -2024-02-13 15:28:16, INFO: Planning width: 10 -2024-02-13 15:28:16, INFO: Sparse search: None -2024-02-13 15:28:18, INFO: human number: 10 -2024-02-13 15:28:18, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:28:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:28:18, INFO: Square width: 10, circle width: 4 -2024-02-13 15:28:18, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:28:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:28:20, INFO: Animation.save using -2024-02-13 15:28:24, INFO: Animation.save using -2024-02-13 15:28:28, INFO: Animation.save using -2024-02-13 15:29:05, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:38:59, INFO: Using device: cpu -2024-02-13 15:38:59, INFO: Loaded RL weights with best VAL -2024-02-13 15:38:59, INFO: Similarity_func: concatenation -2024-02-13 15:38:59, INFO: Layerwise_graph: False -2024-02-13 15:38:59, INFO: Skip_connection: True -2024-02-13 15:38:59, INFO: Number of layers: 1 -2024-02-13 15:38:59, INFO: Similarity_func: concatenation -2024-02-13 15:38:59, INFO: Layerwise_graph: False -2024-02-13 15:38:59, INFO: Skip_connection: True -2024-02-13 15:38:59, INFO: Number of layers: 1 -2024-02-13 15:38:59, INFO: Planning depth: 1 -2024-02-13 15:38:59, INFO: Planning width: 10 -2024-02-13 15:38:59, INFO: Sparse search: None -2024-02-13 15:39:02, INFO: human number: 10 -2024-02-13 15:39:02, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:39:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:39:02, INFO: Square width: 10, circle width: 4 -2024-02-13 15:39:02, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:39:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:39:03, INFO: Animation.save using -2024-02-13 15:39:08, INFO: Animation.save using -2024-02-13 15:39:11, INFO: Animation.save using -2024-02-13 15:40:32, INFO: Using device: cpu -2024-02-13 15:40:32, INFO: Loaded RL weights with best VAL -2024-02-13 15:40:32, INFO: Similarity_func: concatenation -2024-02-13 15:40:32, INFO: Layerwise_graph: False -2024-02-13 15:40:32, INFO: Skip_connection: True -2024-02-13 15:40:32, INFO: Number of layers: 1 -2024-02-13 15:40:32, INFO: Similarity_func: concatenation -2024-02-13 15:40:32, INFO: Layerwise_graph: False -2024-02-13 15:40:32, INFO: Skip_connection: True -2024-02-13 15:40:32, INFO: Number of layers: 1 -2024-02-13 15:40:32, INFO: Planning depth: 1 -2024-02-13 15:40:32, INFO: Planning width: 10 -2024-02-13 15:40:32, INFO: Sparse search: None -2024-02-13 15:40:35, INFO: human number: 10 -2024-02-13 15:40:35, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:40:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:40:35, INFO: Square width: 10, circle width: 4 -2024-02-13 15:40:35, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:40:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:40:37, INFO: Animation.save using -2024-02-13 15:40:41, INFO: Animation.save using -2024-02-13 15:40:45, INFO: Animation.save using -2024-02-13 15:41:35, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:42:58, INFO: Using device: cpu -2024-02-13 15:42:58, INFO: Loaded RL weights with best VAL -2024-02-13 15:42:58, INFO: Similarity_func: concatenation -2024-02-13 15:42:58, INFO: Layerwise_graph: False -2024-02-13 15:42:58, INFO: Skip_connection: True -2024-02-13 15:42:58, INFO: Number of layers: 1 -2024-02-13 15:42:58, INFO: Similarity_func: concatenation -2024-02-13 15:42:58, INFO: Layerwise_graph: False -2024-02-13 15:42:58, INFO: Skip_connection: True -2024-02-13 15:42:58, INFO: Number of layers: 1 -2024-02-13 15:42:58, INFO: Planning depth: 1 -2024-02-13 15:42:58, INFO: Planning width: 10 -2024-02-13 15:42:58, INFO: Sparse search: None -2024-02-13 15:43:01, INFO: human number: 10 -2024-02-13 15:43:01, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:43:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:43:01, INFO: Square width: 10, circle width: 4 -2024-02-13 15:43:01, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:43:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:43:03, INFO: Animation.save using -2024-02-13 15:43:07, INFO: Animation.save using -2024-02-13 15:43:11, INFO: Animation.save using -2024-02-13 15:44:01, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:45:40, INFO: Using device: cpu -2024-02-13 15:45:40, INFO: Loaded RL weights with best VAL -2024-02-13 15:45:40, INFO: Similarity_func: concatenation -2024-02-13 15:45:40, INFO: Layerwise_graph: False -2024-02-13 15:45:40, INFO: Skip_connection: True -2024-02-13 15:45:40, INFO: Number of layers: 1 -2024-02-13 15:45:40, INFO: Similarity_func: concatenation -2024-02-13 15:45:40, INFO: Layerwise_graph: False -2024-02-13 15:45:40, INFO: Skip_connection: True -2024-02-13 15:45:40, INFO: Number of layers: 1 -2024-02-13 15:45:40, INFO: Planning depth: 1 -2024-02-13 15:45:40, INFO: Planning width: 10 -2024-02-13 15:45:40, INFO: Sparse search: None -2024-02-13 15:45:42, INFO: human number: 10 -2024-02-13 15:45:42, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:45:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:45:42, INFO: Square width: 10, circle width: 4 -2024-02-13 15:45:42, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:45:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:45:44, INFO: Animation.save using -2024-02-13 15:45:48, INFO: Animation.save using -2024-02-13 15:45:52, INFO: Animation.save using -2024-02-13 15:46:42, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:47:05, INFO: Using device: cpu -2024-02-13 15:47:05, INFO: Loaded RL weights with best VAL -2024-02-13 15:47:05, INFO: Similarity_func: concatenation -2024-02-13 15:47:05, INFO: Layerwise_graph: False -2024-02-13 15:47:05, INFO: Skip_connection: True -2024-02-13 15:47:05, INFO: Number of layers: 1 -2024-02-13 15:47:05, INFO: Similarity_func: concatenation -2024-02-13 15:47:05, INFO: Layerwise_graph: False -2024-02-13 15:47:05, INFO: Skip_connection: True -2024-02-13 15:47:05, INFO: Number of layers: 1 -2024-02-13 15:47:05, INFO: Planning depth: 1 -2024-02-13 15:47:05, INFO: Planning width: 10 -2024-02-13 15:47:05, INFO: Sparse search: None -2024-02-13 15:47:08, INFO: human number: 10 -2024-02-13 15:47:08, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:47:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:47:08, INFO: Square width: 10, circle width: 4 -2024-02-13 15:47:08, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:47:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:47:09, INFO: Animation.save using -2024-02-13 15:47:13, INFO: Animation.save using -2024-02-13 15:47:17, INFO: Animation.save using -2024-02-13 15:48:07, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:50:26, INFO: Using device: cpu -2024-02-13 15:50:26, INFO: Loaded RL weights with best VAL -2024-02-13 15:50:26, INFO: Similarity_func: concatenation -2024-02-13 15:50:26, INFO: Layerwise_graph: False -2024-02-13 15:50:26, INFO: Skip_connection: True -2024-02-13 15:50:26, INFO: Number of layers: 1 -2024-02-13 15:50:26, INFO: Similarity_func: concatenation -2024-02-13 15:50:26, INFO: Layerwise_graph: False -2024-02-13 15:50:26, INFO: Skip_connection: True -2024-02-13 15:50:26, INFO: Number of layers: 1 -2024-02-13 15:50:26, INFO: Planning depth: 1 -2024-02-13 15:50:26, INFO: Planning width: 10 -2024-02-13 15:50:26, INFO: Sparse search: None -2024-02-13 15:50:29, INFO: human number: 10 -2024-02-13 15:50:29, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:50:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:50:29, INFO: Square width: 10, circle width: 4 -2024-02-13 15:50:29, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:50:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:50:30, INFO: Animation.save using -2024-02-13 15:50:35, INFO: Animation.save using -2024-02-13 15:50:38, INFO: Animation.save using -2024-02-13 15:51:28, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:54:30, INFO: Using device: cpu -2024-02-13 15:54:30, INFO: Loaded RL weights with best VAL -2024-02-13 15:54:30, INFO: Similarity_func: concatenation -2024-02-13 15:54:30, INFO: Layerwise_graph: False -2024-02-13 15:54:30, INFO: Skip_connection: True -2024-02-13 15:54:30, INFO: Number of layers: 1 -2024-02-13 15:54:30, INFO: Similarity_func: concatenation -2024-02-13 15:54:30, INFO: Layerwise_graph: False -2024-02-13 15:54:30, INFO: Skip_connection: True -2024-02-13 15:54:30, INFO: Number of layers: 1 -2024-02-13 15:54:30, INFO: Planning depth: 1 -2024-02-13 15:54:30, INFO: Planning width: 10 -2024-02-13 15:54:30, INFO: Sparse search: None -2024-02-13 15:54:33, INFO: human number: 10 -2024-02-13 15:54:33, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:54:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:54:33, INFO: Square width: 10, circle width: 4 -2024-02-13 15:54:33, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:54:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:54:35, INFO: Animation.save using -2024-02-13 15:54:39, INFO: Animation.save using -2024-02-13 15:54:43, INFO: Animation.save using -2024-02-13 15:55:33, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-02-13 15:56:27, INFO: Using device: cpu -2024-02-13 15:56:27, INFO: Loaded RL weights with best VAL -2024-02-13 15:56:27, INFO: Similarity_func: concatenation -2024-02-13 15:56:27, INFO: Layerwise_graph: False -2024-02-13 15:56:27, INFO: Skip_connection: True -2024-02-13 15:56:27, INFO: Number of layers: 1 -2024-02-13 15:56:27, INFO: Similarity_func: concatenation -2024-02-13 15:56:27, INFO: Layerwise_graph: False -2024-02-13 15:56:27, INFO: Skip_connection: True -2024-02-13 15:56:27, INFO: Number of layers: 1 -2024-02-13 15:56:27, INFO: Planning depth: 1 -2024-02-13 15:56:27, INFO: Planning width: 10 -2024-02-13 15:56:27, INFO: Sparse search: None -2024-02-13 15:56:30, INFO: human number: 20 -2024-02-13 15:56:30, INFO: Not randomize human's radius and preferred speed -2024-02-13 15:56:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 15:56:30, INFO: Square width: 10, circle width: 4 -2024-02-13 15:56:30, INFO: rotation constraint: 3.141592653589793 -2024-02-13 15:56:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 15:56:32, INFO: Animation.save using -2024-02-13 15:56:37, INFO: Animation.save using -2024-02-13 15:56:41, INFO: Animation.save using -2024-02-13 15:58:00, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.892439 -2024-02-13 16:00:39, INFO: Using device: cpu -2024-02-13 16:00:39, INFO: Loaded RL weights with best VAL -2024-02-13 16:00:39, INFO: Similarity_func: concatenation -2024-02-13 16:00:39, INFO: Layerwise_graph: False -2024-02-13 16:00:39, INFO: Skip_connection: True -2024-02-13 16:00:39, INFO: Number of layers: 1 -2024-02-13 16:00:39, INFO: Similarity_func: concatenation -2024-02-13 16:00:39, INFO: Layerwise_graph: False -2024-02-13 16:00:39, INFO: Skip_connection: True -2024-02-13 16:00:39, INFO: Number of layers: 1 -2024-02-13 16:00:39, INFO: Planning depth: 1 -2024-02-13 16:00:39, INFO: Planning width: 10 -2024-02-13 16:00:39, INFO: Sparse search: None -2024-02-13 16:00:42, INFO: human number: 20 -2024-02-13 16:00:42, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:00:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:00:42, INFO: Square width: 10, circle width: 4 -2024-02-13 16:00:42, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:00:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:00:44, INFO: Animation.save using -2024-02-13 16:00:49, INFO: Animation.save using -2024-02-13 16:00:53, INFO: Animation.save using -2024-02-13 16:02:05, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.892439 -2024-02-13 16:09:43, INFO: Using device: cpu -2024-02-13 16:09:43, INFO: Loaded RL weights with best VAL -2024-02-13 16:09:43, INFO: Similarity_func: concatenation -2024-02-13 16:09:43, INFO: Layerwise_graph: False -2024-02-13 16:09:43, INFO: Skip_connection: True -2024-02-13 16:09:43, INFO: Number of layers: 1 -2024-02-13 16:09:43, INFO: Similarity_func: concatenation -2024-02-13 16:09:43, INFO: Layerwise_graph: False -2024-02-13 16:09:43, INFO: Skip_connection: True -2024-02-13 16:09:43, INFO: Number of layers: 1 -2024-02-13 16:09:43, INFO: Planning depth: 1 -2024-02-13 16:09:43, INFO: Planning width: 10 -2024-02-13 16:09:43, INFO: Sparse search: None -2024-02-13 16:09:45, INFO: human number: 10 -2024-02-13 16:09:45, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:09:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:09:45, INFO: Square width: 10, circle width: 4 -2024-02-13 16:09:45, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:09:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:09:47, INFO: Animation.save using -2024-02-13 16:09:51, INFO: Animation.save using -2024-02-13 16:09:55, INFO: Animation.save using -2024-02-13 16:10:39, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954584 -2024-02-13 16:12:10, INFO: Using device: cpu -2024-02-13 16:12:10, INFO: Loaded RL weights with best VAL -2024-02-13 16:12:10, INFO: Similarity_func: concatenation -2024-02-13 16:12:10, INFO: Layerwise_graph: False -2024-02-13 16:12:10, INFO: Skip_connection: True -2024-02-13 16:12:10, INFO: Number of layers: 1 -2024-02-13 16:12:10, INFO: Similarity_func: concatenation -2024-02-13 16:12:10, INFO: Layerwise_graph: False -2024-02-13 16:12:10, INFO: Skip_connection: True -2024-02-13 16:12:10, INFO: Number of layers: 1 -2024-02-13 16:12:10, INFO: Planning depth: 1 -2024-02-13 16:12:10, INFO: Planning width: 10 -2024-02-13 16:12:10, INFO: Sparse search: None -2024-02-13 16:12:12, INFO: human number: 10 -2024-02-13 16:12:12, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:12:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:12:12, INFO: Square width: 10, circle width: 4 -2024-02-13 16:12:12, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:12:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:12:14, INFO: Animation.save using -2024-02-13 16:12:20, INFO: Animation.save using -2024-02-13 16:12:24, INFO: Animation.save using -2024-02-13 16:13:30, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-13 16:14:58, INFO: Using device: cpu -2024-02-13 16:14:58, INFO: Loaded RL weights with best VAL -2024-02-13 16:14:58, INFO: Similarity_func: concatenation -2024-02-13 16:14:58, INFO: Layerwise_graph: False -2024-02-13 16:14:58, INFO: Skip_connection: True -2024-02-13 16:14:58, INFO: Number of layers: 1 -2024-02-13 16:14:58, INFO: Similarity_func: concatenation -2024-02-13 16:14:58, INFO: Layerwise_graph: False -2024-02-13 16:14:58, INFO: Skip_connection: True -2024-02-13 16:14:58, INFO: Number of layers: 1 -2024-02-13 16:14:58, INFO: Planning depth: 1 -2024-02-13 16:14:58, INFO: Planning width: 10 -2024-02-13 16:14:58, INFO: Sparse search: None -2024-02-13 16:15:01, INFO: human number: 10 -2024-02-13 16:15:01, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:15:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:15:01, INFO: Square width: 10, circle width: 4 -2024-02-13 16:15:01, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:15:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:15:03, INFO: Animation.save using -2024-02-13 16:15:08, INFO: Animation.save using -2024-02-13 16:15:12, INFO: Animation.save using -2024-02-13 16:16:11, INFO: It takes 12.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.900661 -2024-02-13 16:24:08, INFO: Using device: cpu -2024-02-13 16:24:08, INFO: Loaded RL weights with best VAL -2024-02-13 16:24:08, INFO: Similarity_func: concatenation -2024-02-13 16:24:08, INFO: Layerwise_graph: False -2024-02-13 16:24:08, INFO: Skip_connection: True -2024-02-13 16:24:08, INFO: Number of layers: 1 -2024-02-13 16:24:08, INFO: Similarity_func: concatenation -2024-02-13 16:24:08, INFO: Layerwise_graph: False -2024-02-13 16:24:08, INFO: Skip_connection: True -2024-02-13 16:24:08, INFO: Number of layers: 1 -2024-02-13 16:24:08, INFO: Planning depth: 1 -2024-02-13 16:24:08, INFO: Planning width: 10 -2024-02-13 16:24:08, INFO: Sparse search: None -2024-02-13 16:24:10, INFO: human number: 20 -2024-02-13 16:24:10, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:24:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:24:10, INFO: Square width: 10, circle width: 4 -2024-02-13 16:24:10, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:24:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:32:06, INFO: Using device: cpu -2024-02-13 16:32:06, INFO: Loaded RL weights with best VAL -2024-02-13 16:32:08, INFO: Similarity_func: concatenation -2024-02-13 16:32:08, INFO: Layerwise_graph: False -2024-02-13 16:32:08, INFO: Skip_connection: True -2024-02-13 16:32:08, INFO: Number of layers: 1 -2024-02-13 16:32:08, INFO: Similarity_func: concatenation -2024-02-13 16:32:08, INFO: Layerwise_graph: False -2024-02-13 16:32:08, INFO: Skip_connection: True -2024-02-13 16:32:08, INFO: Number of layers: 1 -2024-02-13 16:32:08, INFO: Planning depth: 1 -2024-02-13 16:32:08, INFO: Planning width: 10 -2024-02-13 16:32:08, INFO: Sparse search: None -2024-02-13 16:33:05, INFO: Using device: cpu -2024-02-13 16:33:05, INFO: Loaded RL weights with best VAL -2024-02-13 16:33:05, INFO: Similarity_func: concatenation -2024-02-13 16:33:05, INFO: Layerwise_graph: False -2024-02-13 16:33:05, INFO: Skip_connection: True -2024-02-13 16:33:05, INFO: Number of layers: 1 -2024-02-13 16:33:05, INFO: Similarity_func: concatenation -2024-02-13 16:33:05, INFO: Layerwise_graph: False -2024-02-13 16:33:05, INFO: Skip_connection: True -2024-02-13 16:33:05, INFO: Number of layers: 1 -2024-02-13 16:33:05, INFO: Planning depth: 1 -2024-02-13 16:33:05, INFO: Planning width: 10 -2024-02-13 16:33:05, INFO: Sparse search: None -2024-02-13 16:33:08, INFO: human number: 20 -2024-02-13 16:33:08, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:33:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:33:08, INFO: Square width: 10, circle width: 4 -2024-02-13 16:33:08, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:33:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:34:54, INFO: Using device: cpu -2024-02-13 16:34:54, INFO: Loaded RL weights with best VAL -2024-02-13 16:34:55, INFO: Similarity_func: concatenation -2024-02-13 16:34:55, INFO: Layerwise_graph: False -2024-02-13 16:34:55, INFO: Skip_connection: True -2024-02-13 16:34:55, INFO: Number of layers: 1 -2024-02-13 16:34:55, INFO: Similarity_func: concatenation -2024-02-13 16:34:55, INFO: Layerwise_graph: False -2024-02-13 16:34:55, INFO: Skip_connection: True -2024-02-13 16:34:55, INFO: Number of layers: 1 -2024-02-13 16:34:55, INFO: Planning depth: 1 -2024-02-13 16:34:55, INFO: Planning width: 10 -2024-02-13 16:34:55, INFO: Sparse search: None -2024-02-13 16:35:44, INFO: Using device: cpu -2024-02-13 16:35:44, INFO: Loaded RL weights with best VAL -2024-02-13 16:35:44, INFO: Similarity_func: concatenation -2024-02-13 16:35:44, INFO: Layerwise_graph: False -2024-02-13 16:35:44, INFO: Skip_connection: True -2024-02-13 16:35:44, INFO: Number of layers: 1 -2024-02-13 16:35:44, INFO: Similarity_func: concatenation -2024-02-13 16:35:44, INFO: Layerwise_graph: False -2024-02-13 16:35:44, INFO: Skip_connection: True -2024-02-13 16:35:44, INFO: Number of layers: 1 -2024-02-13 16:35:44, INFO: Planning depth: 1 -2024-02-13 16:35:44, INFO: Planning width: 10 -2024-02-13 16:35:44, INFO: Sparse search: None -2024-02-13 16:37:28, INFO: human number: 20 -2024-02-13 16:37:28, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:37:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:37:28, INFO: Square width: 10, circle width: 4 -2024-02-13 16:37:28, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:37:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:56:14, INFO: TEST has success rate: 0.971, collision rate: 0.028, nav time: 14.063, total reward: 1617.9631, average return: 0.6255 -2024-02-13 16:56:14, INFO: Frequency of being in danger: 0.045 and average min separate distance in danger: 0.15 -2024-02-13 16:56:14, INFO: discomfor nums is 2834 and return is 0.6284 and length is 55499 -2024-02-13 16:56:14, INFO: Collision cases: 59 60 97 147 169 198 205 217 262 277 409 411 466 484 502 503 506 616 638 704 726 736 808 898 907 917 960 962 -2024-02-13 16:56:14, INFO: Timeout cases: 243 -2024-02-13 16:58:13, INFO: Using device: cpu -2024-02-13 16:58:13, INFO: Loaded RL weights with best VAL -2024-02-13 16:58:13, INFO: Similarity_func: concatenation -2024-02-13 16:58:13, INFO: Layerwise_graph: False -2024-02-13 16:58:13, INFO: Skip_connection: True -2024-02-13 16:58:13, INFO: Number of layers: 1 -2024-02-13 16:58:13, INFO: Similarity_func: concatenation -2024-02-13 16:58:13, INFO: Layerwise_graph: False -2024-02-13 16:58:13, INFO: Skip_connection: True -2024-02-13 16:58:13, INFO: Number of layers: 1 -2024-02-13 16:58:13, INFO: Planning depth: 1 -2024-02-13 16:58:13, INFO: Planning width: 10 -2024-02-13 16:58:13, INFO: Sparse search: None -2024-02-13 16:58:16, INFO: human number: 20 -2024-02-13 16:58:16, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:58:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:58:16, INFO: Square width: 10, circle width: 4 -2024-02-13 16:58:16, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:58:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 16:58:22, INFO: TEST has success rate: 0.961, collision rate: 0.038, nav time: 14.219, total reward: 1543.5571, average return: 0.5912 -2024-02-13 16:58:22, INFO: Frequency of being in danger: 0.066 and average min separate distance in danger: 0.15 -2024-02-13 16:58:22, INFO: discomfor nums is 4021 and return is 0.5978 and length is 55785 -2024-02-13 16:58:22, INFO: Collision cases: 9 15 61 75 135 136 170 228 269 304 306 326 342 384 390 398 433 462 466 533 545 547 572 626 660 661 680 704 707 708 712 745 771 803 812 858 942 943 -2024-02-13 16:58:22, INFO: Timeout cases: 620 -2024-02-13 16:59:27, INFO: Using device: cpu -2024-02-13 16:59:27, INFO: Loaded RL weights with best VAL -2024-02-13 16:59:27, INFO: Similarity_func: concatenation -2024-02-13 16:59:27, INFO: Layerwise_graph: False -2024-02-13 16:59:27, INFO: Skip_connection: True -2024-02-13 16:59:27, INFO: Number of layers: 1 -2024-02-13 16:59:27, INFO: Similarity_func: concatenation -2024-02-13 16:59:27, INFO: Layerwise_graph: False -2024-02-13 16:59:27, INFO: Skip_connection: True -2024-02-13 16:59:27, INFO: Number of layers: 1 -2024-02-13 16:59:27, INFO: Planning depth: 1 -2024-02-13 16:59:27, INFO: Planning width: 10 -2024-02-13 16:59:27, INFO: Sparse search: None -2024-02-13 16:59:30, INFO: human number: 20 -2024-02-13 16:59:30, INFO: Not randomize human's radius and preferred speed -2024-02-13 16:59:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 16:59:30, INFO: Square width: 10, circle width: 4 -2024-02-13 16:59:30, INFO: rotation constraint: 3.141592653589793 -2024-02-13 16:59:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 17:00:23, INFO: Using device: cpu -2024-02-13 17:00:23, INFO: Loaded RL weights with best VAL -2024-02-13 17:00:23, INFO: Similarity_func: concatenation -2024-02-13 17:00:23, INFO: Layerwise_graph: False -2024-02-13 17:00:23, INFO: Skip_connection: True -2024-02-13 17:00:23, INFO: Number of layers: 1 -2024-02-13 17:00:23, INFO: Similarity_func: concatenation -2024-02-13 17:00:23, INFO: Layerwise_graph: False -2024-02-13 17:00:23, INFO: Skip_connection: True -2024-02-13 17:00:23, INFO: Number of layers: 1 -2024-02-13 17:00:23, INFO: Planning depth: 1 -2024-02-13 17:00:23, INFO: Planning width: 10 -2024-02-13 17:00:23, INFO: Sparse search: None -2024-02-13 17:00:26, INFO: human number: 20 -2024-02-13 17:00:26, INFO: Not randomize human's radius and preferred speed -2024-02-13 17:00:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 17:00:26, INFO: Square width: 10, circle width: 4 -2024-02-13 17:00:26, INFO: rotation constraint: 3.141592653589793 -2024-02-13 17:00:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-13 17:22:22, INFO: TEST has success rate: 0.964, collision rate: 0.035, nav time: 14.374, total reward: 1632.4746, average return: 0.6262 -2024-02-13 17:22:22, INFO: Frequency of being in danger: 0.039 and average min separate distance in danger: 0.15 -2024-02-13 17:22:22, INFO: discomfor nums is 2475 and return is 0.6347 and length is 56555 -2024-02-13 17:22:22, INFO: Collision cases: 0 2 19 66 85 113 124 144 149 153 230 261 278 303 317 371 447 514 524 541 546 575 603 636 703 737 825 842 866 922 950 961 964 978 988 -2024-02-13 17:22:22, INFO: Timeout cases: 539 -2024-02-13 17:22:40, INFO: TEST has success rate: 0.932, collision rate: 0.068, nav time: 13.814, total reward: 1451.9969, average return: 0.5591 -2024-02-13 17:22:40, INFO: Frequency of being in danger: 0.077 and average min separate distance in danger: 0.15 -2024-02-13 17:22:40, INFO: discomfor nums is 4642 and return is 0.5857 and length is 53328 -2024-02-13 17:22:40, INFO: Collision cases: 16 42 77 87 113 118 123 127 136 143 153 163 206 210 242 271 283 333 360 367 371 389 413 420 422 455 485 500 522 545 570 575 629 634 642 656 666 674 679 681 684 689 691 705 717 736 737 738 751 755 788 802 819 824 828 831 868 874 890 891 898 899 902 918 956 962 964 977 -2024-02-13 17:22:40, INFO: Timeout cases: -2024-02-13 17:34:35, INFO: TEST has success rate: 0.945, collision rate: 0.055, nav time: 14.552, total reward: 1521.1318, average return: 0.5713 -2024-02-13 17:34:35, INFO: Frequency of being in danger: 0.059 and average min separate distance in danger: 0.15 -2024-02-13 17:34:35, INFO: discomfor nums is 3820 and return is 0.5899 and length is 56453 -2024-02-13 17:34:35, INFO: Collision cases: 14 39 123 141 163 168 173 196 202 218 287 303 321 356 363 370 371 379 385 400 401 403 414 423 465 488 495 503 521 528 547 569 608 677 689 712 730 732 738 748 753 777 779 783 799 825 880 928 950 951 964 977 978 987 988 -2024-02-13 17:34:35, INFO: Timeout cases: -2024-02-13 18:10:56, INFO: Using device: cpu -2024-02-13 18:10:56, INFO: Loaded RL weights with best VAL -2024-02-13 18:10:56, INFO: Similarity_func: concatenation -2024-02-13 18:10:56, INFO: Layerwise_graph: False -2024-02-13 18:10:56, INFO: Skip_connection: True -2024-02-13 18:10:56, INFO: Number of layers: 1 -2024-02-13 18:10:56, INFO: Similarity_func: concatenation -2024-02-13 18:10:56, INFO: Layerwise_graph: False -2024-02-13 18:10:56, INFO: Skip_connection: True -2024-02-13 18:10:56, INFO: Number of layers: 1 -2024-02-13 18:10:56, INFO: Planning depth: 1 -2024-02-13 18:10:56, INFO: Planning width: 10 -2024-02-13 18:10:56, INFO: Sparse search: None -2024-02-13 18:10:59, INFO: human number: 10 -2024-02-13 18:10:59, INFO: Not randomize human's radius and preferred speed -2024-02-13 18:10:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-13 18:10:59, INFO: Square width: 10, circle width: 4 -2024-02-13 18:10:59, INFO: rotation constraint: 3.141592653589793 -2024-02-13 18:10:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 15:49:54, INFO: Using device: cpu -2024-02-14 15:49:54, INFO: Loaded RL weights with best VAL -2024-02-14 15:49:55, INFO: Similarity_func: concatenation -2024-02-14 15:49:55, INFO: Layerwise_graph: False -2024-02-14 15:49:55, INFO: Skip_connection: True -2024-02-14 15:49:55, INFO: Number of layers: 1 -2024-02-14 15:49:55, INFO: Similarity_func: concatenation -2024-02-14 15:49:55, INFO: Layerwise_graph: False -2024-02-14 15:49:55, INFO: Skip_connection: True -2024-02-14 15:49:55, INFO: Number of layers: 1 -2024-02-14 15:49:55, INFO: Planning depth: 1 -2024-02-14 15:49:55, INFO: Planning width: 10 -2024-02-14 15:49:55, INFO: Sparse search: None -2024-02-14 15:51:54, INFO: human number: 10 -2024-02-14 15:51:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 15:51:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 15:51:54, INFO: Square width: 10, circle width: 4 -2024-02-14 15:51:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 15:51:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:07:29, INFO: Using device: cpu -2024-02-14 16:07:29, INFO: Loaded RL weights with best VAL -2024-02-14 16:07:29, INFO: Similarity_func: concatenation -2024-02-14 16:07:29, INFO: Layerwise_graph: False -2024-02-14 16:07:29, INFO: Skip_connection: True -2024-02-14 16:07:29, INFO: Number of layers: 1 -2024-02-14 16:07:29, INFO: Similarity_func: concatenation -2024-02-14 16:07:29, INFO: Layerwise_graph: False -2024-02-14 16:07:29, INFO: Skip_connection: True -2024-02-14 16:07:29, INFO: Number of layers: 1 -2024-02-14 16:07:29, INFO: Planning depth: 1 -2024-02-14 16:07:29, INFO: Planning width: 10 -2024-02-14 16:07:29, INFO: Sparse search: None -2024-02-14 16:07:32, INFO: human number: 10 -2024-02-14 16:07:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:07:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:07:32, INFO: Square width: 10, circle width: 4 -2024-02-14 16:07:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:07:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:08:26, INFO: Using device: cpu -2024-02-14 16:08:26, INFO: Loaded RL weights with best VAL -2024-02-14 16:08:26, INFO: Similarity_func: concatenation -2024-02-14 16:08:26, INFO: Layerwise_graph: False -2024-02-14 16:08:26, INFO: Skip_connection: True -2024-02-14 16:08:26, INFO: Number of layers: 1 -2024-02-14 16:08:26, INFO: Similarity_func: concatenation -2024-02-14 16:08:26, INFO: Layerwise_graph: False -2024-02-14 16:08:26, INFO: Skip_connection: True -2024-02-14 16:08:26, INFO: Number of layers: 1 -2024-02-14 16:08:26, INFO: Planning depth: 1 -2024-02-14 16:08:26, INFO: Planning width: 10 -2024-02-14 16:08:26, INFO: Sparse search: None -2024-02-14 16:08:29, INFO: human number: 10 -2024-02-14 16:08:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:08:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:08:29, INFO: Square width: 10, circle width: 4 -2024-02-14 16:08:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:08:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:08:32, INFO: Animation.save using -2024-02-14 16:08:37, INFO: Animation.save using -2024-02-14 16:11:26, INFO: Using device: cpu -2024-02-14 16:11:26, INFO: Loaded RL weights with best VAL -2024-02-14 16:11:26, INFO: Similarity_func: concatenation -2024-02-14 16:11:26, INFO: Layerwise_graph: False -2024-02-14 16:11:26, INFO: Skip_connection: True -2024-02-14 16:11:26, INFO: Number of layers: 1 -2024-02-14 16:11:26, INFO: Similarity_func: concatenation -2024-02-14 16:11:26, INFO: Layerwise_graph: False -2024-02-14 16:11:26, INFO: Skip_connection: True -2024-02-14 16:11:26, INFO: Number of layers: 1 -2024-02-14 16:11:26, INFO: Planning depth: 1 -2024-02-14 16:11:26, INFO: Planning width: 10 -2024-02-14 16:11:26, INFO: Sparse search: None -2024-02-14 16:11:28, INFO: human number: 10 -2024-02-14 16:11:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:11:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:11:28, INFO: Square width: 10, circle width: 4 -2024-02-14 16:11:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:11:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:11:30, INFO: Animation.save using -2024-02-14 16:11:35, INFO: Animation.save using -2024-02-14 16:13:39, INFO: Using device: cpu -2024-02-14 16:13:39, INFO: Loaded RL weights with best VAL -2024-02-14 16:13:39, INFO: Similarity_func: concatenation -2024-02-14 16:13:39, INFO: Layerwise_graph: False -2024-02-14 16:13:39, INFO: Skip_connection: True -2024-02-14 16:13:39, INFO: Number of layers: 1 -2024-02-14 16:13:39, INFO: Similarity_func: concatenation -2024-02-14 16:13:39, INFO: Layerwise_graph: False -2024-02-14 16:13:39, INFO: Skip_connection: True -2024-02-14 16:13:39, INFO: Number of layers: 1 -2024-02-14 16:13:39, INFO: Planning depth: 1 -2024-02-14 16:13:39, INFO: Planning width: 10 -2024-02-14 16:13:39, INFO: Sparse search: None -2024-02-14 16:13:42, INFO: human number: 10 -2024-02-14 16:13:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:13:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:13:42, INFO: Square width: 10, circle width: 4 -2024-02-14 16:13:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:13:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:13:44, INFO: Animation.save using -2024-02-14 16:13:49, INFO: Animation.save using -2024-02-14 16:16:28, INFO: Using device: cpu -2024-02-14 16:16:28, INFO: Loaded RL weights with best VAL -2024-02-14 16:16:28, INFO: Similarity_func: concatenation -2024-02-14 16:16:28, INFO: Layerwise_graph: False -2024-02-14 16:16:28, INFO: Skip_connection: True -2024-02-14 16:16:28, INFO: Number of layers: 1 -2024-02-14 16:16:28, INFO: Similarity_func: concatenation -2024-02-14 16:16:28, INFO: Layerwise_graph: False -2024-02-14 16:16:28, INFO: Skip_connection: True -2024-02-14 16:16:28, INFO: Number of layers: 1 -2024-02-14 16:16:28, INFO: Planning depth: 1 -2024-02-14 16:16:28, INFO: Planning width: 10 -2024-02-14 16:16:28, INFO: Sparse search: None -2024-02-14 16:16:31, INFO: human number: 10 -2024-02-14 16:16:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:16:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:16:31, INFO: Square width: 10, circle width: 4 -2024-02-14 16:16:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:16:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:16:33, INFO: Animation.save using -2024-02-14 16:16:38, INFO: Animation.save using -2024-02-14 16:39:56, INFO: Using device: cpu -2024-02-14 16:40:30, INFO: Using device: cpu -2024-02-14 16:40:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:40:30, INFO: Similarity_func: concatenation -2024-02-14 16:40:30, INFO: Layerwise_graph: False -2024-02-14 16:40:30, INFO: Skip_connection: True -2024-02-14 16:40:30, INFO: Number of layers: 1 -2024-02-14 16:40:30, INFO: Similarity_func: concatenation -2024-02-14 16:40:30, INFO: Layerwise_graph: False -2024-02-14 16:40:30, INFO: Skip_connection: True -2024-02-14 16:40:30, INFO: Number of layers: 1 -2024-02-14 16:40:30, INFO: Planning depth: 1 -2024-02-14 16:40:30, INFO: Planning width: 10 -2024-02-14 16:40:30, INFO: Sparse search: None -2024-02-14 16:40:32, INFO: human number: 10 -2024-02-14 16:40:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:40:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:40:32, INFO: Square width: 10, circle width: 4 -2024-02-14 16:40:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:40:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:41:29, INFO: Using device: cpu -2024-02-14 16:41:29, INFO: Loaded RL weights with best VAL -2024-02-14 16:41:29, INFO: Similarity_func: concatenation -2024-02-14 16:41:29, INFO: Layerwise_graph: False -2024-02-14 16:41:29, INFO: Skip_connection: True -2024-02-14 16:41:29, INFO: Number of layers: 1 -2024-02-14 16:41:29, INFO: Similarity_func: concatenation -2024-02-14 16:41:29, INFO: Layerwise_graph: False -2024-02-14 16:41:29, INFO: Skip_connection: True -2024-02-14 16:41:29, INFO: Number of layers: 1 -2024-02-14 16:41:29, INFO: Planning depth: 1 -2024-02-14 16:41:29, INFO: Planning width: 10 -2024-02-14 16:41:29, INFO: Sparse search: None -2024-02-14 16:41:32, INFO: human number: 10 -2024-02-14 16:41:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:41:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:41:32, INFO: Square width: 10, circle width: 4 -2024-02-14 16:41:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:41:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:42:34, INFO: Using device: cpu -2024-02-14 16:42:34, INFO: Loaded RL weights with best VAL -2024-02-14 16:42:34, INFO: Similarity_func: concatenation -2024-02-14 16:42:34, INFO: Layerwise_graph: False -2024-02-14 16:42:34, INFO: Skip_connection: True -2024-02-14 16:42:34, INFO: Number of layers: 1 -2024-02-14 16:42:34, INFO: Similarity_func: concatenation -2024-02-14 16:42:34, INFO: Layerwise_graph: False -2024-02-14 16:42:34, INFO: Skip_connection: True -2024-02-14 16:42:34, INFO: Number of layers: 1 -2024-02-14 16:42:34, INFO: Planning depth: 1 -2024-02-14 16:42:34, INFO: Planning width: 10 -2024-02-14 16:42:34, INFO: Sparse search: None -2024-02-14 16:42:37, INFO: human number: 10 -2024-02-14 16:42:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:42:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:42:37, INFO: Square width: 10, circle width: 4 -2024-02-14 16:42:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:42:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:45:39, INFO: Using device: cpu -2024-02-14 16:45:39, INFO: Loaded RL weights with best VAL -2024-02-14 16:45:39, INFO: Similarity_func: concatenation -2024-02-14 16:45:39, INFO: Layerwise_graph: False -2024-02-14 16:45:39, INFO: Skip_connection: True -2024-02-14 16:45:39, INFO: Number of layers: 1 -2024-02-14 16:45:39, INFO: Similarity_func: concatenation -2024-02-14 16:45:39, INFO: Layerwise_graph: False -2024-02-14 16:45:39, INFO: Skip_connection: True -2024-02-14 16:45:39, INFO: Number of layers: 1 -2024-02-14 16:45:39, INFO: Planning depth: 1 -2024-02-14 16:45:39, INFO: Planning width: 10 -2024-02-14 16:45:39, INFO: Sparse search: None -2024-02-14 16:45:41, INFO: human number: 10 -2024-02-14 16:45:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:45:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:45:41, INFO: Square width: 10, circle width: 4 -2024-02-14 16:45:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:45:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:46:09, INFO: Using device: cpu -2024-02-14 16:46:09, INFO: Loaded RL weights with best VAL -2024-02-14 16:46:09, INFO: Similarity_func: concatenation -2024-02-14 16:46:09, INFO: Layerwise_graph: False -2024-02-14 16:46:09, INFO: Skip_connection: True -2024-02-14 16:46:09, INFO: Number of layers: 1 -2024-02-14 16:46:09, INFO: Similarity_func: concatenation -2024-02-14 16:46:09, INFO: Layerwise_graph: False -2024-02-14 16:46:09, INFO: Skip_connection: True -2024-02-14 16:46:09, INFO: Number of layers: 1 -2024-02-14 16:46:09, INFO: Planning depth: 1 -2024-02-14 16:46:09, INFO: Planning width: 10 -2024-02-14 16:46:09, INFO: Sparse search: None -2024-02-14 16:46:12, INFO: human number: 10 -2024-02-14 16:46:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:46:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:46:12, INFO: Square width: 10, circle width: 4 -2024-02-14 16:46:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:46:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:46:46, INFO: Using device: cpu -2024-02-14 16:46:46, INFO: Loaded RL weights with best VAL -2024-02-14 16:46:46, INFO: Similarity_func: concatenation -2024-02-14 16:46:46, INFO: Layerwise_graph: False -2024-02-14 16:46:46, INFO: Skip_connection: True -2024-02-14 16:46:46, INFO: Number of layers: 1 -2024-02-14 16:46:46, INFO: Similarity_func: concatenation -2024-02-14 16:46:46, INFO: Layerwise_graph: False -2024-02-14 16:46:46, INFO: Skip_connection: True -2024-02-14 16:46:46, INFO: Number of layers: 1 -2024-02-14 16:46:46, INFO: Planning depth: 1 -2024-02-14 16:46:46, INFO: Planning width: 10 -2024-02-14 16:46:46, INFO: Sparse search: None -2024-02-14 16:46:49, INFO: human number: 10 -2024-02-14 16:46:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:46:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:46:49, INFO: Square width: 10, circle width: 4 -2024-02-14 16:46:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:46:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:46:53, INFO: Using device: cpu -2024-02-14 16:46:53, INFO: Loaded RL weights with best VAL -2024-02-14 16:46:53, INFO: Similarity_func: concatenation -2024-02-14 16:46:53, INFO: Layerwise_graph: False -2024-02-14 16:46:53, INFO: Skip_connection: True -2024-02-14 16:46:53, INFO: Number of layers: 1 -2024-02-14 16:46:53, INFO: Similarity_func: concatenation -2024-02-14 16:46:53, INFO: Layerwise_graph: False -2024-02-14 16:46:53, INFO: Skip_connection: True -2024-02-14 16:46:53, INFO: Number of layers: 1 -2024-02-14 16:46:53, INFO: Planning depth: 1 -2024-02-14 16:46:53, INFO: Planning width: 10 -2024-02-14 16:46:53, INFO: Sparse search: None -2024-02-14 16:46:55, INFO: human number: 10 -2024-02-14 16:46:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:46:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:46:55, INFO: Square width: 10, circle width: 4 -2024-02-14 16:46:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:46:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:00, INFO: Using device: cpu -2024-02-14 16:47:00, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:00, INFO: Similarity_func: concatenation -2024-02-14 16:47:00, INFO: Layerwise_graph: False -2024-02-14 16:47:00, INFO: Skip_connection: True -2024-02-14 16:47:00, INFO: Number of layers: 1 -2024-02-14 16:47:00, INFO: Similarity_func: concatenation -2024-02-14 16:47:00, INFO: Layerwise_graph: False -2024-02-14 16:47:00, INFO: Skip_connection: True -2024-02-14 16:47:00, INFO: Number of layers: 1 -2024-02-14 16:47:00, INFO: Planning depth: 1 -2024-02-14 16:47:00, INFO: Planning width: 10 -2024-02-14 16:47:00, INFO: Sparse search: None -2024-02-14 16:47:03, INFO: human number: 10 -2024-02-14 16:47:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:03, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:07, INFO: Using device: cpu -2024-02-14 16:47:07, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:07, INFO: Similarity_func: concatenation -2024-02-14 16:47:07, INFO: Layerwise_graph: False -2024-02-14 16:47:07, INFO: Skip_connection: True -2024-02-14 16:47:07, INFO: Number of layers: 1 -2024-02-14 16:47:07, INFO: Similarity_func: concatenation -2024-02-14 16:47:07, INFO: Layerwise_graph: False -2024-02-14 16:47:07, INFO: Skip_connection: True -2024-02-14 16:47:07, INFO: Number of layers: 1 -2024-02-14 16:47:07, INFO: Planning depth: 1 -2024-02-14 16:47:07, INFO: Planning width: 10 -2024-02-14 16:47:07, INFO: Sparse search: None -2024-02-14 16:47:09, INFO: human number: 10 -2024-02-14 16:47:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:09, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:14, INFO: Using device: cpu -2024-02-14 16:47:14, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:14, INFO: Similarity_func: concatenation -2024-02-14 16:47:14, INFO: Layerwise_graph: False -2024-02-14 16:47:14, INFO: Skip_connection: True -2024-02-14 16:47:14, INFO: Number of layers: 1 -2024-02-14 16:47:14, INFO: Similarity_func: concatenation -2024-02-14 16:47:14, INFO: Layerwise_graph: False -2024-02-14 16:47:14, INFO: Skip_connection: True -2024-02-14 16:47:14, INFO: Number of layers: 1 -2024-02-14 16:47:14, INFO: Planning depth: 1 -2024-02-14 16:47:14, INFO: Planning width: 10 -2024-02-14 16:47:14, INFO: Sparse search: None -2024-02-14 16:47:17, INFO: human number: 10 -2024-02-14 16:47:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:17, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:21, INFO: Using device: cpu -2024-02-14 16:47:21, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:21, INFO: Similarity_func: concatenation -2024-02-14 16:47:21, INFO: Layerwise_graph: False -2024-02-14 16:47:21, INFO: Skip_connection: True -2024-02-14 16:47:21, INFO: Number of layers: 1 -2024-02-14 16:47:21, INFO: Similarity_func: concatenation -2024-02-14 16:47:21, INFO: Layerwise_graph: False -2024-02-14 16:47:21, INFO: Skip_connection: True -2024-02-14 16:47:21, INFO: Number of layers: 1 -2024-02-14 16:47:21, INFO: Planning depth: 1 -2024-02-14 16:47:21, INFO: Planning width: 10 -2024-02-14 16:47:21, INFO: Sparse search: None -2024-02-14 16:47:23, INFO: human number: 10 -2024-02-14 16:47:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:23, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:27, INFO: Using device: cpu -2024-02-14 16:47:27, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:27, INFO: Similarity_func: concatenation -2024-02-14 16:47:27, INFO: Layerwise_graph: False -2024-02-14 16:47:27, INFO: Skip_connection: True -2024-02-14 16:47:27, INFO: Number of layers: 1 -2024-02-14 16:47:27, INFO: Similarity_func: concatenation -2024-02-14 16:47:27, INFO: Layerwise_graph: False -2024-02-14 16:47:27, INFO: Skip_connection: True -2024-02-14 16:47:27, INFO: Number of layers: 1 -2024-02-14 16:47:27, INFO: Planning depth: 1 -2024-02-14 16:47:27, INFO: Planning width: 10 -2024-02-14 16:47:27, INFO: Sparse search: None -2024-02-14 16:47:30, INFO: human number: 10 -2024-02-14 16:47:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:30, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:35, INFO: Using device: cpu -2024-02-14 16:47:35, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:35, INFO: Similarity_func: concatenation -2024-02-14 16:47:35, INFO: Layerwise_graph: False -2024-02-14 16:47:35, INFO: Skip_connection: True -2024-02-14 16:47:35, INFO: Number of layers: 1 -2024-02-14 16:47:35, INFO: Similarity_func: concatenation -2024-02-14 16:47:35, INFO: Layerwise_graph: False -2024-02-14 16:47:35, INFO: Skip_connection: True -2024-02-14 16:47:35, INFO: Number of layers: 1 -2024-02-14 16:47:35, INFO: Planning depth: 1 -2024-02-14 16:47:35, INFO: Planning width: 10 -2024-02-14 16:47:35, INFO: Sparse search: None -2024-02-14 16:47:37, INFO: human number: 10 -2024-02-14 16:47:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:37, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:41, INFO: Using device: cpu -2024-02-14 16:47:41, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:41, INFO: Similarity_func: concatenation -2024-02-14 16:47:41, INFO: Layerwise_graph: False -2024-02-14 16:47:41, INFO: Skip_connection: True -2024-02-14 16:47:41, INFO: Number of layers: 1 -2024-02-14 16:47:41, INFO: Similarity_func: concatenation -2024-02-14 16:47:41, INFO: Layerwise_graph: False -2024-02-14 16:47:41, INFO: Skip_connection: True -2024-02-14 16:47:41, INFO: Number of layers: 1 -2024-02-14 16:47:41, INFO: Planning depth: 1 -2024-02-14 16:47:41, INFO: Planning width: 10 -2024-02-14 16:47:41, INFO: Sparse search: None -2024-02-14 16:47:44, INFO: human number: 10 -2024-02-14 16:47:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:44, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:49, INFO: Using device: cpu -2024-02-14 16:47:49, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:49, INFO: Similarity_func: concatenation -2024-02-14 16:47:49, INFO: Layerwise_graph: False -2024-02-14 16:47:49, INFO: Skip_connection: True -2024-02-14 16:47:49, INFO: Number of layers: 1 -2024-02-14 16:47:49, INFO: Similarity_func: concatenation -2024-02-14 16:47:49, INFO: Layerwise_graph: False -2024-02-14 16:47:49, INFO: Skip_connection: True -2024-02-14 16:47:49, INFO: Number of layers: 1 -2024-02-14 16:47:49, INFO: Planning depth: 1 -2024-02-14 16:47:49, INFO: Planning width: 10 -2024-02-14 16:47:49, INFO: Sparse search: None -2024-02-14 16:47:51, INFO: human number: 10 -2024-02-14 16:47:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:51, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:47:55, INFO: Using device: cpu -2024-02-14 16:47:55, INFO: Loaded RL weights with best VAL -2024-02-14 16:47:55, INFO: Similarity_func: concatenation -2024-02-14 16:47:55, INFO: Layerwise_graph: False -2024-02-14 16:47:55, INFO: Skip_connection: True -2024-02-14 16:47:55, INFO: Number of layers: 1 -2024-02-14 16:47:55, INFO: Similarity_func: concatenation -2024-02-14 16:47:55, INFO: Layerwise_graph: False -2024-02-14 16:47:55, INFO: Skip_connection: True -2024-02-14 16:47:55, INFO: Number of layers: 1 -2024-02-14 16:47:55, INFO: Planning depth: 1 -2024-02-14 16:47:55, INFO: Planning width: 10 -2024-02-14 16:47:55, INFO: Sparse search: None -2024-02-14 16:47:58, INFO: human number: 10 -2024-02-14 16:47:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:47:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:47:58, INFO: Square width: 10, circle width: 4 -2024-02-14 16:47:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:47:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:02, INFO: Using device: cpu -2024-02-14 16:48:02, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:02, INFO: Similarity_func: concatenation -2024-02-14 16:48:02, INFO: Layerwise_graph: False -2024-02-14 16:48:02, INFO: Skip_connection: True -2024-02-14 16:48:02, INFO: Number of layers: 1 -2024-02-14 16:48:02, INFO: Similarity_func: concatenation -2024-02-14 16:48:02, INFO: Layerwise_graph: False -2024-02-14 16:48:02, INFO: Skip_connection: True -2024-02-14 16:48:02, INFO: Number of layers: 1 -2024-02-14 16:48:02, INFO: Planning depth: 1 -2024-02-14 16:48:02, INFO: Planning width: 10 -2024-02-14 16:48:02, INFO: Sparse search: None -2024-02-14 16:48:05, INFO: human number: 10 -2024-02-14 16:48:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:05, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:09, INFO: Using device: cpu -2024-02-14 16:48:09, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:09, INFO: Similarity_func: concatenation -2024-02-14 16:48:09, INFO: Layerwise_graph: False -2024-02-14 16:48:09, INFO: Skip_connection: True -2024-02-14 16:48:09, INFO: Number of layers: 1 -2024-02-14 16:48:09, INFO: Similarity_func: concatenation -2024-02-14 16:48:09, INFO: Layerwise_graph: False -2024-02-14 16:48:09, INFO: Skip_connection: True -2024-02-14 16:48:09, INFO: Number of layers: 1 -2024-02-14 16:48:09, INFO: Planning depth: 1 -2024-02-14 16:48:09, INFO: Planning width: 10 -2024-02-14 16:48:09, INFO: Sparse search: None -2024-02-14 16:48:12, INFO: human number: 10 -2024-02-14 16:48:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:12, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:16, INFO: Using device: cpu -2024-02-14 16:48:16, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:16, INFO: Similarity_func: concatenation -2024-02-14 16:48:16, INFO: Layerwise_graph: False -2024-02-14 16:48:16, INFO: Skip_connection: True -2024-02-14 16:48:16, INFO: Number of layers: 1 -2024-02-14 16:48:16, INFO: Similarity_func: concatenation -2024-02-14 16:48:16, INFO: Layerwise_graph: False -2024-02-14 16:48:16, INFO: Skip_connection: True -2024-02-14 16:48:16, INFO: Number of layers: 1 -2024-02-14 16:48:16, INFO: Planning depth: 1 -2024-02-14 16:48:16, INFO: Planning width: 10 -2024-02-14 16:48:16, INFO: Sparse search: None -2024-02-14 16:48:19, INFO: human number: 10 -2024-02-14 16:48:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:19, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:23, INFO: Using device: cpu -2024-02-14 16:48:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:23, INFO: Similarity_func: concatenation -2024-02-14 16:48:23, INFO: Layerwise_graph: False -2024-02-14 16:48:23, INFO: Skip_connection: True -2024-02-14 16:48:23, INFO: Number of layers: 1 -2024-02-14 16:48:23, INFO: Similarity_func: concatenation -2024-02-14 16:48:23, INFO: Layerwise_graph: False -2024-02-14 16:48:23, INFO: Skip_connection: True -2024-02-14 16:48:23, INFO: Number of layers: 1 -2024-02-14 16:48:23, INFO: Planning depth: 1 -2024-02-14 16:48:23, INFO: Planning width: 10 -2024-02-14 16:48:23, INFO: Sparse search: None -2024-02-14 16:48:26, INFO: human number: 10 -2024-02-14 16:48:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:26, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:31, INFO: Using device: cpu -2024-02-14 16:48:31, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:31, INFO: Similarity_func: concatenation -2024-02-14 16:48:31, INFO: Layerwise_graph: False -2024-02-14 16:48:31, INFO: Skip_connection: True -2024-02-14 16:48:31, INFO: Number of layers: 1 -2024-02-14 16:48:31, INFO: Similarity_func: concatenation -2024-02-14 16:48:31, INFO: Layerwise_graph: False -2024-02-14 16:48:31, INFO: Skip_connection: True -2024-02-14 16:48:31, INFO: Number of layers: 1 -2024-02-14 16:48:31, INFO: Planning depth: 1 -2024-02-14 16:48:31, INFO: Planning width: 10 -2024-02-14 16:48:31, INFO: Sparse search: None -2024-02-14 16:48:33, INFO: human number: 10 -2024-02-14 16:48:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:33, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:38, INFO: Using device: cpu -2024-02-14 16:48:38, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:38, INFO: Similarity_func: concatenation -2024-02-14 16:48:38, INFO: Layerwise_graph: False -2024-02-14 16:48:38, INFO: Skip_connection: True -2024-02-14 16:48:38, INFO: Number of layers: 1 -2024-02-14 16:48:38, INFO: Similarity_func: concatenation -2024-02-14 16:48:38, INFO: Layerwise_graph: False -2024-02-14 16:48:38, INFO: Skip_connection: True -2024-02-14 16:48:38, INFO: Number of layers: 1 -2024-02-14 16:48:38, INFO: Planning depth: 1 -2024-02-14 16:48:38, INFO: Planning width: 10 -2024-02-14 16:48:38, INFO: Sparse search: None -2024-02-14 16:48:41, INFO: human number: 10 -2024-02-14 16:48:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:41, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:45, INFO: Using device: cpu -2024-02-14 16:48:45, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:45, INFO: Similarity_func: concatenation -2024-02-14 16:48:45, INFO: Layerwise_graph: False -2024-02-14 16:48:45, INFO: Skip_connection: True -2024-02-14 16:48:45, INFO: Number of layers: 1 -2024-02-14 16:48:45, INFO: Similarity_func: concatenation -2024-02-14 16:48:45, INFO: Layerwise_graph: False -2024-02-14 16:48:45, INFO: Skip_connection: True -2024-02-14 16:48:45, INFO: Number of layers: 1 -2024-02-14 16:48:45, INFO: Planning depth: 1 -2024-02-14 16:48:45, INFO: Planning width: 10 -2024-02-14 16:48:45, INFO: Sparse search: None -2024-02-14 16:48:48, INFO: human number: 10 -2024-02-14 16:48:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:48, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:48:53, INFO: Using device: cpu -2024-02-14 16:48:53, INFO: Loaded RL weights with best VAL -2024-02-14 16:48:53, INFO: Similarity_func: concatenation -2024-02-14 16:48:53, INFO: Layerwise_graph: False -2024-02-14 16:48:53, INFO: Skip_connection: True -2024-02-14 16:48:53, INFO: Number of layers: 1 -2024-02-14 16:48:53, INFO: Similarity_func: concatenation -2024-02-14 16:48:53, INFO: Layerwise_graph: False -2024-02-14 16:48:53, INFO: Skip_connection: True -2024-02-14 16:48:53, INFO: Number of layers: 1 -2024-02-14 16:48:53, INFO: Planning depth: 1 -2024-02-14 16:48:53, INFO: Planning width: 10 -2024-02-14 16:48:53, INFO: Sparse search: None -2024-02-14 16:48:55, INFO: human number: 10 -2024-02-14 16:48:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:48:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:48:55, INFO: Square width: 10, circle width: 4 -2024-02-14 16:48:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:48:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:00, INFO: Using device: cpu -2024-02-14 16:49:00, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:00, INFO: Similarity_func: concatenation -2024-02-14 16:49:00, INFO: Layerwise_graph: False -2024-02-14 16:49:00, INFO: Skip_connection: True -2024-02-14 16:49:00, INFO: Number of layers: 1 -2024-02-14 16:49:00, INFO: Similarity_func: concatenation -2024-02-14 16:49:00, INFO: Layerwise_graph: False -2024-02-14 16:49:00, INFO: Skip_connection: True -2024-02-14 16:49:00, INFO: Number of layers: 1 -2024-02-14 16:49:00, INFO: Planning depth: 1 -2024-02-14 16:49:00, INFO: Planning width: 10 -2024-02-14 16:49:00, INFO: Sparse search: None -2024-02-14 16:49:02, INFO: human number: 10 -2024-02-14 16:49:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:02, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:07, INFO: Using device: cpu -2024-02-14 16:49:07, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:07, INFO: Similarity_func: concatenation -2024-02-14 16:49:07, INFO: Layerwise_graph: False -2024-02-14 16:49:07, INFO: Skip_connection: True -2024-02-14 16:49:07, INFO: Number of layers: 1 -2024-02-14 16:49:07, INFO: Similarity_func: concatenation -2024-02-14 16:49:07, INFO: Layerwise_graph: False -2024-02-14 16:49:07, INFO: Skip_connection: True -2024-02-14 16:49:07, INFO: Number of layers: 1 -2024-02-14 16:49:07, INFO: Planning depth: 1 -2024-02-14 16:49:07, INFO: Planning width: 10 -2024-02-14 16:49:07, INFO: Sparse search: None -2024-02-14 16:49:09, INFO: human number: 10 -2024-02-14 16:49:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:09, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:14, INFO: Using device: cpu -2024-02-14 16:49:14, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:14, INFO: Similarity_func: concatenation -2024-02-14 16:49:14, INFO: Layerwise_graph: False -2024-02-14 16:49:14, INFO: Skip_connection: True -2024-02-14 16:49:14, INFO: Number of layers: 1 -2024-02-14 16:49:14, INFO: Similarity_func: concatenation -2024-02-14 16:49:14, INFO: Layerwise_graph: False -2024-02-14 16:49:14, INFO: Skip_connection: True -2024-02-14 16:49:14, INFO: Number of layers: 1 -2024-02-14 16:49:14, INFO: Planning depth: 1 -2024-02-14 16:49:14, INFO: Planning width: 10 -2024-02-14 16:49:14, INFO: Sparse search: None -2024-02-14 16:49:16, INFO: human number: 10 -2024-02-14 16:49:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:16, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:21, INFO: Using device: cpu -2024-02-14 16:49:21, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:21, INFO: Similarity_func: concatenation -2024-02-14 16:49:21, INFO: Layerwise_graph: False -2024-02-14 16:49:21, INFO: Skip_connection: True -2024-02-14 16:49:21, INFO: Number of layers: 1 -2024-02-14 16:49:21, INFO: Similarity_func: concatenation -2024-02-14 16:49:21, INFO: Layerwise_graph: False -2024-02-14 16:49:21, INFO: Skip_connection: True -2024-02-14 16:49:21, INFO: Number of layers: 1 -2024-02-14 16:49:21, INFO: Planning depth: 1 -2024-02-14 16:49:21, INFO: Planning width: 10 -2024-02-14 16:49:21, INFO: Sparse search: None -2024-02-14 16:49:24, INFO: human number: 10 -2024-02-14 16:49:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:24, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:28, INFO: Using device: cpu -2024-02-14 16:49:28, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:28, INFO: Similarity_func: concatenation -2024-02-14 16:49:28, INFO: Layerwise_graph: False -2024-02-14 16:49:28, INFO: Skip_connection: True -2024-02-14 16:49:28, INFO: Number of layers: 1 -2024-02-14 16:49:28, INFO: Similarity_func: concatenation -2024-02-14 16:49:28, INFO: Layerwise_graph: False -2024-02-14 16:49:28, INFO: Skip_connection: True -2024-02-14 16:49:28, INFO: Number of layers: 1 -2024-02-14 16:49:28, INFO: Planning depth: 1 -2024-02-14 16:49:28, INFO: Planning width: 10 -2024-02-14 16:49:28, INFO: Sparse search: None -2024-02-14 16:49:30, INFO: human number: 10 -2024-02-14 16:49:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:30, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:35, INFO: Using device: cpu -2024-02-14 16:49:35, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:35, INFO: Similarity_func: concatenation -2024-02-14 16:49:35, INFO: Layerwise_graph: False -2024-02-14 16:49:35, INFO: Skip_connection: True -2024-02-14 16:49:35, INFO: Number of layers: 1 -2024-02-14 16:49:35, INFO: Similarity_func: concatenation -2024-02-14 16:49:35, INFO: Layerwise_graph: False -2024-02-14 16:49:35, INFO: Skip_connection: True -2024-02-14 16:49:35, INFO: Number of layers: 1 -2024-02-14 16:49:35, INFO: Planning depth: 1 -2024-02-14 16:49:35, INFO: Planning width: 10 -2024-02-14 16:49:35, INFO: Sparse search: None -2024-02-14 16:49:37, INFO: human number: 10 -2024-02-14 16:49:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:37, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:41, INFO: Using device: cpu -2024-02-14 16:49:41, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:41, INFO: Similarity_func: concatenation -2024-02-14 16:49:41, INFO: Layerwise_graph: False -2024-02-14 16:49:41, INFO: Skip_connection: True -2024-02-14 16:49:41, INFO: Number of layers: 1 -2024-02-14 16:49:41, INFO: Similarity_func: concatenation -2024-02-14 16:49:41, INFO: Layerwise_graph: False -2024-02-14 16:49:41, INFO: Skip_connection: True -2024-02-14 16:49:41, INFO: Number of layers: 1 -2024-02-14 16:49:41, INFO: Planning depth: 1 -2024-02-14 16:49:41, INFO: Planning width: 10 -2024-02-14 16:49:41, INFO: Sparse search: None -2024-02-14 16:49:44, INFO: human number: 10 -2024-02-14 16:49:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:44, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:48, INFO: Using device: cpu -2024-02-14 16:49:48, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:48, INFO: Similarity_func: concatenation -2024-02-14 16:49:48, INFO: Layerwise_graph: False -2024-02-14 16:49:48, INFO: Skip_connection: True -2024-02-14 16:49:48, INFO: Number of layers: 1 -2024-02-14 16:49:48, INFO: Similarity_func: concatenation -2024-02-14 16:49:48, INFO: Layerwise_graph: False -2024-02-14 16:49:48, INFO: Skip_connection: True -2024-02-14 16:49:48, INFO: Number of layers: 1 -2024-02-14 16:49:48, INFO: Planning depth: 1 -2024-02-14 16:49:48, INFO: Planning width: 10 -2024-02-14 16:49:48, INFO: Sparse search: None -2024-02-14 16:49:51, INFO: human number: 10 -2024-02-14 16:49:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:51, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:49:55, INFO: Using device: cpu -2024-02-14 16:49:55, INFO: Loaded RL weights with best VAL -2024-02-14 16:49:55, INFO: Similarity_func: concatenation -2024-02-14 16:49:55, INFO: Layerwise_graph: False -2024-02-14 16:49:55, INFO: Skip_connection: True -2024-02-14 16:49:55, INFO: Number of layers: 1 -2024-02-14 16:49:55, INFO: Similarity_func: concatenation -2024-02-14 16:49:55, INFO: Layerwise_graph: False -2024-02-14 16:49:55, INFO: Skip_connection: True -2024-02-14 16:49:55, INFO: Number of layers: 1 -2024-02-14 16:49:55, INFO: Planning depth: 1 -2024-02-14 16:49:55, INFO: Planning width: 10 -2024-02-14 16:49:55, INFO: Sparse search: None -2024-02-14 16:49:58, INFO: human number: 10 -2024-02-14 16:49:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:49:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:49:58, INFO: Square width: 10, circle width: 4 -2024-02-14 16:49:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:49:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:02, INFO: Using device: cpu -2024-02-14 16:50:02, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:02, INFO: Similarity_func: concatenation -2024-02-14 16:50:02, INFO: Layerwise_graph: False -2024-02-14 16:50:02, INFO: Skip_connection: True -2024-02-14 16:50:02, INFO: Number of layers: 1 -2024-02-14 16:50:02, INFO: Similarity_func: concatenation -2024-02-14 16:50:02, INFO: Layerwise_graph: False -2024-02-14 16:50:02, INFO: Skip_connection: True -2024-02-14 16:50:02, INFO: Number of layers: 1 -2024-02-14 16:50:02, INFO: Planning depth: 1 -2024-02-14 16:50:02, INFO: Planning width: 10 -2024-02-14 16:50:02, INFO: Sparse search: None -2024-02-14 16:50:05, INFO: human number: 10 -2024-02-14 16:50:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:05, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:09, INFO: Using device: cpu -2024-02-14 16:50:09, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:09, INFO: Similarity_func: concatenation -2024-02-14 16:50:09, INFO: Layerwise_graph: False -2024-02-14 16:50:09, INFO: Skip_connection: True -2024-02-14 16:50:09, INFO: Number of layers: 1 -2024-02-14 16:50:09, INFO: Similarity_func: concatenation -2024-02-14 16:50:09, INFO: Layerwise_graph: False -2024-02-14 16:50:09, INFO: Skip_connection: True -2024-02-14 16:50:09, INFO: Number of layers: 1 -2024-02-14 16:50:09, INFO: Planning depth: 1 -2024-02-14 16:50:09, INFO: Planning width: 10 -2024-02-14 16:50:09, INFO: Sparse search: None -2024-02-14 16:50:12, INFO: human number: 10 -2024-02-14 16:50:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:12, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:16, INFO: Using device: cpu -2024-02-14 16:50:16, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:16, INFO: Similarity_func: concatenation -2024-02-14 16:50:16, INFO: Layerwise_graph: False -2024-02-14 16:50:16, INFO: Skip_connection: True -2024-02-14 16:50:16, INFO: Number of layers: 1 -2024-02-14 16:50:16, INFO: Similarity_func: concatenation -2024-02-14 16:50:16, INFO: Layerwise_graph: False -2024-02-14 16:50:16, INFO: Skip_connection: True -2024-02-14 16:50:16, INFO: Number of layers: 1 -2024-02-14 16:50:16, INFO: Planning depth: 1 -2024-02-14 16:50:16, INFO: Planning width: 10 -2024-02-14 16:50:16, INFO: Sparse search: None -2024-02-14 16:50:19, INFO: human number: 10 -2024-02-14 16:50:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:19, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:23, INFO: Using device: cpu -2024-02-14 16:50:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:23, INFO: Similarity_func: concatenation -2024-02-14 16:50:23, INFO: Layerwise_graph: False -2024-02-14 16:50:23, INFO: Skip_connection: True -2024-02-14 16:50:23, INFO: Number of layers: 1 -2024-02-14 16:50:23, INFO: Similarity_func: concatenation -2024-02-14 16:50:23, INFO: Layerwise_graph: False -2024-02-14 16:50:23, INFO: Skip_connection: True -2024-02-14 16:50:23, INFO: Number of layers: 1 -2024-02-14 16:50:23, INFO: Planning depth: 1 -2024-02-14 16:50:23, INFO: Planning width: 10 -2024-02-14 16:50:23, INFO: Sparse search: None -2024-02-14 16:50:26, INFO: human number: 10 -2024-02-14 16:50:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:26, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:30, INFO: Using device: cpu -2024-02-14 16:50:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:30, INFO: Similarity_func: concatenation -2024-02-14 16:50:30, INFO: Layerwise_graph: False -2024-02-14 16:50:30, INFO: Skip_connection: True -2024-02-14 16:50:30, INFO: Number of layers: 1 -2024-02-14 16:50:30, INFO: Similarity_func: concatenation -2024-02-14 16:50:30, INFO: Layerwise_graph: False -2024-02-14 16:50:30, INFO: Skip_connection: True -2024-02-14 16:50:30, INFO: Number of layers: 1 -2024-02-14 16:50:30, INFO: Planning depth: 1 -2024-02-14 16:50:30, INFO: Planning width: 10 -2024-02-14 16:50:30, INFO: Sparse search: None -2024-02-14 16:50:33, INFO: human number: 10 -2024-02-14 16:50:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:33, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:37, INFO: Using device: cpu -2024-02-14 16:50:37, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:37, INFO: Similarity_func: concatenation -2024-02-14 16:50:37, INFO: Layerwise_graph: False -2024-02-14 16:50:37, INFO: Skip_connection: True -2024-02-14 16:50:37, INFO: Number of layers: 1 -2024-02-14 16:50:37, INFO: Similarity_func: concatenation -2024-02-14 16:50:37, INFO: Layerwise_graph: False -2024-02-14 16:50:37, INFO: Skip_connection: True -2024-02-14 16:50:37, INFO: Number of layers: 1 -2024-02-14 16:50:37, INFO: Planning depth: 1 -2024-02-14 16:50:37, INFO: Planning width: 10 -2024-02-14 16:50:37, INFO: Sparse search: None -2024-02-14 16:50:40, INFO: human number: 10 -2024-02-14 16:50:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:40, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:44, INFO: Using device: cpu -2024-02-14 16:50:44, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:44, INFO: Similarity_func: concatenation -2024-02-14 16:50:44, INFO: Layerwise_graph: False -2024-02-14 16:50:44, INFO: Skip_connection: True -2024-02-14 16:50:44, INFO: Number of layers: 1 -2024-02-14 16:50:44, INFO: Similarity_func: concatenation -2024-02-14 16:50:44, INFO: Layerwise_graph: False -2024-02-14 16:50:44, INFO: Skip_connection: True -2024-02-14 16:50:44, INFO: Number of layers: 1 -2024-02-14 16:50:44, INFO: Planning depth: 1 -2024-02-14 16:50:44, INFO: Planning width: 10 -2024-02-14 16:50:44, INFO: Sparse search: None -2024-02-14 16:50:46, INFO: human number: 10 -2024-02-14 16:50:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:46, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:51, INFO: Using device: cpu -2024-02-14 16:50:51, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:51, INFO: Similarity_func: concatenation -2024-02-14 16:50:51, INFO: Layerwise_graph: False -2024-02-14 16:50:51, INFO: Skip_connection: True -2024-02-14 16:50:51, INFO: Number of layers: 1 -2024-02-14 16:50:51, INFO: Similarity_func: concatenation -2024-02-14 16:50:51, INFO: Layerwise_graph: False -2024-02-14 16:50:51, INFO: Skip_connection: True -2024-02-14 16:50:51, INFO: Number of layers: 1 -2024-02-14 16:50:51, INFO: Planning depth: 1 -2024-02-14 16:50:51, INFO: Planning width: 10 -2024-02-14 16:50:51, INFO: Sparse search: None -2024-02-14 16:50:54, INFO: human number: 10 -2024-02-14 16:50:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:50:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:50:54, INFO: Square width: 10, circle width: 4 -2024-02-14 16:50:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:50:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:50:58, INFO: Using device: cpu -2024-02-14 16:50:58, INFO: Loaded RL weights with best VAL -2024-02-14 16:50:58, INFO: Similarity_func: concatenation -2024-02-14 16:50:58, INFO: Layerwise_graph: False -2024-02-14 16:50:58, INFO: Skip_connection: True -2024-02-14 16:50:58, INFO: Number of layers: 1 -2024-02-14 16:50:58, INFO: Similarity_func: concatenation -2024-02-14 16:50:58, INFO: Layerwise_graph: False -2024-02-14 16:50:58, INFO: Skip_connection: True -2024-02-14 16:50:58, INFO: Number of layers: 1 -2024-02-14 16:50:58, INFO: Planning depth: 1 -2024-02-14 16:50:58, INFO: Planning width: 10 -2024-02-14 16:50:58, INFO: Sparse search: None -2024-02-14 16:51:01, INFO: human number: 10 -2024-02-14 16:51:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:01, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:05, INFO: Using device: cpu -2024-02-14 16:51:05, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:05, INFO: Similarity_func: concatenation -2024-02-14 16:51:05, INFO: Layerwise_graph: False -2024-02-14 16:51:05, INFO: Skip_connection: True -2024-02-14 16:51:05, INFO: Number of layers: 1 -2024-02-14 16:51:05, INFO: Similarity_func: concatenation -2024-02-14 16:51:05, INFO: Layerwise_graph: False -2024-02-14 16:51:05, INFO: Skip_connection: True -2024-02-14 16:51:05, INFO: Number of layers: 1 -2024-02-14 16:51:05, INFO: Planning depth: 1 -2024-02-14 16:51:05, INFO: Planning width: 10 -2024-02-14 16:51:05, INFO: Sparse search: None -2024-02-14 16:51:08, INFO: human number: 10 -2024-02-14 16:51:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:08, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:12, INFO: Using device: cpu -2024-02-14 16:51:12, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:12, INFO: Similarity_func: concatenation -2024-02-14 16:51:12, INFO: Layerwise_graph: False -2024-02-14 16:51:12, INFO: Skip_connection: True -2024-02-14 16:51:12, INFO: Number of layers: 1 -2024-02-14 16:51:12, INFO: Similarity_func: concatenation -2024-02-14 16:51:12, INFO: Layerwise_graph: False -2024-02-14 16:51:12, INFO: Skip_connection: True -2024-02-14 16:51:12, INFO: Number of layers: 1 -2024-02-14 16:51:12, INFO: Planning depth: 1 -2024-02-14 16:51:12, INFO: Planning width: 10 -2024-02-14 16:51:12, INFO: Sparse search: None -2024-02-14 16:51:14, INFO: human number: 10 -2024-02-14 16:51:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:14, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:19, INFO: Using device: cpu -2024-02-14 16:51:19, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:19, INFO: Similarity_func: concatenation -2024-02-14 16:51:19, INFO: Layerwise_graph: False -2024-02-14 16:51:19, INFO: Skip_connection: True -2024-02-14 16:51:19, INFO: Number of layers: 1 -2024-02-14 16:51:19, INFO: Similarity_func: concatenation -2024-02-14 16:51:19, INFO: Layerwise_graph: False -2024-02-14 16:51:19, INFO: Skip_connection: True -2024-02-14 16:51:19, INFO: Number of layers: 1 -2024-02-14 16:51:19, INFO: Planning depth: 1 -2024-02-14 16:51:19, INFO: Planning width: 10 -2024-02-14 16:51:19, INFO: Sparse search: None -2024-02-14 16:51:21, INFO: human number: 10 -2024-02-14 16:51:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:21, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:26, INFO: Using device: cpu -2024-02-14 16:51:26, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:26, INFO: Similarity_func: concatenation -2024-02-14 16:51:26, INFO: Layerwise_graph: False -2024-02-14 16:51:26, INFO: Skip_connection: True -2024-02-14 16:51:26, INFO: Number of layers: 1 -2024-02-14 16:51:26, INFO: Similarity_func: concatenation -2024-02-14 16:51:26, INFO: Layerwise_graph: False -2024-02-14 16:51:26, INFO: Skip_connection: True -2024-02-14 16:51:26, INFO: Number of layers: 1 -2024-02-14 16:51:26, INFO: Planning depth: 1 -2024-02-14 16:51:26, INFO: Planning width: 10 -2024-02-14 16:51:26, INFO: Sparse search: None -2024-02-14 16:51:29, INFO: human number: 10 -2024-02-14 16:51:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:29, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:33, INFO: Using device: cpu -2024-02-14 16:51:33, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:33, INFO: Similarity_func: concatenation -2024-02-14 16:51:33, INFO: Layerwise_graph: False -2024-02-14 16:51:33, INFO: Skip_connection: True -2024-02-14 16:51:33, INFO: Number of layers: 1 -2024-02-14 16:51:33, INFO: Similarity_func: concatenation -2024-02-14 16:51:33, INFO: Layerwise_graph: False -2024-02-14 16:51:33, INFO: Skip_connection: True -2024-02-14 16:51:33, INFO: Number of layers: 1 -2024-02-14 16:51:33, INFO: Planning depth: 1 -2024-02-14 16:51:33, INFO: Planning width: 10 -2024-02-14 16:51:33, INFO: Sparse search: None -2024-02-14 16:51:36, INFO: human number: 10 -2024-02-14 16:51:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:36, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:40, INFO: Using device: cpu -2024-02-14 16:51:40, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:40, INFO: Similarity_func: concatenation -2024-02-14 16:51:40, INFO: Layerwise_graph: False -2024-02-14 16:51:40, INFO: Skip_connection: True -2024-02-14 16:51:40, INFO: Number of layers: 1 -2024-02-14 16:51:40, INFO: Similarity_func: concatenation -2024-02-14 16:51:40, INFO: Layerwise_graph: False -2024-02-14 16:51:40, INFO: Skip_connection: True -2024-02-14 16:51:40, INFO: Number of layers: 1 -2024-02-14 16:51:40, INFO: Planning depth: 1 -2024-02-14 16:51:40, INFO: Planning width: 10 -2024-02-14 16:51:40, INFO: Sparse search: None -2024-02-14 16:51:43, INFO: human number: 10 -2024-02-14 16:51:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:43, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:47, INFO: Using device: cpu -2024-02-14 16:51:47, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:47, INFO: Similarity_func: concatenation -2024-02-14 16:51:47, INFO: Layerwise_graph: False -2024-02-14 16:51:47, INFO: Skip_connection: True -2024-02-14 16:51:47, INFO: Number of layers: 1 -2024-02-14 16:51:47, INFO: Similarity_func: concatenation -2024-02-14 16:51:47, INFO: Layerwise_graph: False -2024-02-14 16:51:47, INFO: Skip_connection: True -2024-02-14 16:51:47, INFO: Number of layers: 1 -2024-02-14 16:51:47, INFO: Planning depth: 1 -2024-02-14 16:51:47, INFO: Planning width: 10 -2024-02-14 16:51:47, INFO: Sparse search: None -2024-02-14 16:51:50, INFO: human number: 10 -2024-02-14 16:51:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:50, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:51:54, INFO: Using device: cpu -2024-02-14 16:51:54, INFO: Loaded RL weights with best VAL -2024-02-14 16:51:54, INFO: Similarity_func: concatenation -2024-02-14 16:51:54, INFO: Layerwise_graph: False -2024-02-14 16:51:54, INFO: Skip_connection: True -2024-02-14 16:51:54, INFO: Number of layers: 1 -2024-02-14 16:51:54, INFO: Similarity_func: concatenation -2024-02-14 16:51:54, INFO: Layerwise_graph: False -2024-02-14 16:51:54, INFO: Skip_connection: True -2024-02-14 16:51:54, INFO: Number of layers: 1 -2024-02-14 16:51:54, INFO: Planning depth: 1 -2024-02-14 16:51:54, INFO: Planning width: 10 -2024-02-14 16:51:54, INFO: Sparse search: None -2024-02-14 16:51:57, INFO: human number: 10 -2024-02-14 16:51:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:51:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:51:57, INFO: Square width: 10, circle width: 4 -2024-02-14 16:51:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:51:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:01, INFO: Using device: cpu -2024-02-14 16:52:01, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:01, INFO: Similarity_func: concatenation -2024-02-14 16:52:01, INFO: Layerwise_graph: False -2024-02-14 16:52:01, INFO: Skip_connection: True -2024-02-14 16:52:01, INFO: Number of layers: 1 -2024-02-14 16:52:01, INFO: Similarity_func: concatenation -2024-02-14 16:52:01, INFO: Layerwise_graph: False -2024-02-14 16:52:01, INFO: Skip_connection: True -2024-02-14 16:52:01, INFO: Number of layers: 1 -2024-02-14 16:52:01, INFO: Planning depth: 1 -2024-02-14 16:52:01, INFO: Planning width: 10 -2024-02-14 16:52:01, INFO: Sparse search: None -2024-02-14 16:52:04, INFO: human number: 10 -2024-02-14 16:52:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:04, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:08, INFO: Using device: cpu -2024-02-14 16:52:08, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:08, INFO: Similarity_func: concatenation -2024-02-14 16:52:08, INFO: Layerwise_graph: False -2024-02-14 16:52:08, INFO: Skip_connection: True -2024-02-14 16:52:08, INFO: Number of layers: 1 -2024-02-14 16:52:08, INFO: Similarity_func: concatenation -2024-02-14 16:52:08, INFO: Layerwise_graph: False -2024-02-14 16:52:08, INFO: Skip_connection: True -2024-02-14 16:52:08, INFO: Number of layers: 1 -2024-02-14 16:52:08, INFO: Planning depth: 1 -2024-02-14 16:52:08, INFO: Planning width: 10 -2024-02-14 16:52:08, INFO: Sparse search: None -2024-02-14 16:52:11, INFO: human number: 10 -2024-02-14 16:52:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:11, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:16, INFO: Using device: cpu -2024-02-14 16:52:16, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:16, INFO: Similarity_func: concatenation -2024-02-14 16:52:16, INFO: Layerwise_graph: False -2024-02-14 16:52:16, INFO: Skip_connection: True -2024-02-14 16:52:16, INFO: Number of layers: 1 -2024-02-14 16:52:16, INFO: Similarity_func: concatenation -2024-02-14 16:52:16, INFO: Layerwise_graph: False -2024-02-14 16:52:16, INFO: Skip_connection: True -2024-02-14 16:52:16, INFO: Number of layers: 1 -2024-02-14 16:52:16, INFO: Planning depth: 1 -2024-02-14 16:52:16, INFO: Planning width: 10 -2024-02-14 16:52:16, INFO: Sparse search: None -2024-02-14 16:52:19, INFO: human number: 10 -2024-02-14 16:52:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:19, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:23, INFO: Using device: cpu -2024-02-14 16:52:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:23, INFO: Similarity_func: concatenation -2024-02-14 16:52:23, INFO: Layerwise_graph: False -2024-02-14 16:52:23, INFO: Skip_connection: True -2024-02-14 16:52:23, INFO: Number of layers: 1 -2024-02-14 16:52:23, INFO: Similarity_func: concatenation -2024-02-14 16:52:23, INFO: Layerwise_graph: False -2024-02-14 16:52:23, INFO: Skip_connection: True -2024-02-14 16:52:23, INFO: Number of layers: 1 -2024-02-14 16:52:23, INFO: Planning depth: 1 -2024-02-14 16:52:23, INFO: Planning width: 10 -2024-02-14 16:52:23, INFO: Sparse search: None -2024-02-14 16:52:25, INFO: human number: 10 -2024-02-14 16:52:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:25, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:30, INFO: Using device: cpu -2024-02-14 16:52:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:30, INFO: Similarity_func: concatenation -2024-02-14 16:52:30, INFO: Layerwise_graph: False -2024-02-14 16:52:30, INFO: Skip_connection: True -2024-02-14 16:52:30, INFO: Number of layers: 1 -2024-02-14 16:52:30, INFO: Similarity_func: concatenation -2024-02-14 16:52:30, INFO: Layerwise_graph: False -2024-02-14 16:52:30, INFO: Skip_connection: True -2024-02-14 16:52:30, INFO: Number of layers: 1 -2024-02-14 16:52:30, INFO: Planning depth: 1 -2024-02-14 16:52:30, INFO: Planning width: 10 -2024-02-14 16:52:30, INFO: Sparse search: None -2024-02-14 16:52:32, INFO: human number: 10 -2024-02-14 16:52:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:32, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:37, INFO: Using device: cpu -2024-02-14 16:52:37, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:37, INFO: Similarity_func: concatenation -2024-02-14 16:52:37, INFO: Layerwise_graph: False -2024-02-14 16:52:37, INFO: Skip_connection: True -2024-02-14 16:52:37, INFO: Number of layers: 1 -2024-02-14 16:52:37, INFO: Similarity_func: concatenation -2024-02-14 16:52:37, INFO: Layerwise_graph: False -2024-02-14 16:52:37, INFO: Skip_connection: True -2024-02-14 16:52:37, INFO: Number of layers: 1 -2024-02-14 16:52:37, INFO: Planning depth: 1 -2024-02-14 16:52:37, INFO: Planning width: 10 -2024-02-14 16:52:37, INFO: Sparse search: None -2024-02-14 16:52:39, INFO: human number: 10 -2024-02-14 16:52:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:39, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:44, INFO: Using device: cpu -2024-02-14 16:52:44, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:44, INFO: Similarity_func: concatenation -2024-02-14 16:52:44, INFO: Layerwise_graph: False -2024-02-14 16:52:44, INFO: Skip_connection: True -2024-02-14 16:52:44, INFO: Number of layers: 1 -2024-02-14 16:52:44, INFO: Similarity_func: concatenation -2024-02-14 16:52:44, INFO: Layerwise_graph: False -2024-02-14 16:52:44, INFO: Skip_connection: True -2024-02-14 16:52:44, INFO: Number of layers: 1 -2024-02-14 16:52:44, INFO: Planning depth: 1 -2024-02-14 16:52:44, INFO: Planning width: 10 -2024-02-14 16:52:44, INFO: Sparse search: None -2024-02-14 16:52:46, INFO: human number: 10 -2024-02-14 16:52:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:46, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:50, INFO: Using device: cpu -2024-02-14 16:52:50, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:50, INFO: Similarity_func: concatenation -2024-02-14 16:52:50, INFO: Layerwise_graph: False -2024-02-14 16:52:50, INFO: Skip_connection: True -2024-02-14 16:52:50, INFO: Number of layers: 1 -2024-02-14 16:52:50, INFO: Similarity_func: concatenation -2024-02-14 16:52:50, INFO: Layerwise_graph: False -2024-02-14 16:52:50, INFO: Skip_connection: True -2024-02-14 16:52:50, INFO: Number of layers: 1 -2024-02-14 16:52:50, INFO: Planning depth: 1 -2024-02-14 16:52:50, INFO: Planning width: 10 -2024-02-14 16:52:50, INFO: Sparse search: None -2024-02-14 16:52:53, INFO: human number: 10 -2024-02-14 16:52:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:52:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:52:53, INFO: Square width: 10, circle width: 4 -2024-02-14 16:52:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:52:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:52:57, INFO: Using device: cpu -2024-02-14 16:52:57, INFO: Loaded RL weights with best VAL -2024-02-14 16:52:57, INFO: Similarity_func: concatenation -2024-02-14 16:52:57, INFO: Layerwise_graph: False -2024-02-14 16:52:57, INFO: Skip_connection: True -2024-02-14 16:52:57, INFO: Number of layers: 1 -2024-02-14 16:52:57, INFO: Similarity_func: concatenation -2024-02-14 16:52:57, INFO: Layerwise_graph: False -2024-02-14 16:52:57, INFO: Skip_connection: True -2024-02-14 16:52:57, INFO: Number of layers: 1 -2024-02-14 16:52:57, INFO: Planning depth: 1 -2024-02-14 16:52:57, INFO: Planning width: 10 -2024-02-14 16:52:57, INFO: Sparse search: None -2024-02-14 16:53:00, INFO: human number: 10 -2024-02-14 16:53:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:00, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:05, INFO: Using device: cpu -2024-02-14 16:53:05, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:05, INFO: Similarity_func: concatenation -2024-02-14 16:53:05, INFO: Layerwise_graph: False -2024-02-14 16:53:05, INFO: Skip_connection: True -2024-02-14 16:53:05, INFO: Number of layers: 1 -2024-02-14 16:53:05, INFO: Similarity_func: concatenation -2024-02-14 16:53:05, INFO: Layerwise_graph: False -2024-02-14 16:53:05, INFO: Skip_connection: True -2024-02-14 16:53:05, INFO: Number of layers: 1 -2024-02-14 16:53:05, INFO: Planning depth: 1 -2024-02-14 16:53:05, INFO: Planning width: 10 -2024-02-14 16:53:05, INFO: Sparse search: None -2024-02-14 16:53:08, INFO: human number: 10 -2024-02-14 16:53:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:08, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:12, INFO: Using device: cpu -2024-02-14 16:53:12, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:12, INFO: Similarity_func: concatenation -2024-02-14 16:53:12, INFO: Layerwise_graph: False -2024-02-14 16:53:12, INFO: Skip_connection: True -2024-02-14 16:53:12, INFO: Number of layers: 1 -2024-02-14 16:53:12, INFO: Similarity_func: concatenation -2024-02-14 16:53:12, INFO: Layerwise_graph: False -2024-02-14 16:53:12, INFO: Skip_connection: True -2024-02-14 16:53:12, INFO: Number of layers: 1 -2024-02-14 16:53:12, INFO: Planning depth: 1 -2024-02-14 16:53:12, INFO: Planning width: 10 -2024-02-14 16:53:12, INFO: Sparse search: None -2024-02-14 16:53:15, INFO: human number: 10 -2024-02-14 16:53:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:15, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:19, INFO: Using device: cpu -2024-02-14 16:53:19, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:19, INFO: Similarity_func: concatenation -2024-02-14 16:53:19, INFO: Layerwise_graph: False -2024-02-14 16:53:19, INFO: Skip_connection: True -2024-02-14 16:53:19, INFO: Number of layers: 1 -2024-02-14 16:53:19, INFO: Similarity_func: concatenation -2024-02-14 16:53:19, INFO: Layerwise_graph: False -2024-02-14 16:53:19, INFO: Skip_connection: True -2024-02-14 16:53:19, INFO: Number of layers: 1 -2024-02-14 16:53:19, INFO: Planning depth: 1 -2024-02-14 16:53:19, INFO: Planning width: 10 -2024-02-14 16:53:19, INFO: Sparse search: None -2024-02-14 16:53:22, INFO: human number: 10 -2024-02-14 16:53:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:22, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:26, INFO: Using device: cpu -2024-02-14 16:53:26, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:26, INFO: Similarity_func: concatenation -2024-02-14 16:53:26, INFO: Layerwise_graph: False -2024-02-14 16:53:26, INFO: Skip_connection: True -2024-02-14 16:53:26, INFO: Number of layers: 1 -2024-02-14 16:53:26, INFO: Similarity_func: concatenation -2024-02-14 16:53:26, INFO: Layerwise_graph: False -2024-02-14 16:53:26, INFO: Skip_connection: True -2024-02-14 16:53:26, INFO: Number of layers: 1 -2024-02-14 16:53:26, INFO: Planning depth: 1 -2024-02-14 16:53:26, INFO: Planning width: 10 -2024-02-14 16:53:26, INFO: Sparse search: None -2024-02-14 16:53:29, INFO: human number: 10 -2024-02-14 16:53:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:29, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:33, INFO: Using device: cpu -2024-02-14 16:53:33, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:33, INFO: Similarity_func: concatenation -2024-02-14 16:53:33, INFO: Layerwise_graph: False -2024-02-14 16:53:33, INFO: Skip_connection: True -2024-02-14 16:53:33, INFO: Number of layers: 1 -2024-02-14 16:53:33, INFO: Similarity_func: concatenation -2024-02-14 16:53:33, INFO: Layerwise_graph: False -2024-02-14 16:53:33, INFO: Skip_connection: True -2024-02-14 16:53:33, INFO: Number of layers: 1 -2024-02-14 16:53:33, INFO: Planning depth: 1 -2024-02-14 16:53:33, INFO: Planning width: 10 -2024-02-14 16:53:33, INFO: Sparse search: None -2024-02-14 16:53:35, INFO: human number: 10 -2024-02-14 16:53:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:35, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:40, INFO: Using device: cpu -2024-02-14 16:53:40, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:40, INFO: Similarity_func: concatenation -2024-02-14 16:53:40, INFO: Layerwise_graph: False -2024-02-14 16:53:40, INFO: Skip_connection: True -2024-02-14 16:53:40, INFO: Number of layers: 1 -2024-02-14 16:53:40, INFO: Similarity_func: concatenation -2024-02-14 16:53:40, INFO: Layerwise_graph: False -2024-02-14 16:53:40, INFO: Skip_connection: True -2024-02-14 16:53:40, INFO: Number of layers: 1 -2024-02-14 16:53:40, INFO: Planning depth: 1 -2024-02-14 16:53:40, INFO: Planning width: 10 -2024-02-14 16:53:40, INFO: Sparse search: None -2024-02-14 16:53:42, INFO: human number: 10 -2024-02-14 16:53:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:42, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:47, INFO: Using device: cpu -2024-02-14 16:53:47, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:47, INFO: Similarity_func: concatenation -2024-02-14 16:53:47, INFO: Layerwise_graph: False -2024-02-14 16:53:47, INFO: Skip_connection: True -2024-02-14 16:53:47, INFO: Number of layers: 1 -2024-02-14 16:53:47, INFO: Similarity_func: concatenation -2024-02-14 16:53:47, INFO: Layerwise_graph: False -2024-02-14 16:53:47, INFO: Skip_connection: True -2024-02-14 16:53:47, INFO: Number of layers: 1 -2024-02-14 16:53:47, INFO: Planning depth: 1 -2024-02-14 16:53:47, INFO: Planning width: 10 -2024-02-14 16:53:47, INFO: Sparse search: None -2024-02-14 16:53:49, INFO: human number: 10 -2024-02-14 16:53:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:49, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:53:54, INFO: Using device: cpu -2024-02-14 16:53:54, INFO: Loaded RL weights with best VAL -2024-02-14 16:53:54, INFO: Similarity_func: concatenation -2024-02-14 16:53:54, INFO: Layerwise_graph: False -2024-02-14 16:53:54, INFO: Skip_connection: True -2024-02-14 16:53:54, INFO: Number of layers: 1 -2024-02-14 16:53:54, INFO: Similarity_func: concatenation -2024-02-14 16:53:54, INFO: Layerwise_graph: False -2024-02-14 16:53:54, INFO: Skip_connection: True -2024-02-14 16:53:54, INFO: Number of layers: 1 -2024-02-14 16:53:54, INFO: Planning depth: 1 -2024-02-14 16:53:54, INFO: Planning width: 10 -2024-02-14 16:53:54, INFO: Sparse search: None -2024-02-14 16:53:56, INFO: human number: 10 -2024-02-14 16:53:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:53:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:53:56, INFO: Square width: 10, circle width: 4 -2024-02-14 16:53:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:53:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:01, INFO: Using device: cpu -2024-02-14 16:54:01, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:01, INFO: Similarity_func: concatenation -2024-02-14 16:54:01, INFO: Layerwise_graph: False -2024-02-14 16:54:01, INFO: Skip_connection: True -2024-02-14 16:54:01, INFO: Number of layers: 1 -2024-02-14 16:54:01, INFO: Similarity_func: concatenation -2024-02-14 16:54:01, INFO: Layerwise_graph: False -2024-02-14 16:54:01, INFO: Skip_connection: True -2024-02-14 16:54:01, INFO: Number of layers: 1 -2024-02-14 16:54:01, INFO: Planning depth: 1 -2024-02-14 16:54:01, INFO: Planning width: 10 -2024-02-14 16:54:01, INFO: Sparse search: None -2024-02-14 16:54:04, INFO: human number: 10 -2024-02-14 16:54:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:04, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:08, INFO: Using device: cpu -2024-02-14 16:54:08, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:08, INFO: Similarity_func: concatenation -2024-02-14 16:54:08, INFO: Layerwise_graph: False -2024-02-14 16:54:08, INFO: Skip_connection: True -2024-02-14 16:54:08, INFO: Number of layers: 1 -2024-02-14 16:54:08, INFO: Similarity_func: concatenation -2024-02-14 16:54:08, INFO: Layerwise_graph: False -2024-02-14 16:54:08, INFO: Skip_connection: True -2024-02-14 16:54:08, INFO: Number of layers: 1 -2024-02-14 16:54:08, INFO: Planning depth: 1 -2024-02-14 16:54:08, INFO: Planning width: 10 -2024-02-14 16:54:08, INFO: Sparse search: None -2024-02-14 16:54:11, INFO: human number: 10 -2024-02-14 16:54:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:11, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:16, INFO: Using device: cpu -2024-02-14 16:54:16, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:16, INFO: Similarity_func: concatenation -2024-02-14 16:54:16, INFO: Layerwise_graph: False -2024-02-14 16:54:16, INFO: Skip_connection: True -2024-02-14 16:54:16, INFO: Number of layers: 1 -2024-02-14 16:54:16, INFO: Similarity_func: concatenation -2024-02-14 16:54:16, INFO: Layerwise_graph: False -2024-02-14 16:54:16, INFO: Skip_connection: True -2024-02-14 16:54:16, INFO: Number of layers: 1 -2024-02-14 16:54:16, INFO: Planning depth: 1 -2024-02-14 16:54:16, INFO: Planning width: 10 -2024-02-14 16:54:16, INFO: Sparse search: None -2024-02-14 16:54:18, INFO: human number: 10 -2024-02-14 16:54:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:18, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:23, INFO: Using device: cpu -2024-02-14 16:54:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:23, INFO: Similarity_func: concatenation -2024-02-14 16:54:23, INFO: Layerwise_graph: False -2024-02-14 16:54:23, INFO: Skip_connection: True -2024-02-14 16:54:23, INFO: Number of layers: 1 -2024-02-14 16:54:23, INFO: Similarity_func: concatenation -2024-02-14 16:54:23, INFO: Layerwise_graph: False -2024-02-14 16:54:23, INFO: Skip_connection: True -2024-02-14 16:54:23, INFO: Number of layers: 1 -2024-02-14 16:54:23, INFO: Planning depth: 1 -2024-02-14 16:54:23, INFO: Planning width: 10 -2024-02-14 16:54:23, INFO: Sparse search: None -2024-02-14 16:54:26, INFO: human number: 10 -2024-02-14 16:54:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:26, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:30, INFO: Using device: cpu -2024-02-14 16:54:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:30, INFO: Similarity_func: concatenation -2024-02-14 16:54:30, INFO: Layerwise_graph: False -2024-02-14 16:54:30, INFO: Skip_connection: True -2024-02-14 16:54:30, INFO: Number of layers: 1 -2024-02-14 16:54:30, INFO: Similarity_func: concatenation -2024-02-14 16:54:30, INFO: Layerwise_graph: False -2024-02-14 16:54:30, INFO: Skip_connection: True -2024-02-14 16:54:30, INFO: Number of layers: 1 -2024-02-14 16:54:30, INFO: Planning depth: 1 -2024-02-14 16:54:30, INFO: Planning width: 10 -2024-02-14 16:54:30, INFO: Sparse search: None -2024-02-14 16:54:32, INFO: human number: 10 -2024-02-14 16:54:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:32, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:37, INFO: Using device: cpu -2024-02-14 16:54:37, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:37, INFO: Similarity_func: concatenation -2024-02-14 16:54:37, INFO: Layerwise_graph: False -2024-02-14 16:54:37, INFO: Skip_connection: True -2024-02-14 16:54:37, INFO: Number of layers: 1 -2024-02-14 16:54:37, INFO: Similarity_func: concatenation -2024-02-14 16:54:37, INFO: Layerwise_graph: False -2024-02-14 16:54:37, INFO: Skip_connection: True -2024-02-14 16:54:37, INFO: Number of layers: 1 -2024-02-14 16:54:37, INFO: Planning depth: 1 -2024-02-14 16:54:37, INFO: Planning width: 10 -2024-02-14 16:54:37, INFO: Sparse search: None -2024-02-14 16:54:40, INFO: human number: 10 -2024-02-14 16:54:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:40, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:44, INFO: Using device: cpu -2024-02-14 16:54:44, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:44, INFO: Similarity_func: concatenation -2024-02-14 16:54:44, INFO: Layerwise_graph: False -2024-02-14 16:54:44, INFO: Skip_connection: True -2024-02-14 16:54:44, INFO: Number of layers: 1 -2024-02-14 16:54:44, INFO: Similarity_func: concatenation -2024-02-14 16:54:44, INFO: Layerwise_graph: False -2024-02-14 16:54:44, INFO: Skip_connection: True -2024-02-14 16:54:44, INFO: Number of layers: 1 -2024-02-14 16:54:44, INFO: Planning depth: 1 -2024-02-14 16:54:44, INFO: Planning width: 10 -2024-02-14 16:54:44, INFO: Sparse search: None -2024-02-14 16:54:46, INFO: human number: 10 -2024-02-14 16:54:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:46, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:51, INFO: Using device: cpu -2024-02-14 16:54:51, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:51, INFO: Similarity_func: concatenation -2024-02-14 16:54:51, INFO: Layerwise_graph: False -2024-02-14 16:54:51, INFO: Skip_connection: True -2024-02-14 16:54:51, INFO: Number of layers: 1 -2024-02-14 16:54:51, INFO: Similarity_func: concatenation -2024-02-14 16:54:51, INFO: Layerwise_graph: False -2024-02-14 16:54:51, INFO: Skip_connection: True -2024-02-14 16:54:51, INFO: Number of layers: 1 -2024-02-14 16:54:51, INFO: Planning depth: 1 -2024-02-14 16:54:51, INFO: Planning width: 10 -2024-02-14 16:54:51, INFO: Sparse search: None -2024-02-14 16:54:53, INFO: human number: 10 -2024-02-14 16:54:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:54:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:54:53, INFO: Square width: 10, circle width: 4 -2024-02-14 16:54:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:54:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:54:58, INFO: Using device: cpu -2024-02-14 16:54:58, INFO: Loaded RL weights with best VAL -2024-02-14 16:54:58, INFO: Similarity_func: concatenation -2024-02-14 16:54:58, INFO: Layerwise_graph: False -2024-02-14 16:54:58, INFO: Skip_connection: True -2024-02-14 16:54:58, INFO: Number of layers: 1 -2024-02-14 16:54:58, INFO: Similarity_func: concatenation -2024-02-14 16:54:58, INFO: Layerwise_graph: False -2024-02-14 16:54:58, INFO: Skip_connection: True -2024-02-14 16:54:58, INFO: Number of layers: 1 -2024-02-14 16:54:58, INFO: Planning depth: 1 -2024-02-14 16:54:58, INFO: Planning width: 10 -2024-02-14 16:54:58, INFO: Sparse search: None -2024-02-14 16:55:00, INFO: human number: 10 -2024-02-14 16:55:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:00, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:05, INFO: Using device: cpu -2024-02-14 16:55:05, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:05, INFO: Similarity_func: concatenation -2024-02-14 16:55:05, INFO: Layerwise_graph: False -2024-02-14 16:55:05, INFO: Skip_connection: True -2024-02-14 16:55:05, INFO: Number of layers: 1 -2024-02-14 16:55:05, INFO: Similarity_func: concatenation -2024-02-14 16:55:05, INFO: Layerwise_graph: False -2024-02-14 16:55:05, INFO: Skip_connection: True -2024-02-14 16:55:05, INFO: Number of layers: 1 -2024-02-14 16:55:05, INFO: Planning depth: 1 -2024-02-14 16:55:05, INFO: Planning width: 10 -2024-02-14 16:55:05, INFO: Sparse search: None -2024-02-14 16:55:07, INFO: human number: 10 -2024-02-14 16:55:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:07, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:12, INFO: Using device: cpu -2024-02-14 16:55:12, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:12, INFO: Similarity_func: concatenation -2024-02-14 16:55:12, INFO: Layerwise_graph: False -2024-02-14 16:55:12, INFO: Skip_connection: True -2024-02-14 16:55:12, INFO: Number of layers: 1 -2024-02-14 16:55:12, INFO: Similarity_func: concatenation -2024-02-14 16:55:12, INFO: Layerwise_graph: False -2024-02-14 16:55:12, INFO: Skip_connection: True -2024-02-14 16:55:12, INFO: Number of layers: 1 -2024-02-14 16:55:12, INFO: Planning depth: 1 -2024-02-14 16:55:12, INFO: Planning width: 10 -2024-02-14 16:55:12, INFO: Sparse search: None -2024-02-14 16:55:15, INFO: human number: 10 -2024-02-14 16:55:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:15, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:19, INFO: Using device: cpu -2024-02-14 16:55:19, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:19, INFO: Similarity_func: concatenation -2024-02-14 16:55:19, INFO: Layerwise_graph: False -2024-02-14 16:55:19, INFO: Skip_connection: True -2024-02-14 16:55:19, INFO: Number of layers: 1 -2024-02-14 16:55:19, INFO: Similarity_func: concatenation -2024-02-14 16:55:19, INFO: Layerwise_graph: False -2024-02-14 16:55:19, INFO: Skip_connection: True -2024-02-14 16:55:19, INFO: Number of layers: 1 -2024-02-14 16:55:19, INFO: Planning depth: 1 -2024-02-14 16:55:19, INFO: Planning width: 10 -2024-02-14 16:55:19, INFO: Sparse search: None -2024-02-14 16:55:22, INFO: human number: 10 -2024-02-14 16:55:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:22, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:26, INFO: Using device: cpu -2024-02-14 16:55:26, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:26, INFO: Similarity_func: concatenation -2024-02-14 16:55:26, INFO: Layerwise_graph: False -2024-02-14 16:55:26, INFO: Skip_connection: True -2024-02-14 16:55:26, INFO: Number of layers: 1 -2024-02-14 16:55:26, INFO: Similarity_func: concatenation -2024-02-14 16:55:26, INFO: Layerwise_graph: False -2024-02-14 16:55:26, INFO: Skip_connection: True -2024-02-14 16:55:26, INFO: Number of layers: 1 -2024-02-14 16:55:26, INFO: Planning depth: 1 -2024-02-14 16:55:26, INFO: Planning width: 10 -2024-02-14 16:55:26, INFO: Sparse search: None -2024-02-14 16:55:29, INFO: human number: 10 -2024-02-14 16:55:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:29, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:33, INFO: Using device: cpu -2024-02-14 16:55:33, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:33, INFO: Similarity_func: concatenation -2024-02-14 16:55:33, INFO: Layerwise_graph: False -2024-02-14 16:55:33, INFO: Skip_connection: True -2024-02-14 16:55:33, INFO: Number of layers: 1 -2024-02-14 16:55:33, INFO: Similarity_func: concatenation -2024-02-14 16:55:33, INFO: Layerwise_graph: False -2024-02-14 16:55:33, INFO: Skip_connection: True -2024-02-14 16:55:33, INFO: Number of layers: 1 -2024-02-14 16:55:33, INFO: Planning depth: 1 -2024-02-14 16:55:33, INFO: Planning width: 10 -2024-02-14 16:55:33, INFO: Sparse search: None -2024-02-14 16:55:36, INFO: human number: 10 -2024-02-14 16:55:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:36, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:40, INFO: Using device: cpu -2024-02-14 16:55:40, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:40, INFO: Similarity_func: concatenation -2024-02-14 16:55:40, INFO: Layerwise_graph: False -2024-02-14 16:55:40, INFO: Skip_connection: True -2024-02-14 16:55:40, INFO: Number of layers: 1 -2024-02-14 16:55:40, INFO: Similarity_func: concatenation -2024-02-14 16:55:40, INFO: Layerwise_graph: False -2024-02-14 16:55:40, INFO: Skip_connection: True -2024-02-14 16:55:40, INFO: Number of layers: 1 -2024-02-14 16:55:40, INFO: Planning depth: 1 -2024-02-14 16:55:40, INFO: Planning width: 10 -2024-02-14 16:55:40, INFO: Sparse search: None -2024-02-14 16:55:43, INFO: human number: 10 -2024-02-14 16:55:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:43, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:48, INFO: Using device: cpu -2024-02-14 16:55:48, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:48, INFO: Similarity_func: concatenation -2024-02-14 16:55:48, INFO: Layerwise_graph: False -2024-02-14 16:55:48, INFO: Skip_connection: True -2024-02-14 16:55:48, INFO: Number of layers: 1 -2024-02-14 16:55:48, INFO: Similarity_func: concatenation -2024-02-14 16:55:48, INFO: Layerwise_graph: False -2024-02-14 16:55:48, INFO: Skip_connection: True -2024-02-14 16:55:48, INFO: Number of layers: 1 -2024-02-14 16:55:48, INFO: Planning depth: 1 -2024-02-14 16:55:48, INFO: Planning width: 10 -2024-02-14 16:55:48, INFO: Sparse search: None -2024-02-14 16:55:50, INFO: human number: 10 -2024-02-14 16:55:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:50, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:55:55, INFO: Using device: cpu -2024-02-14 16:55:55, INFO: Loaded RL weights with best VAL -2024-02-14 16:55:55, INFO: Similarity_func: concatenation -2024-02-14 16:55:55, INFO: Layerwise_graph: False -2024-02-14 16:55:55, INFO: Skip_connection: True -2024-02-14 16:55:55, INFO: Number of layers: 1 -2024-02-14 16:55:55, INFO: Similarity_func: concatenation -2024-02-14 16:55:55, INFO: Layerwise_graph: False -2024-02-14 16:55:55, INFO: Skip_connection: True -2024-02-14 16:55:55, INFO: Number of layers: 1 -2024-02-14 16:55:55, INFO: Planning depth: 1 -2024-02-14 16:55:55, INFO: Planning width: 10 -2024-02-14 16:55:55, INFO: Sparse search: None -2024-02-14 16:55:58, INFO: human number: 10 -2024-02-14 16:55:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:55:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:55:58, INFO: Square width: 10, circle width: 4 -2024-02-14 16:55:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:55:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:02, INFO: Using device: cpu -2024-02-14 16:56:02, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:02, INFO: Similarity_func: concatenation -2024-02-14 16:56:02, INFO: Layerwise_graph: False -2024-02-14 16:56:02, INFO: Skip_connection: True -2024-02-14 16:56:02, INFO: Number of layers: 1 -2024-02-14 16:56:02, INFO: Similarity_func: concatenation -2024-02-14 16:56:02, INFO: Layerwise_graph: False -2024-02-14 16:56:02, INFO: Skip_connection: True -2024-02-14 16:56:02, INFO: Number of layers: 1 -2024-02-14 16:56:02, INFO: Planning depth: 1 -2024-02-14 16:56:02, INFO: Planning width: 10 -2024-02-14 16:56:02, INFO: Sparse search: None -2024-02-14 16:56:05, INFO: human number: 10 -2024-02-14 16:56:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:05, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:09, INFO: Using device: cpu -2024-02-14 16:56:09, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:09, INFO: Similarity_func: concatenation -2024-02-14 16:56:09, INFO: Layerwise_graph: False -2024-02-14 16:56:09, INFO: Skip_connection: True -2024-02-14 16:56:09, INFO: Number of layers: 1 -2024-02-14 16:56:09, INFO: Similarity_func: concatenation -2024-02-14 16:56:09, INFO: Layerwise_graph: False -2024-02-14 16:56:09, INFO: Skip_connection: True -2024-02-14 16:56:09, INFO: Number of layers: 1 -2024-02-14 16:56:09, INFO: Planning depth: 1 -2024-02-14 16:56:09, INFO: Planning width: 10 -2024-02-14 16:56:09, INFO: Sparse search: None -2024-02-14 16:56:12, INFO: human number: 10 -2024-02-14 16:56:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:12, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:16, INFO: Using device: cpu -2024-02-14 16:56:16, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:16, INFO: Similarity_func: concatenation -2024-02-14 16:56:16, INFO: Layerwise_graph: False -2024-02-14 16:56:16, INFO: Skip_connection: True -2024-02-14 16:56:16, INFO: Number of layers: 1 -2024-02-14 16:56:16, INFO: Similarity_func: concatenation -2024-02-14 16:56:16, INFO: Layerwise_graph: False -2024-02-14 16:56:16, INFO: Skip_connection: True -2024-02-14 16:56:16, INFO: Number of layers: 1 -2024-02-14 16:56:16, INFO: Planning depth: 1 -2024-02-14 16:56:16, INFO: Planning width: 10 -2024-02-14 16:56:16, INFO: Sparse search: None -2024-02-14 16:56:19, INFO: human number: 10 -2024-02-14 16:56:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:19, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:23, INFO: Using device: cpu -2024-02-14 16:56:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:23, INFO: Similarity_func: concatenation -2024-02-14 16:56:23, INFO: Layerwise_graph: False -2024-02-14 16:56:23, INFO: Skip_connection: True -2024-02-14 16:56:23, INFO: Number of layers: 1 -2024-02-14 16:56:23, INFO: Similarity_func: concatenation -2024-02-14 16:56:23, INFO: Layerwise_graph: False -2024-02-14 16:56:23, INFO: Skip_connection: True -2024-02-14 16:56:23, INFO: Number of layers: 1 -2024-02-14 16:56:23, INFO: Planning depth: 1 -2024-02-14 16:56:23, INFO: Planning width: 10 -2024-02-14 16:56:23, INFO: Sparse search: None -2024-02-14 16:56:26, INFO: human number: 10 -2024-02-14 16:56:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:26, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:30, INFO: Using device: cpu -2024-02-14 16:56:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:30, INFO: Similarity_func: concatenation -2024-02-14 16:56:30, INFO: Layerwise_graph: False -2024-02-14 16:56:30, INFO: Skip_connection: True -2024-02-14 16:56:30, INFO: Number of layers: 1 -2024-02-14 16:56:30, INFO: Similarity_func: concatenation -2024-02-14 16:56:30, INFO: Layerwise_graph: False -2024-02-14 16:56:30, INFO: Skip_connection: True -2024-02-14 16:56:30, INFO: Number of layers: 1 -2024-02-14 16:56:30, INFO: Planning depth: 1 -2024-02-14 16:56:30, INFO: Planning width: 10 -2024-02-14 16:56:30, INFO: Sparse search: None -2024-02-14 16:56:33, INFO: human number: 10 -2024-02-14 16:56:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:33, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:37, INFO: Using device: cpu -2024-02-14 16:56:37, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:37, INFO: Similarity_func: concatenation -2024-02-14 16:56:37, INFO: Layerwise_graph: False -2024-02-14 16:56:37, INFO: Skip_connection: True -2024-02-14 16:56:37, INFO: Number of layers: 1 -2024-02-14 16:56:37, INFO: Similarity_func: concatenation -2024-02-14 16:56:37, INFO: Layerwise_graph: False -2024-02-14 16:56:37, INFO: Skip_connection: True -2024-02-14 16:56:37, INFO: Number of layers: 1 -2024-02-14 16:56:37, INFO: Planning depth: 1 -2024-02-14 16:56:37, INFO: Planning width: 10 -2024-02-14 16:56:37, INFO: Sparse search: None -2024-02-14 16:56:40, INFO: human number: 10 -2024-02-14 16:56:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:40, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:44, INFO: Using device: cpu -2024-02-14 16:56:44, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:44, INFO: Similarity_func: concatenation -2024-02-14 16:56:44, INFO: Layerwise_graph: False -2024-02-14 16:56:44, INFO: Skip_connection: True -2024-02-14 16:56:44, INFO: Number of layers: 1 -2024-02-14 16:56:44, INFO: Similarity_func: concatenation -2024-02-14 16:56:44, INFO: Layerwise_graph: False -2024-02-14 16:56:44, INFO: Skip_connection: True -2024-02-14 16:56:44, INFO: Number of layers: 1 -2024-02-14 16:56:44, INFO: Planning depth: 1 -2024-02-14 16:56:44, INFO: Planning width: 10 -2024-02-14 16:56:44, INFO: Sparse search: None -2024-02-14 16:56:46, INFO: human number: 10 -2024-02-14 16:56:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:46, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:51, INFO: Using device: cpu -2024-02-14 16:56:51, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:51, INFO: Similarity_func: concatenation -2024-02-14 16:56:51, INFO: Layerwise_graph: False -2024-02-14 16:56:51, INFO: Skip_connection: True -2024-02-14 16:56:51, INFO: Number of layers: 1 -2024-02-14 16:56:51, INFO: Similarity_func: concatenation -2024-02-14 16:56:51, INFO: Layerwise_graph: False -2024-02-14 16:56:51, INFO: Skip_connection: True -2024-02-14 16:56:51, INFO: Number of layers: 1 -2024-02-14 16:56:51, INFO: Planning depth: 1 -2024-02-14 16:56:51, INFO: Planning width: 10 -2024-02-14 16:56:51, INFO: Sparse search: None -2024-02-14 16:56:53, INFO: human number: 10 -2024-02-14 16:56:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:56:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:56:53, INFO: Square width: 10, circle width: 4 -2024-02-14 16:56:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:56:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:56:58, INFO: Using device: cpu -2024-02-14 16:56:58, INFO: Loaded RL weights with best VAL -2024-02-14 16:56:58, INFO: Similarity_func: concatenation -2024-02-14 16:56:58, INFO: Layerwise_graph: False -2024-02-14 16:56:58, INFO: Skip_connection: True -2024-02-14 16:56:58, INFO: Number of layers: 1 -2024-02-14 16:56:58, INFO: Similarity_func: concatenation -2024-02-14 16:56:58, INFO: Layerwise_graph: False -2024-02-14 16:56:58, INFO: Skip_connection: True -2024-02-14 16:56:58, INFO: Number of layers: 1 -2024-02-14 16:56:58, INFO: Planning depth: 1 -2024-02-14 16:56:58, INFO: Planning width: 10 -2024-02-14 16:56:58, INFO: Sparse search: None -2024-02-14 16:57:00, INFO: human number: 10 -2024-02-14 16:57:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:00, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:05, INFO: Using device: cpu -2024-02-14 16:57:05, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:05, INFO: Similarity_func: concatenation -2024-02-14 16:57:05, INFO: Layerwise_graph: False -2024-02-14 16:57:05, INFO: Skip_connection: True -2024-02-14 16:57:05, INFO: Number of layers: 1 -2024-02-14 16:57:05, INFO: Similarity_func: concatenation -2024-02-14 16:57:05, INFO: Layerwise_graph: False -2024-02-14 16:57:05, INFO: Skip_connection: True -2024-02-14 16:57:05, INFO: Number of layers: 1 -2024-02-14 16:57:05, INFO: Planning depth: 1 -2024-02-14 16:57:05, INFO: Planning width: 10 -2024-02-14 16:57:05, INFO: Sparse search: None -2024-02-14 16:57:08, INFO: human number: 10 -2024-02-14 16:57:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:08, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:12, INFO: Using device: cpu -2024-02-14 16:57:12, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:12, INFO: Similarity_func: concatenation -2024-02-14 16:57:12, INFO: Layerwise_graph: False -2024-02-14 16:57:12, INFO: Skip_connection: True -2024-02-14 16:57:12, INFO: Number of layers: 1 -2024-02-14 16:57:12, INFO: Similarity_func: concatenation -2024-02-14 16:57:12, INFO: Layerwise_graph: False -2024-02-14 16:57:12, INFO: Skip_connection: True -2024-02-14 16:57:12, INFO: Number of layers: 1 -2024-02-14 16:57:12, INFO: Planning depth: 1 -2024-02-14 16:57:12, INFO: Planning width: 10 -2024-02-14 16:57:12, INFO: Sparse search: None -2024-02-14 16:57:15, INFO: human number: 10 -2024-02-14 16:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:15, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:19, INFO: Using device: cpu -2024-02-14 16:57:19, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:19, INFO: Similarity_func: concatenation -2024-02-14 16:57:19, INFO: Layerwise_graph: False -2024-02-14 16:57:19, INFO: Skip_connection: True -2024-02-14 16:57:19, INFO: Number of layers: 1 -2024-02-14 16:57:19, INFO: Similarity_func: concatenation -2024-02-14 16:57:19, INFO: Layerwise_graph: False -2024-02-14 16:57:19, INFO: Skip_connection: True -2024-02-14 16:57:19, INFO: Number of layers: 1 -2024-02-14 16:57:19, INFO: Planning depth: 1 -2024-02-14 16:57:19, INFO: Planning width: 10 -2024-02-14 16:57:19, INFO: Sparse search: None -2024-02-14 16:57:22, INFO: human number: 10 -2024-02-14 16:57:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:22, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:25, INFO: Using device: cpu -2024-02-14 16:57:25, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:25, INFO: Similarity_func: concatenation -2024-02-14 16:57:25, INFO: Layerwise_graph: False -2024-02-14 16:57:25, INFO: Skip_connection: True -2024-02-14 16:57:25, INFO: Number of layers: 1 -2024-02-14 16:57:25, INFO: Similarity_func: concatenation -2024-02-14 16:57:25, INFO: Layerwise_graph: False -2024-02-14 16:57:25, INFO: Skip_connection: True -2024-02-14 16:57:25, INFO: Number of layers: 1 -2024-02-14 16:57:25, INFO: Planning depth: 1 -2024-02-14 16:57:25, INFO: Planning width: 10 -2024-02-14 16:57:25, INFO: Sparse search: None -2024-02-14 16:57:28, INFO: human number: 10 -2024-02-14 16:57:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:28, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:32, INFO: Using device: cpu -2024-02-14 16:57:32, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:32, INFO: Similarity_func: concatenation -2024-02-14 16:57:32, INFO: Layerwise_graph: False -2024-02-14 16:57:32, INFO: Skip_connection: True -2024-02-14 16:57:32, INFO: Number of layers: 1 -2024-02-14 16:57:32, INFO: Similarity_func: concatenation -2024-02-14 16:57:32, INFO: Layerwise_graph: False -2024-02-14 16:57:32, INFO: Skip_connection: True -2024-02-14 16:57:32, INFO: Number of layers: 1 -2024-02-14 16:57:32, INFO: Planning depth: 1 -2024-02-14 16:57:32, INFO: Planning width: 10 -2024-02-14 16:57:32, INFO: Sparse search: None -2024-02-14 16:57:35, INFO: human number: 10 -2024-02-14 16:57:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:35, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:39, INFO: Using device: cpu -2024-02-14 16:57:39, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:39, INFO: Similarity_func: concatenation -2024-02-14 16:57:39, INFO: Layerwise_graph: False -2024-02-14 16:57:39, INFO: Skip_connection: True -2024-02-14 16:57:39, INFO: Number of layers: 1 -2024-02-14 16:57:39, INFO: Similarity_func: concatenation -2024-02-14 16:57:39, INFO: Layerwise_graph: False -2024-02-14 16:57:39, INFO: Skip_connection: True -2024-02-14 16:57:39, INFO: Number of layers: 1 -2024-02-14 16:57:39, INFO: Planning depth: 1 -2024-02-14 16:57:39, INFO: Planning width: 10 -2024-02-14 16:57:39, INFO: Sparse search: None -2024-02-14 16:57:42, INFO: human number: 10 -2024-02-14 16:57:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:42, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:46, INFO: Using device: cpu -2024-02-14 16:57:46, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:46, INFO: Similarity_func: concatenation -2024-02-14 16:57:46, INFO: Layerwise_graph: False -2024-02-14 16:57:46, INFO: Skip_connection: True -2024-02-14 16:57:46, INFO: Number of layers: 1 -2024-02-14 16:57:46, INFO: Similarity_func: concatenation -2024-02-14 16:57:46, INFO: Layerwise_graph: False -2024-02-14 16:57:46, INFO: Skip_connection: True -2024-02-14 16:57:46, INFO: Number of layers: 1 -2024-02-14 16:57:46, INFO: Planning depth: 1 -2024-02-14 16:57:46, INFO: Planning width: 10 -2024-02-14 16:57:46, INFO: Sparse search: None -2024-02-14 16:57:49, INFO: human number: 10 -2024-02-14 16:57:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:49, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:52, INFO: Using device: cpu -2024-02-14 16:57:52, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:52, INFO: Similarity_func: concatenation -2024-02-14 16:57:52, INFO: Layerwise_graph: False -2024-02-14 16:57:52, INFO: Skip_connection: True -2024-02-14 16:57:52, INFO: Number of layers: 1 -2024-02-14 16:57:52, INFO: Similarity_func: concatenation -2024-02-14 16:57:52, INFO: Layerwise_graph: False -2024-02-14 16:57:52, INFO: Skip_connection: True -2024-02-14 16:57:52, INFO: Number of layers: 1 -2024-02-14 16:57:52, INFO: Planning depth: 1 -2024-02-14 16:57:52, INFO: Planning width: 10 -2024-02-14 16:57:52, INFO: Sparse search: None -2024-02-14 16:57:55, INFO: human number: 10 -2024-02-14 16:57:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:57:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:57:55, INFO: Square width: 10, circle width: 4 -2024-02-14 16:57:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:57:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:57:59, INFO: Using device: cpu -2024-02-14 16:57:59, INFO: Loaded RL weights with best VAL -2024-02-14 16:57:59, INFO: Similarity_func: concatenation -2024-02-14 16:57:59, INFO: Layerwise_graph: False -2024-02-14 16:57:59, INFO: Skip_connection: True -2024-02-14 16:57:59, INFO: Number of layers: 1 -2024-02-14 16:57:59, INFO: Similarity_func: concatenation -2024-02-14 16:57:59, INFO: Layerwise_graph: False -2024-02-14 16:57:59, INFO: Skip_connection: True -2024-02-14 16:57:59, INFO: Number of layers: 1 -2024-02-14 16:57:59, INFO: Planning depth: 1 -2024-02-14 16:57:59, INFO: Planning width: 10 -2024-02-14 16:57:59, INFO: Sparse search: None -2024-02-14 16:58:02, INFO: human number: 10 -2024-02-14 16:58:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:02, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:06, INFO: Using device: cpu -2024-02-14 16:58:06, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:06, INFO: Similarity_func: concatenation -2024-02-14 16:58:06, INFO: Layerwise_graph: False -2024-02-14 16:58:06, INFO: Skip_connection: True -2024-02-14 16:58:06, INFO: Number of layers: 1 -2024-02-14 16:58:06, INFO: Similarity_func: concatenation -2024-02-14 16:58:06, INFO: Layerwise_graph: False -2024-02-14 16:58:06, INFO: Skip_connection: True -2024-02-14 16:58:06, INFO: Number of layers: 1 -2024-02-14 16:58:06, INFO: Planning depth: 1 -2024-02-14 16:58:06, INFO: Planning width: 10 -2024-02-14 16:58:06, INFO: Sparse search: None -2024-02-14 16:58:09, INFO: human number: 10 -2024-02-14 16:58:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:09, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:13, INFO: Using device: cpu -2024-02-14 16:58:13, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:13, INFO: Similarity_func: concatenation -2024-02-14 16:58:13, INFO: Layerwise_graph: False -2024-02-14 16:58:13, INFO: Skip_connection: True -2024-02-14 16:58:13, INFO: Number of layers: 1 -2024-02-14 16:58:13, INFO: Similarity_func: concatenation -2024-02-14 16:58:13, INFO: Layerwise_graph: False -2024-02-14 16:58:13, INFO: Skip_connection: True -2024-02-14 16:58:13, INFO: Number of layers: 1 -2024-02-14 16:58:13, INFO: Planning depth: 1 -2024-02-14 16:58:13, INFO: Planning width: 10 -2024-02-14 16:58:13, INFO: Sparse search: None -2024-02-14 16:58:16, INFO: human number: 10 -2024-02-14 16:58:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:16, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:20, INFO: Using device: cpu -2024-02-14 16:58:20, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:20, INFO: Similarity_func: concatenation -2024-02-14 16:58:20, INFO: Layerwise_graph: False -2024-02-14 16:58:20, INFO: Skip_connection: True -2024-02-14 16:58:20, INFO: Number of layers: 1 -2024-02-14 16:58:20, INFO: Similarity_func: concatenation -2024-02-14 16:58:20, INFO: Layerwise_graph: False -2024-02-14 16:58:20, INFO: Skip_connection: True -2024-02-14 16:58:20, INFO: Number of layers: 1 -2024-02-14 16:58:20, INFO: Planning depth: 1 -2024-02-14 16:58:20, INFO: Planning width: 10 -2024-02-14 16:58:20, INFO: Sparse search: None -2024-02-14 16:58:23, INFO: human number: 10 -2024-02-14 16:58:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:23, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:27, INFO: Using device: cpu -2024-02-14 16:58:27, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:27, INFO: Similarity_func: concatenation -2024-02-14 16:58:27, INFO: Layerwise_graph: False -2024-02-14 16:58:27, INFO: Skip_connection: True -2024-02-14 16:58:27, INFO: Number of layers: 1 -2024-02-14 16:58:27, INFO: Similarity_func: concatenation -2024-02-14 16:58:27, INFO: Layerwise_graph: False -2024-02-14 16:58:27, INFO: Skip_connection: True -2024-02-14 16:58:27, INFO: Number of layers: 1 -2024-02-14 16:58:27, INFO: Planning depth: 1 -2024-02-14 16:58:27, INFO: Planning width: 10 -2024-02-14 16:58:27, INFO: Sparse search: None -2024-02-14 16:58:30, INFO: human number: 10 -2024-02-14 16:58:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:30, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:34, INFO: Using device: cpu -2024-02-14 16:58:34, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:34, INFO: Similarity_func: concatenation -2024-02-14 16:58:34, INFO: Layerwise_graph: False -2024-02-14 16:58:34, INFO: Skip_connection: True -2024-02-14 16:58:34, INFO: Number of layers: 1 -2024-02-14 16:58:34, INFO: Similarity_func: concatenation -2024-02-14 16:58:34, INFO: Layerwise_graph: False -2024-02-14 16:58:34, INFO: Skip_connection: True -2024-02-14 16:58:34, INFO: Number of layers: 1 -2024-02-14 16:58:34, INFO: Planning depth: 1 -2024-02-14 16:58:34, INFO: Planning width: 10 -2024-02-14 16:58:34, INFO: Sparse search: None -2024-02-14 16:58:37, INFO: human number: 10 -2024-02-14 16:58:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:37, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:41, INFO: Using device: cpu -2024-02-14 16:58:41, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:41, INFO: Similarity_func: concatenation -2024-02-14 16:58:41, INFO: Layerwise_graph: False -2024-02-14 16:58:41, INFO: Skip_connection: True -2024-02-14 16:58:41, INFO: Number of layers: 1 -2024-02-14 16:58:41, INFO: Similarity_func: concatenation -2024-02-14 16:58:41, INFO: Layerwise_graph: False -2024-02-14 16:58:41, INFO: Skip_connection: True -2024-02-14 16:58:41, INFO: Number of layers: 1 -2024-02-14 16:58:41, INFO: Planning depth: 1 -2024-02-14 16:58:41, INFO: Planning width: 10 -2024-02-14 16:58:41, INFO: Sparse search: None -2024-02-14 16:58:44, INFO: human number: 10 -2024-02-14 16:58:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:44, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:48, INFO: Using device: cpu -2024-02-14 16:58:48, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:48, INFO: Similarity_func: concatenation -2024-02-14 16:58:48, INFO: Layerwise_graph: False -2024-02-14 16:58:48, INFO: Skip_connection: True -2024-02-14 16:58:48, INFO: Number of layers: 1 -2024-02-14 16:58:48, INFO: Similarity_func: concatenation -2024-02-14 16:58:48, INFO: Layerwise_graph: False -2024-02-14 16:58:48, INFO: Skip_connection: True -2024-02-14 16:58:48, INFO: Number of layers: 1 -2024-02-14 16:58:48, INFO: Planning depth: 1 -2024-02-14 16:58:48, INFO: Planning width: 10 -2024-02-14 16:58:48, INFO: Sparse search: None -2024-02-14 16:58:51, INFO: human number: 10 -2024-02-14 16:58:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:51, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:58:55, INFO: Using device: cpu -2024-02-14 16:58:55, INFO: Loaded RL weights with best VAL -2024-02-14 16:58:55, INFO: Similarity_func: concatenation -2024-02-14 16:58:55, INFO: Layerwise_graph: False -2024-02-14 16:58:55, INFO: Skip_connection: True -2024-02-14 16:58:55, INFO: Number of layers: 1 -2024-02-14 16:58:55, INFO: Similarity_func: concatenation -2024-02-14 16:58:55, INFO: Layerwise_graph: False -2024-02-14 16:58:55, INFO: Skip_connection: True -2024-02-14 16:58:55, INFO: Number of layers: 1 -2024-02-14 16:58:55, INFO: Planning depth: 1 -2024-02-14 16:58:55, INFO: Planning width: 10 -2024-02-14 16:58:55, INFO: Sparse search: None -2024-02-14 16:58:58, INFO: human number: 10 -2024-02-14 16:58:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:58:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:58:58, INFO: Square width: 10, circle width: 4 -2024-02-14 16:58:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:58:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:02, INFO: Using device: cpu -2024-02-14 16:59:02, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:02, INFO: Similarity_func: concatenation -2024-02-14 16:59:02, INFO: Layerwise_graph: False -2024-02-14 16:59:02, INFO: Skip_connection: True -2024-02-14 16:59:02, INFO: Number of layers: 1 -2024-02-14 16:59:02, INFO: Similarity_func: concatenation -2024-02-14 16:59:02, INFO: Layerwise_graph: False -2024-02-14 16:59:02, INFO: Skip_connection: True -2024-02-14 16:59:02, INFO: Number of layers: 1 -2024-02-14 16:59:02, INFO: Planning depth: 1 -2024-02-14 16:59:02, INFO: Planning width: 10 -2024-02-14 16:59:02, INFO: Sparse search: None -2024-02-14 16:59:04, INFO: human number: 10 -2024-02-14 16:59:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:04, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:09, INFO: Using device: cpu -2024-02-14 16:59:09, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:09, INFO: Similarity_func: concatenation -2024-02-14 16:59:09, INFO: Layerwise_graph: False -2024-02-14 16:59:09, INFO: Skip_connection: True -2024-02-14 16:59:09, INFO: Number of layers: 1 -2024-02-14 16:59:09, INFO: Similarity_func: concatenation -2024-02-14 16:59:09, INFO: Layerwise_graph: False -2024-02-14 16:59:09, INFO: Skip_connection: True -2024-02-14 16:59:09, INFO: Number of layers: 1 -2024-02-14 16:59:09, INFO: Planning depth: 1 -2024-02-14 16:59:09, INFO: Planning width: 10 -2024-02-14 16:59:09, INFO: Sparse search: None -2024-02-14 16:59:12, INFO: human number: 10 -2024-02-14 16:59:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:12, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:15, INFO: Using device: cpu -2024-02-14 16:59:15, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:15, INFO: Similarity_func: concatenation -2024-02-14 16:59:15, INFO: Layerwise_graph: False -2024-02-14 16:59:15, INFO: Skip_connection: True -2024-02-14 16:59:15, INFO: Number of layers: 1 -2024-02-14 16:59:15, INFO: Similarity_func: concatenation -2024-02-14 16:59:15, INFO: Layerwise_graph: False -2024-02-14 16:59:15, INFO: Skip_connection: True -2024-02-14 16:59:15, INFO: Number of layers: 1 -2024-02-14 16:59:15, INFO: Planning depth: 1 -2024-02-14 16:59:15, INFO: Planning width: 10 -2024-02-14 16:59:15, INFO: Sparse search: None -2024-02-14 16:59:18, INFO: human number: 10 -2024-02-14 16:59:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:18, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:23, INFO: Using device: cpu -2024-02-14 16:59:23, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:23, INFO: Similarity_func: concatenation -2024-02-14 16:59:23, INFO: Layerwise_graph: False -2024-02-14 16:59:23, INFO: Skip_connection: True -2024-02-14 16:59:23, INFO: Number of layers: 1 -2024-02-14 16:59:23, INFO: Similarity_func: concatenation -2024-02-14 16:59:23, INFO: Layerwise_graph: False -2024-02-14 16:59:23, INFO: Skip_connection: True -2024-02-14 16:59:23, INFO: Number of layers: 1 -2024-02-14 16:59:23, INFO: Planning depth: 1 -2024-02-14 16:59:23, INFO: Planning width: 10 -2024-02-14 16:59:23, INFO: Sparse search: None -2024-02-14 16:59:25, INFO: human number: 10 -2024-02-14 16:59:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:25, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:30, INFO: Using device: cpu -2024-02-14 16:59:30, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:30, INFO: Similarity_func: concatenation -2024-02-14 16:59:30, INFO: Layerwise_graph: False -2024-02-14 16:59:30, INFO: Skip_connection: True -2024-02-14 16:59:30, INFO: Number of layers: 1 -2024-02-14 16:59:30, INFO: Similarity_func: concatenation -2024-02-14 16:59:30, INFO: Layerwise_graph: False -2024-02-14 16:59:30, INFO: Skip_connection: True -2024-02-14 16:59:30, INFO: Number of layers: 1 -2024-02-14 16:59:30, INFO: Planning depth: 1 -2024-02-14 16:59:30, INFO: Planning width: 10 -2024-02-14 16:59:30, INFO: Sparse search: None -2024-02-14 16:59:33, INFO: human number: 10 -2024-02-14 16:59:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:33, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:37, INFO: Using device: cpu -2024-02-14 16:59:37, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:37, INFO: Similarity_func: concatenation -2024-02-14 16:59:37, INFO: Layerwise_graph: False -2024-02-14 16:59:37, INFO: Skip_connection: True -2024-02-14 16:59:37, INFO: Number of layers: 1 -2024-02-14 16:59:37, INFO: Similarity_func: concatenation -2024-02-14 16:59:37, INFO: Layerwise_graph: False -2024-02-14 16:59:37, INFO: Skip_connection: True -2024-02-14 16:59:37, INFO: Number of layers: 1 -2024-02-14 16:59:37, INFO: Planning depth: 1 -2024-02-14 16:59:37, INFO: Planning width: 10 -2024-02-14 16:59:37, INFO: Sparse search: None -2024-02-14 16:59:39, INFO: human number: 10 -2024-02-14 16:59:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:39, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:43, INFO: Using device: cpu -2024-02-14 16:59:43, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:43, INFO: Similarity_func: concatenation -2024-02-14 16:59:43, INFO: Layerwise_graph: False -2024-02-14 16:59:43, INFO: Skip_connection: True -2024-02-14 16:59:43, INFO: Number of layers: 1 -2024-02-14 16:59:43, INFO: Similarity_func: concatenation -2024-02-14 16:59:43, INFO: Layerwise_graph: False -2024-02-14 16:59:43, INFO: Skip_connection: True -2024-02-14 16:59:43, INFO: Number of layers: 1 -2024-02-14 16:59:43, INFO: Planning depth: 1 -2024-02-14 16:59:43, INFO: Planning width: 10 -2024-02-14 16:59:43, INFO: Sparse search: None -2024-02-14 16:59:46, INFO: human number: 10 -2024-02-14 16:59:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:46, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:51, INFO: Using device: cpu -2024-02-14 16:59:51, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:51, INFO: Similarity_func: concatenation -2024-02-14 16:59:51, INFO: Layerwise_graph: False -2024-02-14 16:59:51, INFO: Skip_connection: True -2024-02-14 16:59:51, INFO: Number of layers: 1 -2024-02-14 16:59:51, INFO: Similarity_func: concatenation -2024-02-14 16:59:51, INFO: Layerwise_graph: False -2024-02-14 16:59:51, INFO: Skip_connection: True -2024-02-14 16:59:51, INFO: Number of layers: 1 -2024-02-14 16:59:51, INFO: Planning depth: 1 -2024-02-14 16:59:51, INFO: Planning width: 10 -2024-02-14 16:59:51, INFO: Sparse search: None -2024-02-14 16:59:53, INFO: human number: 10 -2024-02-14 16:59:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 16:59:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 16:59:53, INFO: Square width: 10, circle width: 4 -2024-02-14 16:59:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 16:59:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 16:59:57, INFO: Using device: cpu -2024-02-14 16:59:57, INFO: Loaded RL weights with best VAL -2024-02-14 16:59:57, INFO: Similarity_func: concatenation -2024-02-14 16:59:57, INFO: Layerwise_graph: False -2024-02-14 16:59:57, INFO: Skip_connection: True -2024-02-14 16:59:57, INFO: Number of layers: 1 -2024-02-14 16:59:57, INFO: Similarity_func: concatenation -2024-02-14 16:59:57, INFO: Layerwise_graph: False -2024-02-14 16:59:57, INFO: Skip_connection: True -2024-02-14 16:59:57, INFO: Number of layers: 1 -2024-02-14 16:59:57, INFO: Planning depth: 1 -2024-02-14 16:59:57, INFO: Planning width: 10 -2024-02-14 16:59:57, INFO: Sparse search: None -2024-02-14 17:00:00, INFO: human number: 10 -2024-02-14 17:00:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:05, INFO: Using device: cpu -2024-02-14 17:00:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:05, INFO: Similarity_func: concatenation -2024-02-14 17:00:05, INFO: Layerwise_graph: False -2024-02-14 17:00:05, INFO: Skip_connection: True -2024-02-14 17:00:05, INFO: Number of layers: 1 -2024-02-14 17:00:05, INFO: Similarity_func: concatenation -2024-02-14 17:00:05, INFO: Layerwise_graph: False -2024-02-14 17:00:05, INFO: Skip_connection: True -2024-02-14 17:00:05, INFO: Number of layers: 1 -2024-02-14 17:00:05, INFO: Planning depth: 1 -2024-02-14 17:00:05, INFO: Planning width: 10 -2024-02-14 17:00:05, INFO: Sparse search: None -2024-02-14 17:00:07, INFO: human number: 10 -2024-02-14 17:00:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:11, INFO: Using device: cpu -2024-02-14 17:00:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:11, INFO: Similarity_func: concatenation -2024-02-14 17:00:11, INFO: Layerwise_graph: False -2024-02-14 17:00:11, INFO: Skip_connection: True -2024-02-14 17:00:11, INFO: Number of layers: 1 -2024-02-14 17:00:11, INFO: Similarity_func: concatenation -2024-02-14 17:00:11, INFO: Layerwise_graph: False -2024-02-14 17:00:11, INFO: Skip_connection: True -2024-02-14 17:00:11, INFO: Number of layers: 1 -2024-02-14 17:00:11, INFO: Planning depth: 1 -2024-02-14 17:00:11, INFO: Planning width: 10 -2024-02-14 17:00:11, INFO: Sparse search: None -2024-02-14 17:00:14, INFO: human number: 10 -2024-02-14 17:00:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:18, INFO: Using device: cpu -2024-02-14 17:00:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:18, INFO: Similarity_func: concatenation -2024-02-14 17:00:18, INFO: Layerwise_graph: False -2024-02-14 17:00:18, INFO: Skip_connection: True -2024-02-14 17:00:18, INFO: Number of layers: 1 -2024-02-14 17:00:18, INFO: Similarity_func: concatenation -2024-02-14 17:00:18, INFO: Layerwise_graph: False -2024-02-14 17:00:18, INFO: Skip_connection: True -2024-02-14 17:00:18, INFO: Number of layers: 1 -2024-02-14 17:00:18, INFO: Planning depth: 1 -2024-02-14 17:00:18, INFO: Planning width: 10 -2024-02-14 17:00:18, INFO: Sparse search: None -2024-02-14 17:00:21, INFO: human number: 10 -2024-02-14 17:00:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:25, INFO: Using device: cpu -2024-02-14 17:00:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:25, INFO: Similarity_func: concatenation -2024-02-14 17:00:25, INFO: Layerwise_graph: False -2024-02-14 17:00:25, INFO: Skip_connection: True -2024-02-14 17:00:25, INFO: Number of layers: 1 -2024-02-14 17:00:25, INFO: Similarity_func: concatenation -2024-02-14 17:00:25, INFO: Layerwise_graph: False -2024-02-14 17:00:25, INFO: Skip_connection: True -2024-02-14 17:00:25, INFO: Number of layers: 1 -2024-02-14 17:00:25, INFO: Planning depth: 1 -2024-02-14 17:00:25, INFO: Planning width: 10 -2024-02-14 17:00:25, INFO: Sparse search: None -2024-02-14 17:00:28, INFO: human number: 10 -2024-02-14 17:00:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:32, INFO: Using device: cpu -2024-02-14 17:00:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:32, INFO: Similarity_func: concatenation -2024-02-14 17:00:32, INFO: Layerwise_graph: False -2024-02-14 17:00:32, INFO: Skip_connection: True -2024-02-14 17:00:32, INFO: Number of layers: 1 -2024-02-14 17:00:32, INFO: Similarity_func: concatenation -2024-02-14 17:00:32, INFO: Layerwise_graph: False -2024-02-14 17:00:32, INFO: Skip_connection: True -2024-02-14 17:00:32, INFO: Number of layers: 1 -2024-02-14 17:00:32, INFO: Planning depth: 1 -2024-02-14 17:00:32, INFO: Planning width: 10 -2024-02-14 17:00:32, INFO: Sparse search: None -2024-02-14 17:00:35, INFO: human number: 10 -2024-02-14 17:00:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:39, INFO: Using device: cpu -2024-02-14 17:00:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:39, INFO: Similarity_func: concatenation -2024-02-14 17:00:39, INFO: Layerwise_graph: False -2024-02-14 17:00:39, INFO: Skip_connection: True -2024-02-14 17:00:39, INFO: Number of layers: 1 -2024-02-14 17:00:39, INFO: Similarity_func: concatenation -2024-02-14 17:00:39, INFO: Layerwise_graph: False -2024-02-14 17:00:39, INFO: Skip_connection: True -2024-02-14 17:00:39, INFO: Number of layers: 1 -2024-02-14 17:00:39, INFO: Planning depth: 1 -2024-02-14 17:00:39, INFO: Planning width: 10 -2024-02-14 17:00:39, INFO: Sparse search: None -2024-02-14 17:00:42, INFO: human number: 10 -2024-02-14 17:00:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:47, INFO: Using device: cpu -2024-02-14 17:00:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:47, INFO: Similarity_func: concatenation -2024-02-14 17:00:47, INFO: Layerwise_graph: False -2024-02-14 17:00:47, INFO: Skip_connection: True -2024-02-14 17:00:47, INFO: Number of layers: 1 -2024-02-14 17:00:47, INFO: Similarity_func: concatenation -2024-02-14 17:00:47, INFO: Layerwise_graph: False -2024-02-14 17:00:47, INFO: Skip_connection: True -2024-02-14 17:00:47, INFO: Number of layers: 1 -2024-02-14 17:00:47, INFO: Planning depth: 1 -2024-02-14 17:00:47, INFO: Planning width: 10 -2024-02-14 17:00:47, INFO: Sparse search: None -2024-02-14 17:00:50, INFO: human number: 10 -2024-02-14 17:00:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:00:54, INFO: Using device: cpu -2024-02-14 17:00:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:00:54, INFO: Similarity_func: concatenation -2024-02-14 17:00:54, INFO: Layerwise_graph: False -2024-02-14 17:00:54, INFO: Skip_connection: True -2024-02-14 17:00:54, INFO: Number of layers: 1 -2024-02-14 17:00:54, INFO: Similarity_func: concatenation -2024-02-14 17:00:54, INFO: Layerwise_graph: False -2024-02-14 17:00:54, INFO: Skip_connection: True -2024-02-14 17:00:54, INFO: Number of layers: 1 -2024-02-14 17:00:54, INFO: Planning depth: 1 -2024-02-14 17:00:54, INFO: Planning width: 10 -2024-02-14 17:00:54, INFO: Sparse search: None -2024-02-14 17:00:57, INFO: human number: 10 -2024-02-14 17:00:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:00:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:00:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:00:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:00:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:01, INFO: Using device: cpu -2024-02-14 17:01:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:01, INFO: Similarity_func: concatenation -2024-02-14 17:01:01, INFO: Layerwise_graph: False -2024-02-14 17:01:01, INFO: Skip_connection: True -2024-02-14 17:01:01, INFO: Number of layers: 1 -2024-02-14 17:01:01, INFO: Similarity_func: concatenation -2024-02-14 17:01:01, INFO: Layerwise_graph: False -2024-02-14 17:01:01, INFO: Skip_connection: True -2024-02-14 17:01:01, INFO: Number of layers: 1 -2024-02-14 17:01:01, INFO: Planning depth: 1 -2024-02-14 17:01:01, INFO: Planning width: 10 -2024-02-14 17:01:01, INFO: Sparse search: None -2024-02-14 17:01:04, INFO: human number: 10 -2024-02-14 17:01:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:09, INFO: Using device: cpu -2024-02-14 17:01:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:09, INFO: Similarity_func: concatenation -2024-02-14 17:01:09, INFO: Layerwise_graph: False -2024-02-14 17:01:09, INFO: Skip_connection: True -2024-02-14 17:01:09, INFO: Number of layers: 1 -2024-02-14 17:01:09, INFO: Similarity_func: concatenation -2024-02-14 17:01:09, INFO: Layerwise_graph: False -2024-02-14 17:01:09, INFO: Skip_connection: True -2024-02-14 17:01:09, INFO: Number of layers: 1 -2024-02-14 17:01:09, INFO: Planning depth: 1 -2024-02-14 17:01:09, INFO: Planning width: 10 -2024-02-14 17:01:09, INFO: Sparse search: None -2024-02-14 17:01:12, INFO: human number: 10 -2024-02-14 17:01:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:16, INFO: Using device: cpu -2024-02-14 17:01:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:16, INFO: Similarity_func: concatenation -2024-02-14 17:01:16, INFO: Layerwise_graph: False -2024-02-14 17:01:16, INFO: Skip_connection: True -2024-02-14 17:01:16, INFO: Number of layers: 1 -2024-02-14 17:01:16, INFO: Similarity_func: concatenation -2024-02-14 17:01:16, INFO: Layerwise_graph: False -2024-02-14 17:01:16, INFO: Skip_connection: True -2024-02-14 17:01:16, INFO: Number of layers: 1 -2024-02-14 17:01:16, INFO: Planning depth: 1 -2024-02-14 17:01:16, INFO: Planning width: 10 -2024-02-14 17:01:16, INFO: Sparse search: None -2024-02-14 17:01:18, INFO: human number: 10 -2024-02-14 17:01:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:23, INFO: Using device: cpu -2024-02-14 17:01:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:23, INFO: Similarity_func: concatenation -2024-02-14 17:01:23, INFO: Layerwise_graph: False -2024-02-14 17:01:23, INFO: Skip_connection: True -2024-02-14 17:01:23, INFO: Number of layers: 1 -2024-02-14 17:01:23, INFO: Similarity_func: concatenation -2024-02-14 17:01:23, INFO: Layerwise_graph: False -2024-02-14 17:01:23, INFO: Skip_connection: True -2024-02-14 17:01:23, INFO: Number of layers: 1 -2024-02-14 17:01:23, INFO: Planning depth: 1 -2024-02-14 17:01:23, INFO: Planning width: 10 -2024-02-14 17:01:23, INFO: Sparse search: None -2024-02-14 17:01:25, INFO: human number: 10 -2024-02-14 17:01:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:29, INFO: Using device: cpu -2024-02-14 17:01:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:29, INFO: Similarity_func: concatenation -2024-02-14 17:01:29, INFO: Layerwise_graph: False -2024-02-14 17:01:29, INFO: Skip_connection: True -2024-02-14 17:01:29, INFO: Number of layers: 1 -2024-02-14 17:01:29, INFO: Similarity_func: concatenation -2024-02-14 17:01:29, INFO: Layerwise_graph: False -2024-02-14 17:01:29, INFO: Skip_connection: True -2024-02-14 17:01:29, INFO: Number of layers: 1 -2024-02-14 17:01:29, INFO: Planning depth: 1 -2024-02-14 17:01:29, INFO: Planning width: 10 -2024-02-14 17:01:29, INFO: Sparse search: None -2024-02-14 17:01:32, INFO: human number: 10 -2024-02-14 17:01:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:36, INFO: Using device: cpu -2024-02-14 17:01:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:36, INFO: Similarity_func: concatenation -2024-02-14 17:01:36, INFO: Layerwise_graph: False -2024-02-14 17:01:36, INFO: Skip_connection: True -2024-02-14 17:01:36, INFO: Number of layers: 1 -2024-02-14 17:01:36, INFO: Similarity_func: concatenation -2024-02-14 17:01:36, INFO: Layerwise_graph: False -2024-02-14 17:01:36, INFO: Skip_connection: True -2024-02-14 17:01:36, INFO: Number of layers: 1 -2024-02-14 17:01:36, INFO: Planning depth: 1 -2024-02-14 17:01:36, INFO: Planning width: 10 -2024-02-14 17:01:36, INFO: Sparse search: None -2024-02-14 17:01:39, INFO: human number: 10 -2024-02-14 17:01:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:43, INFO: Using device: cpu -2024-02-14 17:01:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:43, INFO: Similarity_func: concatenation -2024-02-14 17:01:43, INFO: Layerwise_graph: False -2024-02-14 17:01:43, INFO: Skip_connection: True -2024-02-14 17:01:43, INFO: Number of layers: 1 -2024-02-14 17:01:43, INFO: Similarity_func: concatenation -2024-02-14 17:01:43, INFO: Layerwise_graph: False -2024-02-14 17:01:43, INFO: Skip_connection: True -2024-02-14 17:01:43, INFO: Number of layers: 1 -2024-02-14 17:01:43, INFO: Planning depth: 1 -2024-02-14 17:01:43, INFO: Planning width: 10 -2024-02-14 17:01:43, INFO: Sparse search: None -2024-02-14 17:01:46, INFO: human number: 10 -2024-02-14 17:01:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:51, INFO: Using device: cpu -2024-02-14 17:01:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:51, INFO: Similarity_func: concatenation -2024-02-14 17:01:51, INFO: Layerwise_graph: False -2024-02-14 17:01:51, INFO: Skip_connection: True -2024-02-14 17:01:51, INFO: Number of layers: 1 -2024-02-14 17:01:51, INFO: Similarity_func: concatenation -2024-02-14 17:01:51, INFO: Layerwise_graph: False -2024-02-14 17:01:51, INFO: Skip_connection: True -2024-02-14 17:01:51, INFO: Number of layers: 1 -2024-02-14 17:01:51, INFO: Planning depth: 1 -2024-02-14 17:01:51, INFO: Planning width: 10 -2024-02-14 17:01:51, INFO: Sparse search: None -2024-02-14 17:01:54, INFO: human number: 10 -2024-02-14 17:01:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:01:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:01:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:01:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:01:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:01:58, INFO: Using device: cpu -2024-02-14 17:01:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:01:58, INFO: Similarity_func: concatenation -2024-02-14 17:01:58, INFO: Layerwise_graph: False -2024-02-14 17:01:58, INFO: Skip_connection: True -2024-02-14 17:01:58, INFO: Number of layers: 1 -2024-02-14 17:01:58, INFO: Similarity_func: concatenation -2024-02-14 17:01:58, INFO: Layerwise_graph: False -2024-02-14 17:01:58, INFO: Skip_connection: True -2024-02-14 17:01:58, INFO: Number of layers: 1 -2024-02-14 17:01:58, INFO: Planning depth: 1 -2024-02-14 17:01:58, INFO: Planning width: 10 -2024-02-14 17:01:58, INFO: Sparse search: None -2024-02-14 17:02:01, INFO: human number: 10 -2024-02-14 17:02:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:05, INFO: Using device: cpu -2024-02-14 17:02:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:05, INFO: Similarity_func: concatenation -2024-02-14 17:02:05, INFO: Layerwise_graph: False -2024-02-14 17:02:05, INFO: Skip_connection: True -2024-02-14 17:02:05, INFO: Number of layers: 1 -2024-02-14 17:02:05, INFO: Similarity_func: concatenation -2024-02-14 17:02:05, INFO: Layerwise_graph: False -2024-02-14 17:02:05, INFO: Skip_connection: True -2024-02-14 17:02:05, INFO: Number of layers: 1 -2024-02-14 17:02:05, INFO: Planning depth: 1 -2024-02-14 17:02:05, INFO: Planning width: 10 -2024-02-14 17:02:05, INFO: Sparse search: None -2024-02-14 17:02:08, INFO: human number: 10 -2024-02-14 17:02:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:12, INFO: Using device: cpu -2024-02-14 17:02:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:12, INFO: Similarity_func: concatenation -2024-02-14 17:02:12, INFO: Layerwise_graph: False -2024-02-14 17:02:12, INFO: Skip_connection: True -2024-02-14 17:02:12, INFO: Number of layers: 1 -2024-02-14 17:02:12, INFO: Similarity_func: concatenation -2024-02-14 17:02:12, INFO: Layerwise_graph: False -2024-02-14 17:02:12, INFO: Skip_connection: True -2024-02-14 17:02:12, INFO: Number of layers: 1 -2024-02-14 17:02:12, INFO: Planning depth: 1 -2024-02-14 17:02:12, INFO: Planning width: 10 -2024-02-14 17:02:12, INFO: Sparse search: None -2024-02-14 17:02:15, INFO: human number: 10 -2024-02-14 17:02:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:20, INFO: Using device: cpu -2024-02-14 17:02:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:20, INFO: Similarity_func: concatenation -2024-02-14 17:02:20, INFO: Layerwise_graph: False -2024-02-14 17:02:20, INFO: Skip_connection: True -2024-02-14 17:02:20, INFO: Number of layers: 1 -2024-02-14 17:02:20, INFO: Similarity_func: concatenation -2024-02-14 17:02:20, INFO: Layerwise_graph: False -2024-02-14 17:02:20, INFO: Skip_connection: True -2024-02-14 17:02:20, INFO: Number of layers: 1 -2024-02-14 17:02:20, INFO: Planning depth: 1 -2024-02-14 17:02:20, INFO: Planning width: 10 -2024-02-14 17:02:20, INFO: Sparse search: None -2024-02-14 17:02:22, INFO: human number: 10 -2024-02-14 17:02:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:27, INFO: Using device: cpu -2024-02-14 17:02:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:27, INFO: Similarity_func: concatenation -2024-02-14 17:02:27, INFO: Layerwise_graph: False -2024-02-14 17:02:27, INFO: Skip_connection: True -2024-02-14 17:02:27, INFO: Number of layers: 1 -2024-02-14 17:02:27, INFO: Similarity_func: concatenation -2024-02-14 17:02:27, INFO: Layerwise_graph: False -2024-02-14 17:02:27, INFO: Skip_connection: True -2024-02-14 17:02:27, INFO: Number of layers: 1 -2024-02-14 17:02:27, INFO: Planning depth: 1 -2024-02-14 17:02:27, INFO: Planning width: 10 -2024-02-14 17:02:27, INFO: Sparse search: None -2024-02-14 17:02:30, INFO: human number: 10 -2024-02-14 17:02:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:34, INFO: Using device: cpu -2024-02-14 17:02:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:34, INFO: Similarity_func: concatenation -2024-02-14 17:02:34, INFO: Layerwise_graph: False -2024-02-14 17:02:34, INFO: Skip_connection: True -2024-02-14 17:02:34, INFO: Number of layers: 1 -2024-02-14 17:02:34, INFO: Similarity_func: concatenation -2024-02-14 17:02:34, INFO: Layerwise_graph: False -2024-02-14 17:02:34, INFO: Skip_connection: True -2024-02-14 17:02:34, INFO: Number of layers: 1 -2024-02-14 17:02:34, INFO: Planning depth: 1 -2024-02-14 17:02:34, INFO: Planning width: 10 -2024-02-14 17:02:34, INFO: Sparse search: None -2024-02-14 17:02:37, INFO: human number: 10 -2024-02-14 17:02:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:41, INFO: Using device: cpu -2024-02-14 17:02:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:41, INFO: Similarity_func: concatenation -2024-02-14 17:02:41, INFO: Layerwise_graph: False -2024-02-14 17:02:41, INFO: Skip_connection: True -2024-02-14 17:02:41, INFO: Number of layers: 1 -2024-02-14 17:02:41, INFO: Similarity_func: concatenation -2024-02-14 17:02:41, INFO: Layerwise_graph: False -2024-02-14 17:02:41, INFO: Skip_connection: True -2024-02-14 17:02:41, INFO: Number of layers: 1 -2024-02-14 17:02:41, INFO: Planning depth: 1 -2024-02-14 17:02:41, INFO: Planning width: 10 -2024-02-14 17:02:41, INFO: Sparse search: None -2024-02-14 17:02:44, INFO: human number: 10 -2024-02-14 17:02:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:49, INFO: Using device: cpu -2024-02-14 17:02:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:49, INFO: Similarity_func: concatenation -2024-02-14 17:02:49, INFO: Layerwise_graph: False -2024-02-14 17:02:49, INFO: Skip_connection: True -2024-02-14 17:02:49, INFO: Number of layers: 1 -2024-02-14 17:02:49, INFO: Similarity_func: concatenation -2024-02-14 17:02:49, INFO: Layerwise_graph: False -2024-02-14 17:02:49, INFO: Skip_connection: True -2024-02-14 17:02:49, INFO: Number of layers: 1 -2024-02-14 17:02:49, INFO: Planning depth: 1 -2024-02-14 17:02:49, INFO: Planning width: 10 -2024-02-14 17:02:49, INFO: Sparse search: None -2024-02-14 17:02:52, INFO: human number: 10 -2024-02-14 17:02:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:02:56, INFO: Using device: cpu -2024-02-14 17:02:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:02:56, INFO: Similarity_func: concatenation -2024-02-14 17:02:56, INFO: Layerwise_graph: False -2024-02-14 17:02:56, INFO: Skip_connection: True -2024-02-14 17:02:56, INFO: Number of layers: 1 -2024-02-14 17:02:56, INFO: Similarity_func: concatenation -2024-02-14 17:02:56, INFO: Layerwise_graph: False -2024-02-14 17:02:56, INFO: Skip_connection: True -2024-02-14 17:02:56, INFO: Number of layers: 1 -2024-02-14 17:02:56, INFO: Planning depth: 1 -2024-02-14 17:02:56, INFO: Planning width: 10 -2024-02-14 17:02:56, INFO: Sparse search: None -2024-02-14 17:02:59, INFO: human number: 10 -2024-02-14 17:02:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:02:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:02:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:02:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:02:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:04, INFO: Using device: cpu -2024-02-14 17:03:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:04, INFO: Similarity_func: concatenation -2024-02-14 17:03:04, INFO: Layerwise_graph: False -2024-02-14 17:03:04, INFO: Skip_connection: True -2024-02-14 17:03:04, INFO: Number of layers: 1 -2024-02-14 17:03:04, INFO: Similarity_func: concatenation -2024-02-14 17:03:04, INFO: Layerwise_graph: False -2024-02-14 17:03:04, INFO: Skip_connection: True -2024-02-14 17:03:04, INFO: Number of layers: 1 -2024-02-14 17:03:04, INFO: Planning depth: 1 -2024-02-14 17:03:04, INFO: Planning width: 10 -2024-02-14 17:03:04, INFO: Sparse search: None -2024-02-14 17:03:06, INFO: human number: 10 -2024-02-14 17:03:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:11, INFO: Using device: cpu -2024-02-14 17:03:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:11, INFO: Similarity_func: concatenation -2024-02-14 17:03:11, INFO: Layerwise_graph: False -2024-02-14 17:03:11, INFO: Skip_connection: True -2024-02-14 17:03:11, INFO: Number of layers: 1 -2024-02-14 17:03:11, INFO: Similarity_func: concatenation -2024-02-14 17:03:11, INFO: Layerwise_graph: False -2024-02-14 17:03:11, INFO: Skip_connection: True -2024-02-14 17:03:11, INFO: Number of layers: 1 -2024-02-14 17:03:11, INFO: Planning depth: 1 -2024-02-14 17:03:11, INFO: Planning width: 10 -2024-02-14 17:03:11, INFO: Sparse search: None -2024-02-14 17:03:13, INFO: human number: 10 -2024-02-14 17:03:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:18, INFO: Using device: cpu -2024-02-14 17:03:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:18, INFO: Similarity_func: concatenation -2024-02-14 17:03:18, INFO: Layerwise_graph: False -2024-02-14 17:03:18, INFO: Skip_connection: True -2024-02-14 17:03:18, INFO: Number of layers: 1 -2024-02-14 17:03:18, INFO: Similarity_func: concatenation -2024-02-14 17:03:18, INFO: Layerwise_graph: False -2024-02-14 17:03:18, INFO: Skip_connection: True -2024-02-14 17:03:18, INFO: Number of layers: 1 -2024-02-14 17:03:18, INFO: Planning depth: 1 -2024-02-14 17:03:18, INFO: Planning width: 10 -2024-02-14 17:03:18, INFO: Sparse search: None -2024-02-14 17:03:21, INFO: human number: 10 -2024-02-14 17:03:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:25, INFO: Using device: cpu -2024-02-14 17:03:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:25, INFO: Similarity_func: concatenation -2024-02-14 17:03:25, INFO: Layerwise_graph: False -2024-02-14 17:03:25, INFO: Skip_connection: True -2024-02-14 17:03:25, INFO: Number of layers: 1 -2024-02-14 17:03:25, INFO: Similarity_func: concatenation -2024-02-14 17:03:25, INFO: Layerwise_graph: False -2024-02-14 17:03:25, INFO: Skip_connection: True -2024-02-14 17:03:25, INFO: Number of layers: 1 -2024-02-14 17:03:25, INFO: Planning depth: 1 -2024-02-14 17:03:25, INFO: Planning width: 10 -2024-02-14 17:03:25, INFO: Sparse search: None -2024-02-14 17:03:28, INFO: human number: 10 -2024-02-14 17:03:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:32, INFO: Using device: cpu -2024-02-14 17:03:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:32, INFO: Similarity_func: concatenation -2024-02-14 17:03:32, INFO: Layerwise_graph: False -2024-02-14 17:03:32, INFO: Skip_connection: True -2024-02-14 17:03:32, INFO: Number of layers: 1 -2024-02-14 17:03:32, INFO: Similarity_func: concatenation -2024-02-14 17:03:32, INFO: Layerwise_graph: False -2024-02-14 17:03:32, INFO: Skip_connection: True -2024-02-14 17:03:32, INFO: Number of layers: 1 -2024-02-14 17:03:32, INFO: Planning depth: 1 -2024-02-14 17:03:32, INFO: Planning width: 10 -2024-02-14 17:03:32, INFO: Sparse search: None -2024-02-14 17:03:34, INFO: human number: 10 -2024-02-14 17:03:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:39, INFO: Using device: cpu -2024-02-14 17:03:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:39, INFO: Similarity_func: concatenation -2024-02-14 17:03:39, INFO: Layerwise_graph: False -2024-02-14 17:03:39, INFO: Skip_connection: True -2024-02-14 17:03:39, INFO: Number of layers: 1 -2024-02-14 17:03:39, INFO: Similarity_func: concatenation -2024-02-14 17:03:39, INFO: Layerwise_graph: False -2024-02-14 17:03:39, INFO: Skip_connection: True -2024-02-14 17:03:39, INFO: Number of layers: 1 -2024-02-14 17:03:39, INFO: Planning depth: 1 -2024-02-14 17:03:39, INFO: Planning width: 10 -2024-02-14 17:03:39, INFO: Sparse search: None -2024-02-14 17:03:42, INFO: human number: 10 -2024-02-14 17:03:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:46, INFO: Using device: cpu -2024-02-14 17:03:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:46, INFO: Similarity_func: concatenation -2024-02-14 17:03:46, INFO: Layerwise_graph: False -2024-02-14 17:03:46, INFO: Skip_connection: True -2024-02-14 17:03:46, INFO: Number of layers: 1 -2024-02-14 17:03:46, INFO: Similarity_func: concatenation -2024-02-14 17:03:46, INFO: Layerwise_graph: False -2024-02-14 17:03:46, INFO: Skip_connection: True -2024-02-14 17:03:46, INFO: Number of layers: 1 -2024-02-14 17:03:46, INFO: Planning depth: 1 -2024-02-14 17:03:46, INFO: Planning width: 10 -2024-02-14 17:03:46, INFO: Sparse search: None -2024-02-14 17:03:49, INFO: human number: 10 -2024-02-14 17:03:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:03:53, INFO: Using device: cpu -2024-02-14 17:03:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:03:53, INFO: Similarity_func: concatenation -2024-02-14 17:03:53, INFO: Layerwise_graph: False -2024-02-14 17:03:53, INFO: Skip_connection: True -2024-02-14 17:03:53, INFO: Number of layers: 1 -2024-02-14 17:03:53, INFO: Similarity_func: concatenation -2024-02-14 17:03:53, INFO: Layerwise_graph: False -2024-02-14 17:03:53, INFO: Skip_connection: True -2024-02-14 17:03:53, INFO: Number of layers: 1 -2024-02-14 17:03:53, INFO: Planning depth: 1 -2024-02-14 17:03:53, INFO: Planning width: 10 -2024-02-14 17:03:53, INFO: Sparse search: None -2024-02-14 17:03:56, INFO: human number: 10 -2024-02-14 17:03:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:03:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:03:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:03:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:03:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:00, INFO: Using device: cpu -2024-02-14 17:04:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:00, INFO: Similarity_func: concatenation -2024-02-14 17:04:00, INFO: Layerwise_graph: False -2024-02-14 17:04:00, INFO: Skip_connection: True -2024-02-14 17:04:00, INFO: Number of layers: 1 -2024-02-14 17:04:00, INFO: Similarity_func: concatenation -2024-02-14 17:04:00, INFO: Layerwise_graph: False -2024-02-14 17:04:00, INFO: Skip_connection: True -2024-02-14 17:04:00, INFO: Number of layers: 1 -2024-02-14 17:04:00, INFO: Planning depth: 1 -2024-02-14 17:04:00, INFO: Planning width: 10 -2024-02-14 17:04:00, INFO: Sparse search: None -2024-02-14 17:04:03, INFO: human number: 10 -2024-02-14 17:04:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:07, INFO: Using device: cpu -2024-02-14 17:04:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:07, INFO: Similarity_func: concatenation -2024-02-14 17:04:07, INFO: Layerwise_graph: False -2024-02-14 17:04:07, INFO: Skip_connection: True -2024-02-14 17:04:07, INFO: Number of layers: 1 -2024-02-14 17:04:07, INFO: Similarity_func: concatenation -2024-02-14 17:04:07, INFO: Layerwise_graph: False -2024-02-14 17:04:07, INFO: Skip_connection: True -2024-02-14 17:04:07, INFO: Number of layers: 1 -2024-02-14 17:04:07, INFO: Planning depth: 1 -2024-02-14 17:04:07, INFO: Planning width: 10 -2024-02-14 17:04:07, INFO: Sparse search: None -2024-02-14 17:04:10, INFO: human number: 10 -2024-02-14 17:04:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:14, INFO: Using device: cpu -2024-02-14 17:04:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:14, INFO: Similarity_func: concatenation -2024-02-14 17:04:14, INFO: Layerwise_graph: False -2024-02-14 17:04:14, INFO: Skip_connection: True -2024-02-14 17:04:14, INFO: Number of layers: 1 -2024-02-14 17:04:14, INFO: Similarity_func: concatenation -2024-02-14 17:04:14, INFO: Layerwise_graph: False -2024-02-14 17:04:14, INFO: Skip_connection: True -2024-02-14 17:04:14, INFO: Number of layers: 1 -2024-02-14 17:04:14, INFO: Planning depth: 1 -2024-02-14 17:04:14, INFO: Planning width: 10 -2024-02-14 17:04:14, INFO: Sparse search: None -2024-02-14 17:04:17, INFO: human number: 10 -2024-02-14 17:04:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:21, INFO: Using device: cpu -2024-02-14 17:04:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:21, INFO: Similarity_func: concatenation -2024-02-14 17:04:21, INFO: Layerwise_graph: False -2024-02-14 17:04:21, INFO: Skip_connection: True -2024-02-14 17:04:21, INFO: Number of layers: 1 -2024-02-14 17:04:21, INFO: Similarity_func: concatenation -2024-02-14 17:04:21, INFO: Layerwise_graph: False -2024-02-14 17:04:21, INFO: Skip_connection: True -2024-02-14 17:04:21, INFO: Number of layers: 1 -2024-02-14 17:04:21, INFO: Planning depth: 1 -2024-02-14 17:04:21, INFO: Planning width: 10 -2024-02-14 17:04:21, INFO: Sparse search: None -2024-02-14 17:04:24, INFO: human number: 10 -2024-02-14 17:04:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:29, INFO: Using device: cpu -2024-02-14 17:04:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:29, INFO: Similarity_func: concatenation -2024-02-14 17:04:29, INFO: Layerwise_graph: False -2024-02-14 17:04:29, INFO: Skip_connection: True -2024-02-14 17:04:29, INFO: Number of layers: 1 -2024-02-14 17:04:29, INFO: Similarity_func: concatenation -2024-02-14 17:04:29, INFO: Layerwise_graph: False -2024-02-14 17:04:29, INFO: Skip_connection: True -2024-02-14 17:04:29, INFO: Number of layers: 1 -2024-02-14 17:04:29, INFO: Planning depth: 1 -2024-02-14 17:04:29, INFO: Planning width: 10 -2024-02-14 17:04:29, INFO: Sparse search: None -2024-02-14 17:04:31, INFO: human number: 10 -2024-02-14 17:04:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:36, INFO: Using device: cpu -2024-02-14 17:04:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:36, INFO: Similarity_func: concatenation -2024-02-14 17:04:36, INFO: Layerwise_graph: False -2024-02-14 17:04:36, INFO: Skip_connection: True -2024-02-14 17:04:36, INFO: Number of layers: 1 -2024-02-14 17:04:36, INFO: Similarity_func: concatenation -2024-02-14 17:04:36, INFO: Layerwise_graph: False -2024-02-14 17:04:36, INFO: Skip_connection: True -2024-02-14 17:04:36, INFO: Number of layers: 1 -2024-02-14 17:04:36, INFO: Planning depth: 1 -2024-02-14 17:04:36, INFO: Planning width: 10 -2024-02-14 17:04:36, INFO: Sparse search: None -2024-02-14 17:04:39, INFO: human number: 10 -2024-02-14 17:04:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:43, INFO: Using device: cpu -2024-02-14 17:04:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:43, INFO: Similarity_func: concatenation -2024-02-14 17:04:43, INFO: Layerwise_graph: False -2024-02-14 17:04:43, INFO: Skip_connection: True -2024-02-14 17:04:43, INFO: Number of layers: 1 -2024-02-14 17:04:43, INFO: Similarity_func: concatenation -2024-02-14 17:04:43, INFO: Layerwise_graph: False -2024-02-14 17:04:43, INFO: Skip_connection: True -2024-02-14 17:04:43, INFO: Number of layers: 1 -2024-02-14 17:04:43, INFO: Planning depth: 1 -2024-02-14 17:04:43, INFO: Planning width: 10 -2024-02-14 17:04:43, INFO: Sparse search: None -2024-02-14 17:04:46, INFO: human number: 10 -2024-02-14 17:04:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:51, INFO: Using device: cpu -2024-02-14 17:04:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:51, INFO: Similarity_func: concatenation -2024-02-14 17:04:51, INFO: Layerwise_graph: False -2024-02-14 17:04:51, INFO: Skip_connection: True -2024-02-14 17:04:51, INFO: Number of layers: 1 -2024-02-14 17:04:51, INFO: Similarity_func: concatenation -2024-02-14 17:04:51, INFO: Layerwise_graph: False -2024-02-14 17:04:51, INFO: Skip_connection: True -2024-02-14 17:04:51, INFO: Number of layers: 1 -2024-02-14 17:04:51, INFO: Planning depth: 1 -2024-02-14 17:04:51, INFO: Planning width: 10 -2024-02-14 17:04:51, INFO: Sparse search: None -2024-02-14 17:04:53, INFO: human number: 10 -2024-02-14 17:04:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:04:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:04:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:04:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:04:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:04:58, INFO: Using device: cpu -2024-02-14 17:04:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:04:58, INFO: Similarity_func: concatenation -2024-02-14 17:04:58, INFO: Layerwise_graph: False -2024-02-14 17:04:58, INFO: Skip_connection: True -2024-02-14 17:04:58, INFO: Number of layers: 1 -2024-02-14 17:04:58, INFO: Similarity_func: concatenation -2024-02-14 17:04:58, INFO: Layerwise_graph: False -2024-02-14 17:04:58, INFO: Skip_connection: True -2024-02-14 17:04:58, INFO: Number of layers: 1 -2024-02-14 17:04:58, INFO: Planning depth: 1 -2024-02-14 17:04:58, INFO: Planning width: 10 -2024-02-14 17:04:58, INFO: Sparse search: None -2024-02-14 17:05:01, INFO: human number: 10 -2024-02-14 17:05:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:05, INFO: Using device: cpu -2024-02-14 17:05:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:05, INFO: Similarity_func: concatenation -2024-02-14 17:05:05, INFO: Layerwise_graph: False -2024-02-14 17:05:05, INFO: Skip_connection: True -2024-02-14 17:05:05, INFO: Number of layers: 1 -2024-02-14 17:05:05, INFO: Similarity_func: concatenation -2024-02-14 17:05:05, INFO: Layerwise_graph: False -2024-02-14 17:05:05, INFO: Skip_connection: True -2024-02-14 17:05:05, INFO: Number of layers: 1 -2024-02-14 17:05:05, INFO: Planning depth: 1 -2024-02-14 17:05:05, INFO: Planning width: 10 -2024-02-14 17:05:05, INFO: Sparse search: None -2024-02-14 17:05:08, INFO: human number: 10 -2024-02-14 17:05:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:12, INFO: Using device: cpu -2024-02-14 17:05:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:12, INFO: Similarity_func: concatenation -2024-02-14 17:05:12, INFO: Layerwise_graph: False -2024-02-14 17:05:12, INFO: Skip_connection: True -2024-02-14 17:05:12, INFO: Number of layers: 1 -2024-02-14 17:05:12, INFO: Similarity_func: concatenation -2024-02-14 17:05:12, INFO: Layerwise_graph: False -2024-02-14 17:05:12, INFO: Skip_connection: True -2024-02-14 17:05:12, INFO: Number of layers: 1 -2024-02-14 17:05:12, INFO: Planning depth: 1 -2024-02-14 17:05:12, INFO: Planning width: 10 -2024-02-14 17:05:12, INFO: Sparse search: None -2024-02-14 17:05:15, INFO: human number: 10 -2024-02-14 17:05:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:19, INFO: Using device: cpu -2024-02-14 17:05:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:19, INFO: Similarity_func: concatenation -2024-02-14 17:05:19, INFO: Layerwise_graph: False -2024-02-14 17:05:19, INFO: Skip_connection: True -2024-02-14 17:05:19, INFO: Number of layers: 1 -2024-02-14 17:05:19, INFO: Similarity_func: concatenation -2024-02-14 17:05:19, INFO: Layerwise_graph: False -2024-02-14 17:05:19, INFO: Skip_connection: True -2024-02-14 17:05:19, INFO: Number of layers: 1 -2024-02-14 17:05:19, INFO: Planning depth: 1 -2024-02-14 17:05:19, INFO: Planning width: 10 -2024-02-14 17:05:19, INFO: Sparse search: None -2024-02-14 17:05:22, INFO: human number: 10 -2024-02-14 17:05:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:26, INFO: Using device: cpu -2024-02-14 17:05:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:26, INFO: Similarity_func: concatenation -2024-02-14 17:05:26, INFO: Layerwise_graph: False -2024-02-14 17:05:26, INFO: Skip_connection: True -2024-02-14 17:05:26, INFO: Number of layers: 1 -2024-02-14 17:05:26, INFO: Similarity_func: concatenation -2024-02-14 17:05:26, INFO: Layerwise_graph: False -2024-02-14 17:05:26, INFO: Skip_connection: True -2024-02-14 17:05:26, INFO: Number of layers: 1 -2024-02-14 17:05:26, INFO: Planning depth: 1 -2024-02-14 17:05:26, INFO: Planning width: 10 -2024-02-14 17:05:26, INFO: Sparse search: None -2024-02-14 17:05:29, INFO: human number: 10 -2024-02-14 17:05:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:33, INFO: Using device: cpu -2024-02-14 17:05:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:33, INFO: Similarity_func: concatenation -2024-02-14 17:05:33, INFO: Layerwise_graph: False -2024-02-14 17:05:33, INFO: Skip_connection: True -2024-02-14 17:05:33, INFO: Number of layers: 1 -2024-02-14 17:05:33, INFO: Similarity_func: concatenation -2024-02-14 17:05:33, INFO: Layerwise_graph: False -2024-02-14 17:05:33, INFO: Skip_connection: True -2024-02-14 17:05:33, INFO: Number of layers: 1 -2024-02-14 17:05:33, INFO: Planning depth: 1 -2024-02-14 17:05:33, INFO: Planning width: 10 -2024-02-14 17:05:33, INFO: Sparse search: None -2024-02-14 17:05:36, INFO: human number: 10 -2024-02-14 17:05:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:40, INFO: Using device: cpu -2024-02-14 17:05:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:40, INFO: Similarity_func: concatenation -2024-02-14 17:05:40, INFO: Layerwise_graph: False -2024-02-14 17:05:40, INFO: Skip_connection: True -2024-02-14 17:05:40, INFO: Number of layers: 1 -2024-02-14 17:05:40, INFO: Similarity_func: concatenation -2024-02-14 17:05:40, INFO: Layerwise_graph: False -2024-02-14 17:05:40, INFO: Skip_connection: True -2024-02-14 17:05:40, INFO: Number of layers: 1 -2024-02-14 17:05:40, INFO: Planning depth: 1 -2024-02-14 17:05:40, INFO: Planning width: 10 -2024-02-14 17:05:40, INFO: Sparse search: None -2024-02-14 17:05:42, INFO: human number: 10 -2024-02-14 17:05:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:47, INFO: Using device: cpu -2024-02-14 17:05:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:47, INFO: Similarity_func: concatenation -2024-02-14 17:05:47, INFO: Layerwise_graph: False -2024-02-14 17:05:47, INFO: Skip_connection: True -2024-02-14 17:05:47, INFO: Number of layers: 1 -2024-02-14 17:05:47, INFO: Similarity_func: concatenation -2024-02-14 17:05:47, INFO: Layerwise_graph: False -2024-02-14 17:05:47, INFO: Skip_connection: True -2024-02-14 17:05:47, INFO: Number of layers: 1 -2024-02-14 17:05:47, INFO: Planning depth: 1 -2024-02-14 17:05:47, INFO: Planning width: 10 -2024-02-14 17:05:47, INFO: Sparse search: None -2024-02-14 17:05:50, INFO: human number: 10 -2024-02-14 17:05:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:05:54, INFO: Using device: cpu -2024-02-14 17:05:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:05:54, INFO: Similarity_func: concatenation -2024-02-14 17:05:54, INFO: Layerwise_graph: False -2024-02-14 17:05:54, INFO: Skip_connection: True -2024-02-14 17:05:54, INFO: Number of layers: 1 -2024-02-14 17:05:54, INFO: Similarity_func: concatenation -2024-02-14 17:05:54, INFO: Layerwise_graph: False -2024-02-14 17:05:54, INFO: Skip_connection: True -2024-02-14 17:05:54, INFO: Number of layers: 1 -2024-02-14 17:05:54, INFO: Planning depth: 1 -2024-02-14 17:05:54, INFO: Planning width: 10 -2024-02-14 17:05:54, INFO: Sparse search: None -2024-02-14 17:05:57, INFO: human number: 10 -2024-02-14 17:05:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:05:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:05:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:05:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:05:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:01, INFO: Using device: cpu -2024-02-14 17:06:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:01, INFO: Similarity_func: concatenation -2024-02-14 17:06:01, INFO: Layerwise_graph: False -2024-02-14 17:06:01, INFO: Skip_connection: True -2024-02-14 17:06:01, INFO: Number of layers: 1 -2024-02-14 17:06:01, INFO: Similarity_func: concatenation -2024-02-14 17:06:01, INFO: Layerwise_graph: False -2024-02-14 17:06:01, INFO: Skip_connection: True -2024-02-14 17:06:01, INFO: Number of layers: 1 -2024-02-14 17:06:01, INFO: Planning depth: 1 -2024-02-14 17:06:01, INFO: Planning width: 10 -2024-02-14 17:06:01, INFO: Sparse search: None -2024-02-14 17:06:04, INFO: human number: 10 -2024-02-14 17:06:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:08, INFO: Using device: cpu -2024-02-14 17:06:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:08, INFO: Similarity_func: concatenation -2024-02-14 17:06:08, INFO: Layerwise_graph: False -2024-02-14 17:06:08, INFO: Skip_connection: True -2024-02-14 17:06:08, INFO: Number of layers: 1 -2024-02-14 17:06:08, INFO: Similarity_func: concatenation -2024-02-14 17:06:08, INFO: Layerwise_graph: False -2024-02-14 17:06:08, INFO: Skip_connection: True -2024-02-14 17:06:08, INFO: Number of layers: 1 -2024-02-14 17:06:08, INFO: Planning depth: 1 -2024-02-14 17:06:08, INFO: Planning width: 10 -2024-02-14 17:06:08, INFO: Sparse search: None -2024-02-14 17:06:11, INFO: human number: 10 -2024-02-14 17:06:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:16, INFO: Using device: cpu -2024-02-14 17:06:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:16, INFO: Similarity_func: concatenation -2024-02-14 17:06:16, INFO: Layerwise_graph: False -2024-02-14 17:06:16, INFO: Skip_connection: True -2024-02-14 17:06:16, INFO: Number of layers: 1 -2024-02-14 17:06:16, INFO: Similarity_func: concatenation -2024-02-14 17:06:16, INFO: Layerwise_graph: False -2024-02-14 17:06:16, INFO: Skip_connection: True -2024-02-14 17:06:16, INFO: Number of layers: 1 -2024-02-14 17:06:16, INFO: Planning depth: 1 -2024-02-14 17:06:16, INFO: Planning width: 10 -2024-02-14 17:06:16, INFO: Sparse search: None -2024-02-14 17:06:18, INFO: human number: 10 -2024-02-14 17:06:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:22, INFO: Using device: cpu -2024-02-14 17:06:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:22, INFO: Similarity_func: concatenation -2024-02-14 17:06:22, INFO: Layerwise_graph: False -2024-02-14 17:06:22, INFO: Skip_connection: True -2024-02-14 17:06:22, INFO: Number of layers: 1 -2024-02-14 17:06:22, INFO: Similarity_func: concatenation -2024-02-14 17:06:22, INFO: Layerwise_graph: False -2024-02-14 17:06:22, INFO: Skip_connection: True -2024-02-14 17:06:22, INFO: Number of layers: 1 -2024-02-14 17:06:22, INFO: Planning depth: 1 -2024-02-14 17:06:22, INFO: Planning width: 10 -2024-02-14 17:06:22, INFO: Sparse search: None -2024-02-14 17:06:25, INFO: human number: 10 -2024-02-14 17:06:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:30, INFO: Using device: cpu -2024-02-14 17:06:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:30, INFO: Similarity_func: concatenation -2024-02-14 17:06:30, INFO: Layerwise_graph: False -2024-02-14 17:06:30, INFO: Skip_connection: True -2024-02-14 17:06:30, INFO: Number of layers: 1 -2024-02-14 17:06:30, INFO: Similarity_func: concatenation -2024-02-14 17:06:30, INFO: Layerwise_graph: False -2024-02-14 17:06:30, INFO: Skip_connection: True -2024-02-14 17:06:30, INFO: Number of layers: 1 -2024-02-14 17:06:30, INFO: Planning depth: 1 -2024-02-14 17:06:30, INFO: Planning width: 10 -2024-02-14 17:06:30, INFO: Sparse search: None -2024-02-14 17:06:32, INFO: human number: 10 -2024-02-14 17:06:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:37, INFO: Using device: cpu -2024-02-14 17:06:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:37, INFO: Similarity_func: concatenation -2024-02-14 17:06:37, INFO: Layerwise_graph: False -2024-02-14 17:06:37, INFO: Skip_connection: True -2024-02-14 17:06:37, INFO: Number of layers: 1 -2024-02-14 17:06:37, INFO: Similarity_func: concatenation -2024-02-14 17:06:37, INFO: Layerwise_graph: False -2024-02-14 17:06:37, INFO: Skip_connection: True -2024-02-14 17:06:37, INFO: Number of layers: 1 -2024-02-14 17:06:37, INFO: Planning depth: 1 -2024-02-14 17:06:37, INFO: Planning width: 10 -2024-02-14 17:06:37, INFO: Sparse search: None -2024-02-14 17:06:39, INFO: human number: 10 -2024-02-14 17:06:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:44, INFO: Using device: cpu -2024-02-14 17:06:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:44, INFO: Similarity_func: concatenation -2024-02-14 17:06:44, INFO: Layerwise_graph: False -2024-02-14 17:06:44, INFO: Skip_connection: True -2024-02-14 17:06:44, INFO: Number of layers: 1 -2024-02-14 17:06:44, INFO: Similarity_func: concatenation -2024-02-14 17:06:44, INFO: Layerwise_graph: False -2024-02-14 17:06:44, INFO: Skip_connection: True -2024-02-14 17:06:44, INFO: Number of layers: 1 -2024-02-14 17:06:44, INFO: Planning depth: 1 -2024-02-14 17:06:44, INFO: Planning width: 10 -2024-02-14 17:06:44, INFO: Sparse search: None -2024-02-14 17:06:46, INFO: human number: 10 -2024-02-14 17:06:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:51, INFO: Using device: cpu -2024-02-14 17:06:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:51, INFO: Similarity_func: concatenation -2024-02-14 17:06:51, INFO: Layerwise_graph: False -2024-02-14 17:06:51, INFO: Skip_connection: True -2024-02-14 17:06:51, INFO: Number of layers: 1 -2024-02-14 17:06:51, INFO: Similarity_func: concatenation -2024-02-14 17:06:51, INFO: Layerwise_graph: False -2024-02-14 17:06:51, INFO: Skip_connection: True -2024-02-14 17:06:51, INFO: Number of layers: 1 -2024-02-14 17:06:51, INFO: Planning depth: 1 -2024-02-14 17:06:51, INFO: Planning width: 10 -2024-02-14 17:06:51, INFO: Sparse search: None -2024-02-14 17:06:53, INFO: human number: 10 -2024-02-14 17:06:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:06:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:06:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:06:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:06:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:06:58, INFO: Using device: cpu -2024-02-14 17:06:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:06:58, INFO: Similarity_func: concatenation -2024-02-14 17:06:58, INFO: Layerwise_graph: False -2024-02-14 17:06:58, INFO: Skip_connection: True -2024-02-14 17:06:58, INFO: Number of layers: 1 -2024-02-14 17:06:58, INFO: Similarity_func: concatenation -2024-02-14 17:06:58, INFO: Layerwise_graph: False -2024-02-14 17:06:58, INFO: Skip_connection: True -2024-02-14 17:06:58, INFO: Number of layers: 1 -2024-02-14 17:06:58, INFO: Planning depth: 1 -2024-02-14 17:06:58, INFO: Planning width: 10 -2024-02-14 17:06:58, INFO: Sparse search: None -2024-02-14 17:07:00, INFO: human number: 10 -2024-02-14 17:07:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:04, INFO: Using device: cpu -2024-02-14 17:07:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:04, INFO: Similarity_func: concatenation -2024-02-14 17:07:04, INFO: Layerwise_graph: False -2024-02-14 17:07:04, INFO: Skip_connection: True -2024-02-14 17:07:04, INFO: Number of layers: 1 -2024-02-14 17:07:04, INFO: Similarity_func: concatenation -2024-02-14 17:07:04, INFO: Layerwise_graph: False -2024-02-14 17:07:04, INFO: Skip_connection: True -2024-02-14 17:07:04, INFO: Number of layers: 1 -2024-02-14 17:07:04, INFO: Planning depth: 1 -2024-02-14 17:07:04, INFO: Planning width: 10 -2024-02-14 17:07:04, INFO: Sparse search: None -2024-02-14 17:07:07, INFO: human number: 10 -2024-02-14 17:07:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:12, INFO: Using device: cpu -2024-02-14 17:07:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:12, INFO: Similarity_func: concatenation -2024-02-14 17:07:12, INFO: Layerwise_graph: False -2024-02-14 17:07:12, INFO: Skip_connection: True -2024-02-14 17:07:12, INFO: Number of layers: 1 -2024-02-14 17:07:12, INFO: Similarity_func: concatenation -2024-02-14 17:07:12, INFO: Layerwise_graph: False -2024-02-14 17:07:12, INFO: Skip_connection: True -2024-02-14 17:07:12, INFO: Number of layers: 1 -2024-02-14 17:07:12, INFO: Planning depth: 1 -2024-02-14 17:07:12, INFO: Planning width: 10 -2024-02-14 17:07:12, INFO: Sparse search: None -2024-02-14 17:07:14, INFO: human number: 10 -2024-02-14 17:07:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:19, INFO: Using device: cpu -2024-02-14 17:07:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:19, INFO: Similarity_func: concatenation -2024-02-14 17:07:19, INFO: Layerwise_graph: False -2024-02-14 17:07:19, INFO: Skip_connection: True -2024-02-14 17:07:19, INFO: Number of layers: 1 -2024-02-14 17:07:19, INFO: Similarity_func: concatenation -2024-02-14 17:07:19, INFO: Layerwise_graph: False -2024-02-14 17:07:19, INFO: Skip_connection: True -2024-02-14 17:07:19, INFO: Number of layers: 1 -2024-02-14 17:07:19, INFO: Planning depth: 1 -2024-02-14 17:07:19, INFO: Planning width: 10 -2024-02-14 17:07:19, INFO: Sparse search: None -2024-02-14 17:07:22, INFO: human number: 10 -2024-02-14 17:07:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:26, INFO: Using device: cpu -2024-02-14 17:07:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:26, INFO: Similarity_func: concatenation -2024-02-14 17:07:26, INFO: Layerwise_graph: False -2024-02-14 17:07:26, INFO: Skip_connection: True -2024-02-14 17:07:26, INFO: Number of layers: 1 -2024-02-14 17:07:26, INFO: Similarity_func: concatenation -2024-02-14 17:07:26, INFO: Layerwise_graph: False -2024-02-14 17:07:26, INFO: Skip_connection: True -2024-02-14 17:07:26, INFO: Number of layers: 1 -2024-02-14 17:07:26, INFO: Planning depth: 1 -2024-02-14 17:07:26, INFO: Planning width: 10 -2024-02-14 17:07:26, INFO: Sparse search: None -2024-02-14 17:07:29, INFO: human number: 10 -2024-02-14 17:07:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:33, INFO: Using device: cpu -2024-02-14 17:07:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:33, INFO: Similarity_func: concatenation -2024-02-14 17:07:33, INFO: Layerwise_graph: False -2024-02-14 17:07:33, INFO: Skip_connection: True -2024-02-14 17:07:33, INFO: Number of layers: 1 -2024-02-14 17:07:33, INFO: Similarity_func: concatenation -2024-02-14 17:07:33, INFO: Layerwise_graph: False -2024-02-14 17:07:33, INFO: Skip_connection: True -2024-02-14 17:07:33, INFO: Number of layers: 1 -2024-02-14 17:07:33, INFO: Planning depth: 1 -2024-02-14 17:07:33, INFO: Planning width: 10 -2024-02-14 17:07:33, INFO: Sparse search: None -2024-02-14 17:07:36, INFO: human number: 10 -2024-02-14 17:07:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:40, INFO: Using device: cpu -2024-02-14 17:07:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:40, INFO: Similarity_func: concatenation -2024-02-14 17:07:40, INFO: Layerwise_graph: False -2024-02-14 17:07:40, INFO: Skip_connection: True -2024-02-14 17:07:40, INFO: Number of layers: 1 -2024-02-14 17:07:40, INFO: Similarity_func: concatenation -2024-02-14 17:07:40, INFO: Layerwise_graph: False -2024-02-14 17:07:40, INFO: Skip_connection: True -2024-02-14 17:07:40, INFO: Number of layers: 1 -2024-02-14 17:07:40, INFO: Planning depth: 1 -2024-02-14 17:07:40, INFO: Planning width: 10 -2024-02-14 17:07:40, INFO: Sparse search: None -2024-02-14 17:07:43, INFO: human number: 10 -2024-02-14 17:07:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:47, INFO: Using device: cpu -2024-02-14 17:07:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:47, INFO: Similarity_func: concatenation -2024-02-14 17:07:47, INFO: Layerwise_graph: False -2024-02-14 17:07:47, INFO: Skip_connection: True -2024-02-14 17:07:47, INFO: Number of layers: 1 -2024-02-14 17:07:47, INFO: Similarity_func: concatenation -2024-02-14 17:07:47, INFO: Layerwise_graph: False -2024-02-14 17:07:47, INFO: Skip_connection: True -2024-02-14 17:07:47, INFO: Number of layers: 1 -2024-02-14 17:07:47, INFO: Planning depth: 1 -2024-02-14 17:07:47, INFO: Planning width: 10 -2024-02-14 17:07:47, INFO: Sparse search: None -2024-02-14 17:07:50, INFO: human number: 10 -2024-02-14 17:07:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:07:55, INFO: Using device: cpu -2024-02-14 17:07:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:07:55, INFO: Similarity_func: concatenation -2024-02-14 17:07:55, INFO: Layerwise_graph: False -2024-02-14 17:07:55, INFO: Skip_connection: True -2024-02-14 17:07:55, INFO: Number of layers: 1 -2024-02-14 17:07:55, INFO: Similarity_func: concatenation -2024-02-14 17:07:55, INFO: Layerwise_graph: False -2024-02-14 17:07:55, INFO: Skip_connection: True -2024-02-14 17:07:55, INFO: Number of layers: 1 -2024-02-14 17:07:55, INFO: Planning depth: 1 -2024-02-14 17:07:55, INFO: Planning width: 10 -2024-02-14 17:07:55, INFO: Sparse search: None -2024-02-14 17:07:58, INFO: human number: 10 -2024-02-14 17:07:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:07:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:07:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:07:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:07:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:02, INFO: Using device: cpu -2024-02-14 17:08:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:02, INFO: Similarity_func: concatenation -2024-02-14 17:08:02, INFO: Layerwise_graph: False -2024-02-14 17:08:02, INFO: Skip_connection: True -2024-02-14 17:08:02, INFO: Number of layers: 1 -2024-02-14 17:08:02, INFO: Similarity_func: concatenation -2024-02-14 17:08:02, INFO: Layerwise_graph: False -2024-02-14 17:08:02, INFO: Skip_connection: True -2024-02-14 17:08:02, INFO: Number of layers: 1 -2024-02-14 17:08:02, INFO: Planning depth: 1 -2024-02-14 17:08:02, INFO: Planning width: 10 -2024-02-14 17:08:02, INFO: Sparse search: None -2024-02-14 17:08:05, INFO: human number: 10 -2024-02-14 17:08:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:09, INFO: Using device: cpu -2024-02-14 17:08:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:09, INFO: Similarity_func: concatenation -2024-02-14 17:08:09, INFO: Layerwise_graph: False -2024-02-14 17:08:09, INFO: Skip_connection: True -2024-02-14 17:08:09, INFO: Number of layers: 1 -2024-02-14 17:08:09, INFO: Similarity_func: concatenation -2024-02-14 17:08:09, INFO: Layerwise_graph: False -2024-02-14 17:08:09, INFO: Skip_connection: True -2024-02-14 17:08:09, INFO: Number of layers: 1 -2024-02-14 17:08:09, INFO: Planning depth: 1 -2024-02-14 17:08:09, INFO: Planning width: 10 -2024-02-14 17:08:09, INFO: Sparse search: None -2024-02-14 17:08:12, INFO: human number: 10 -2024-02-14 17:08:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:16, INFO: Using device: cpu -2024-02-14 17:08:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:16, INFO: Similarity_func: concatenation -2024-02-14 17:08:16, INFO: Layerwise_graph: False -2024-02-14 17:08:16, INFO: Skip_connection: True -2024-02-14 17:08:16, INFO: Number of layers: 1 -2024-02-14 17:08:16, INFO: Similarity_func: concatenation -2024-02-14 17:08:16, INFO: Layerwise_graph: False -2024-02-14 17:08:16, INFO: Skip_connection: True -2024-02-14 17:08:16, INFO: Number of layers: 1 -2024-02-14 17:08:16, INFO: Planning depth: 1 -2024-02-14 17:08:16, INFO: Planning width: 10 -2024-02-14 17:08:16, INFO: Sparse search: None -2024-02-14 17:08:19, INFO: human number: 10 -2024-02-14 17:08:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:23, INFO: Using device: cpu -2024-02-14 17:08:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:23, INFO: Similarity_func: concatenation -2024-02-14 17:08:23, INFO: Layerwise_graph: False -2024-02-14 17:08:23, INFO: Skip_connection: True -2024-02-14 17:08:23, INFO: Number of layers: 1 -2024-02-14 17:08:23, INFO: Similarity_func: concatenation -2024-02-14 17:08:23, INFO: Layerwise_graph: False -2024-02-14 17:08:23, INFO: Skip_connection: True -2024-02-14 17:08:23, INFO: Number of layers: 1 -2024-02-14 17:08:23, INFO: Planning depth: 1 -2024-02-14 17:08:23, INFO: Planning width: 10 -2024-02-14 17:08:23, INFO: Sparse search: None -2024-02-14 17:08:26, INFO: human number: 10 -2024-02-14 17:08:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:30, INFO: Using device: cpu -2024-02-14 17:08:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:30, INFO: Similarity_func: concatenation -2024-02-14 17:08:30, INFO: Layerwise_graph: False -2024-02-14 17:08:30, INFO: Skip_connection: True -2024-02-14 17:08:30, INFO: Number of layers: 1 -2024-02-14 17:08:30, INFO: Similarity_func: concatenation -2024-02-14 17:08:30, INFO: Layerwise_graph: False -2024-02-14 17:08:30, INFO: Skip_connection: True -2024-02-14 17:08:30, INFO: Number of layers: 1 -2024-02-14 17:08:30, INFO: Planning depth: 1 -2024-02-14 17:08:30, INFO: Planning width: 10 -2024-02-14 17:08:30, INFO: Sparse search: None -2024-02-14 17:08:33, INFO: human number: 10 -2024-02-14 17:08:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:33, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:37, INFO: Using device: cpu -2024-02-14 17:08:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:37, INFO: Similarity_func: concatenation -2024-02-14 17:08:37, INFO: Layerwise_graph: False -2024-02-14 17:08:37, INFO: Skip_connection: True -2024-02-14 17:08:37, INFO: Number of layers: 1 -2024-02-14 17:08:37, INFO: Similarity_func: concatenation -2024-02-14 17:08:37, INFO: Layerwise_graph: False -2024-02-14 17:08:37, INFO: Skip_connection: True -2024-02-14 17:08:37, INFO: Number of layers: 1 -2024-02-14 17:08:37, INFO: Planning depth: 1 -2024-02-14 17:08:37, INFO: Planning width: 10 -2024-02-14 17:08:37, INFO: Sparse search: None -2024-02-14 17:08:40, INFO: human number: 10 -2024-02-14 17:08:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:40, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:44, INFO: Using device: cpu -2024-02-14 17:08:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:44, INFO: Similarity_func: concatenation -2024-02-14 17:08:44, INFO: Layerwise_graph: False -2024-02-14 17:08:44, INFO: Skip_connection: True -2024-02-14 17:08:44, INFO: Number of layers: 1 -2024-02-14 17:08:44, INFO: Similarity_func: concatenation -2024-02-14 17:08:44, INFO: Layerwise_graph: False -2024-02-14 17:08:44, INFO: Skip_connection: True -2024-02-14 17:08:44, INFO: Number of layers: 1 -2024-02-14 17:08:44, INFO: Planning depth: 1 -2024-02-14 17:08:44, INFO: Planning width: 10 -2024-02-14 17:08:44, INFO: Sparse search: None -2024-02-14 17:08:47, INFO: human number: 10 -2024-02-14 17:08:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:51, INFO: Using device: cpu -2024-02-14 17:08:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:51, INFO: Similarity_func: concatenation -2024-02-14 17:08:51, INFO: Layerwise_graph: False -2024-02-14 17:08:51, INFO: Skip_connection: True -2024-02-14 17:08:51, INFO: Number of layers: 1 -2024-02-14 17:08:51, INFO: Similarity_func: concatenation -2024-02-14 17:08:51, INFO: Layerwise_graph: False -2024-02-14 17:08:51, INFO: Skip_connection: True -2024-02-14 17:08:51, INFO: Number of layers: 1 -2024-02-14 17:08:51, INFO: Planning depth: 1 -2024-02-14 17:08:51, INFO: Planning width: 10 -2024-02-14 17:08:51, INFO: Sparse search: None -2024-02-14 17:08:54, INFO: human number: 10 -2024-02-14 17:08:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:08:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:08:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:08:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:08:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:08:59, INFO: Using device: cpu -2024-02-14 17:08:59, INFO: Loaded RL weights with best VAL -2024-02-14 17:08:59, INFO: Similarity_func: concatenation -2024-02-14 17:08:59, INFO: Layerwise_graph: False -2024-02-14 17:08:59, INFO: Skip_connection: True -2024-02-14 17:08:59, INFO: Number of layers: 1 -2024-02-14 17:08:59, INFO: Similarity_func: concatenation -2024-02-14 17:08:59, INFO: Layerwise_graph: False -2024-02-14 17:08:59, INFO: Skip_connection: True -2024-02-14 17:08:59, INFO: Number of layers: 1 -2024-02-14 17:08:59, INFO: Planning depth: 1 -2024-02-14 17:08:59, INFO: Planning width: 10 -2024-02-14 17:08:59, INFO: Sparse search: None -2024-02-14 17:09:02, INFO: human number: 10 -2024-02-14 17:09:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:02, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:06, INFO: Using device: cpu -2024-02-14 17:09:06, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:06, INFO: Similarity_func: concatenation -2024-02-14 17:09:06, INFO: Layerwise_graph: False -2024-02-14 17:09:06, INFO: Skip_connection: True -2024-02-14 17:09:06, INFO: Number of layers: 1 -2024-02-14 17:09:06, INFO: Similarity_func: concatenation -2024-02-14 17:09:06, INFO: Layerwise_graph: False -2024-02-14 17:09:06, INFO: Skip_connection: True -2024-02-14 17:09:06, INFO: Number of layers: 1 -2024-02-14 17:09:06, INFO: Planning depth: 1 -2024-02-14 17:09:06, INFO: Planning width: 10 -2024-02-14 17:09:06, INFO: Sparse search: None -2024-02-14 17:09:09, INFO: human number: 10 -2024-02-14 17:09:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:13, INFO: Using device: cpu -2024-02-14 17:09:13, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:13, INFO: Similarity_func: concatenation -2024-02-14 17:09:13, INFO: Layerwise_graph: False -2024-02-14 17:09:13, INFO: Skip_connection: True -2024-02-14 17:09:13, INFO: Number of layers: 1 -2024-02-14 17:09:13, INFO: Similarity_func: concatenation -2024-02-14 17:09:13, INFO: Layerwise_graph: False -2024-02-14 17:09:13, INFO: Skip_connection: True -2024-02-14 17:09:13, INFO: Number of layers: 1 -2024-02-14 17:09:13, INFO: Planning depth: 1 -2024-02-14 17:09:13, INFO: Planning width: 10 -2024-02-14 17:09:13, INFO: Sparse search: None -2024-02-14 17:09:15, INFO: human number: 10 -2024-02-14 17:09:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:19, INFO: Using device: cpu -2024-02-14 17:09:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:19, INFO: Similarity_func: concatenation -2024-02-14 17:09:19, INFO: Layerwise_graph: False -2024-02-14 17:09:19, INFO: Skip_connection: True -2024-02-14 17:09:19, INFO: Number of layers: 1 -2024-02-14 17:09:19, INFO: Similarity_func: concatenation -2024-02-14 17:09:19, INFO: Layerwise_graph: False -2024-02-14 17:09:19, INFO: Skip_connection: True -2024-02-14 17:09:19, INFO: Number of layers: 1 -2024-02-14 17:09:19, INFO: Planning depth: 1 -2024-02-14 17:09:19, INFO: Planning width: 10 -2024-02-14 17:09:19, INFO: Sparse search: None -2024-02-14 17:09:22, INFO: human number: 10 -2024-02-14 17:09:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:26, INFO: Using device: cpu -2024-02-14 17:09:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:26, INFO: Similarity_func: concatenation -2024-02-14 17:09:26, INFO: Layerwise_graph: False -2024-02-14 17:09:26, INFO: Skip_connection: True -2024-02-14 17:09:26, INFO: Number of layers: 1 -2024-02-14 17:09:26, INFO: Similarity_func: concatenation -2024-02-14 17:09:26, INFO: Layerwise_graph: False -2024-02-14 17:09:26, INFO: Skip_connection: True -2024-02-14 17:09:26, INFO: Number of layers: 1 -2024-02-14 17:09:26, INFO: Planning depth: 1 -2024-02-14 17:09:26, INFO: Planning width: 10 -2024-02-14 17:09:26, INFO: Sparse search: None -2024-02-14 17:09:29, INFO: human number: 10 -2024-02-14 17:09:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:33, INFO: Using device: cpu -2024-02-14 17:09:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:33, INFO: Similarity_func: concatenation -2024-02-14 17:09:33, INFO: Layerwise_graph: False -2024-02-14 17:09:33, INFO: Skip_connection: True -2024-02-14 17:09:33, INFO: Number of layers: 1 -2024-02-14 17:09:33, INFO: Similarity_func: concatenation -2024-02-14 17:09:33, INFO: Layerwise_graph: False -2024-02-14 17:09:33, INFO: Skip_connection: True -2024-02-14 17:09:33, INFO: Number of layers: 1 -2024-02-14 17:09:33, INFO: Planning depth: 1 -2024-02-14 17:09:33, INFO: Planning width: 10 -2024-02-14 17:09:33, INFO: Sparse search: None -2024-02-14 17:09:36, INFO: human number: 10 -2024-02-14 17:09:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:40, INFO: Using device: cpu -2024-02-14 17:09:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:40, INFO: Similarity_func: concatenation -2024-02-14 17:09:40, INFO: Layerwise_graph: False -2024-02-14 17:09:40, INFO: Skip_connection: True -2024-02-14 17:09:40, INFO: Number of layers: 1 -2024-02-14 17:09:40, INFO: Similarity_func: concatenation -2024-02-14 17:09:40, INFO: Layerwise_graph: False -2024-02-14 17:09:40, INFO: Skip_connection: True -2024-02-14 17:09:40, INFO: Number of layers: 1 -2024-02-14 17:09:40, INFO: Planning depth: 1 -2024-02-14 17:09:40, INFO: Planning width: 10 -2024-02-14 17:09:40, INFO: Sparse search: None -2024-02-14 17:09:43, INFO: human number: 10 -2024-02-14 17:09:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:47, INFO: Using device: cpu -2024-02-14 17:09:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:47, INFO: Similarity_func: concatenation -2024-02-14 17:09:47, INFO: Layerwise_graph: False -2024-02-14 17:09:47, INFO: Skip_connection: True -2024-02-14 17:09:47, INFO: Number of layers: 1 -2024-02-14 17:09:47, INFO: Similarity_func: concatenation -2024-02-14 17:09:47, INFO: Layerwise_graph: False -2024-02-14 17:09:47, INFO: Skip_connection: True -2024-02-14 17:09:47, INFO: Number of layers: 1 -2024-02-14 17:09:47, INFO: Planning depth: 1 -2024-02-14 17:09:47, INFO: Planning width: 10 -2024-02-14 17:09:47, INFO: Sparse search: None -2024-02-14 17:09:50, INFO: human number: 10 -2024-02-14 17:09:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:09:54, INFO: Using device: cpu -2024-02-14 17:09:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:09:54, INFO: Similarity_func: concatenation -2024-02-14 17:09:54, INFO: Layerwise_graph: False -2024-02-14 17:09:54, INFO: Skip_connection: True -2024-02-14 17:09:54, INFO: Number of layers: 1 -2024-02-14 17:09:54, INFO: Similarity_func: concatenation -2024-02-14 17:09:54, INFO: Layerwise_graph: False -2024-02-14 17:09:54, INFO: Skip_connection: True -2024-02-14 17:09:54, INFO: Number of layers: 1 -2024-02-14 17:09:54, INFO: Planning depth: 1 -2024-02-14 17:09:54, INFO: Planning width: 10 -2024-02-14 17:09:54, INFO: Sparse search: None -2024-02-14 17:09:57, INFO: human number: 10 -2024-02-14 17:09:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:09:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:09:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:09:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:09:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:01, INFO: Using device: cpu -2024-02-14 17:10:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:01, INFO: Similarity_func: concatenation -2024-02-14 17:10:01, INFO: Layerwise_graph: False -2024-02-14 17:10:01, INFO: Skip_connection: True -2024-02-14 17:10:01, INFO: Number of layers: 1 -2024-02-14 17:10:01, INFO: Similarity_func: concatenation -2024-02-14 17:10:01, INFO: Layerwise_graph: False -2024-02-14 17:10:01, INFO: Skip_connection: True -2024-02-14 17:10:01, INFO: Number of layers: 1 -2024-02-14 17:10:01, INFO: Planning depth: 1 -2024-02-14 17:10:01, INFO: Planning width: 10 -2024-02-14 17:10:01, INFO: Sparse search: None -2024-02-14 17:10:04, INFO: human number: 10 -2024-02-14 17:10:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:08, INFO: Using device: cpu -2024-02-14 17:10:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:08, INFO: Similarity_func: concatenation -2024-02-14 17:10:08, INFO: Layerwise_graph: False -2024-02-14 17:10:08, INFO: Skip_connection: True -2024-02-14 17:10:08, INFO: Number of layers: 1 -2024-02-14 17:10:08, INFO: Similarity_func: concatenation -2024-02-14 17:10:08, INFO: Layerwise_graph: False -2024-02-14 17:10:08, INFO: Skip_connection: True -2024-02-14 17:10:08, INFO: Number of layers: 1 -2024-02-14 17:10:08, INFO: Planning depth: 1 -2024-02-14 17:10:08, INFO: Planning width: 10 -2024-02-14 17:10:08, INFO: Sparse search: None -2024-02-14 17:10:11, INFO: human number: 10 -2024-02-14 17:10:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:15, INFO: Using device: cpu -2024-02-14 17:10:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:15, INFO: Similarity_func: concatenation -2024-02-14 17:10:15, INFO: Layerwise_graph: False -2024-02-14 17:10:15, INFO: Skip_connection: True -2024-02-14 17:10:15, INFO: Number of layers: 1 -2024-02-14 17:10:15, INFO: Similarity_func: concatenation -2024-02-14 17:10:15, INFO: Layerwise_graph: False -2024-02-14 17:10:15, INFO: Skip_connection: True -2024-02-14 17:10:15, INFO: Number of layers: 1 -2024-02-14 17:10:15, INFO: Planning depth: 1 -2024-02-14 17:10:15, INFO: Planning width: 10 -2024-02-14 17:10:15, INFO: Sparse search: None -2024-02-14 17:10:17, INFO: human number: 10 -2024-02-14 17:10:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:22, INFO: Using device: cpu -2024-02-14 17:10:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:22, INFO: Similarity_func: concatenation -2024-02-14 17:10:22, INFO: Layerwise_graph: False -2024-02-14 17:10:22, INFO: Skip_connection: True -2024-02-14 17:10:22, INFO: Number of layers: 1 -2024-02-14 17:10:22, INFO: Similarity_func: concatenation -2024-02-14 17:10:22, INFO: Layerwise_graph: False -2024-02-14 17:10:22, INFO: Skip_connection: True -2024-02-14 17:10:22, INFO: Number of layers: 1 -2024-02-14 17:10:22, INFO: Planning depth: 1 -2024-02-14 17:10:22, INFO: Planning width: 10 -2024-02-14 17:10:22, INFO: Sparse search: None -2024-02-14 17:10:25, INFO: human number: 10 -2024-02-14 17:10:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:29, INFO: Using device: cpu -2024-02-14 17:10:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:29, INFO: Similarity_func: concatenation -2024-02-14 17:10:29, INFO: Layerwise_graph: False -2024-02-14 17:10:29, INFO: Skip_connection: True -2024-02-14 17:10:29, INFO: Number of layers: 1 -2024-02-14 17:10:29, INFO: Similarity_func: concatenation -2024-02-14 17:10:29, INFO: Layerwise_graph: False -2024-02-14 17:10:29, INFO: Skip_connection: True -2024-02-14 17:10:29, INFO: Number of layers: 1 -2024-02-14 17:10:29, INFO: Planning depth: 1 -2024-02-14 17:10:29, INFO: Planning width: 10 -2024-02-14 17:10:29, INFO: Sparse search: None -2024-02-14 17:10:32, INFO: human number: 10 -2024-02-14 17:10:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:36, INFO: Using device: cpu -2024-02-14 17:10:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:36, INFO: Similarity_func: concatenation -2024-02-14 17:10:36, INFO: Layerwise_graph: False -2024-02-14 17:10:36, INFO: Skip_connection: True -2024-02-14 17:10:36, INFO: Number of layers: 1 -2024-02-14 17:10:36, INFO: Similarity_func: concatenation -2024-02-14 17:10:36, INFO: Layerwise_graph: False -2024-02-14 17:10:36, INFO: Skip_connection: True -2024-02-14 17:10:36, INFO: Number of layers: 1 -2024-02-14 17:10:36, INFO: Planning depth: 1 -2024-02-14 17:10:36, INFO: Planning width: 10 -2024-02-14 17:10:36, INFO: Sparse search: None -2024-02-14 17:10:39, INFO: human number: 10 -2024-02-14 17:10:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:43, INFO: Using device: cpu -2024-02-14 17:10:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:43, INFO: Similarity_func: concatenation -2024-02-14 17:10:43, INFO: Layerwise_graph: False -2024-02-14 17:10:43, INFO: Skip_connection: True -2024-02-14 17:10:43, INFO: Number of layers: 1 -2024-02-14 17:10:43, INFO: Similarity_func: concatenation -2024-02-14 17:10:43, INFO: Layerwise_graph: False -2024-02-14 17:10:43, INFO: Skip_connection: True -2024-02-14 17:10:43, INFO: Number of layers: 1 -2024-02-14 17:10:43, INFO: Planning depth: 1 -2024-02-14 17:10:43, INFO: Planning width: 10 -2024-02-14 17:10:43, INFO: Sparse search: None -2024-02-14 17:10:46, INFO: human number: 10 -2024-02-14 17:10:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:50, INFO: Using device: cpu -2024-02-14 17:10:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:50, INFO: Similarity_func: concatenation -2024-02-14 17:10:50, INFO: Layerwise_graph: False -2024-02-14 17:10:50, INFO: Skip_connection: True -2024-02-14 17:10:50, INFO: Number of layers: 1 -2024-02-14 17:10:50, INFO: Similarity_func: concatenation -2024-02-14 17:10:50, INFO: Layerwise_graph: False -2024-02-14 17:10:50, INFO: Skip_connection: True -2024-02-14 17:10:50, INFO: Number of layers: 1 -2024-02-14 17:10:50, INFO: Planning depth: 1 -2024-02-14 17:10:50, INFO: Planning width: 10 -2024-02-14 17:10:50, INFO: Sparse search: None -2024-02-14 17:10:53, INFO: human number: 10 -2024-02-14 17:10:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:10:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:10:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:10:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:10:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:10:58, INFO: Using device: cpu -2024-02-14 17:10:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:10:58, INFO: Similarity_func: concatenation -2024-02-14 17:10:58, INFO: Layerwise_graph: False -2024-02-14 17:10:58, INFO: Skip_connection: True -2024-02-14 17:10:58, INFO: Number of layers: 1 -2024-02-14 17:10:58, INFO: Similarity_func: concatenation -2024-02-14 17:10:58, INFO: Layerwise_graph: False -2024-02-14 17:10:58, INFO: Skip_connection: True -2024-02-14 17:10:58, INFO: Number of layers: 1 -2024-02-14 17:10:58, INFO: Planning depth: 1 -2024-02-14 17:10:58, INFO: Planning width: 10 -2024-02-14 17:10:58, INFO: Sparse search: None -2024-02-14 17:11:00, INFO: human number: 10 -2024-02-14 17:11:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:05, INFO: Using device: cpu -2024-02-14 17:11:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:05, INFO: Similarity_func: concatenation -2024-02-14 17:11:05, INFO: Layerwise_graph: False -2024-02-14 17:11:05, INFO: Skip_connection: True -2024-02-14 17:11:05, INFO: Number of layers: 1 -2024-02-14 17:11:05, INFO: Similarity_func: concatenation -2024-02-14 17:11:05, INFO: Layerwise_graph: False -2024-02-14 17:11:05, INFO: Skip_connection: True -2024-02-14 17:11:05, INFO: Number of layers: 1 -2024-02-14 17:11:05, INFO: Planning depth: 1 -2024-02-14 17:11:05, INFO: Planning width: 10 -2024-02-14 17:11:05, INFO: Sparse search: None -2024-02-14 17:11:08, INFO: human number: 10 -2024-02-14 17:11:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:12, INFO: Using device: cpu -2024-02-14 17:11:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:12, INFO: Similarity_func: concatenation -2024-02-14 17:11:12, INFO: Layerwise_graph: False -2024-02-14 17:11:12, INFO: Skip_connection: True -2024-02-14 17:11:12, INFO: Number of layers: 1 -2024-02-14 17:11:12, INFO: Similarity_func: concatenation -2024-02-14 17:11:12, INFO: Layerwise_graph: False -2024-02-14 17:11:12, INFO: Skip_connection: True -2024-02-14 17:11:12, INFO: Number of layers: 1 -2024-02-14 17:11:12, INFO: Planning depth: 1 -2024-02-14 17:11:12, INFO: Planning width: 10 -2024-02-14 17:11:12, INFO: Sparse search: None -2024-02-14 17:11:14, INFO: human number: 10 -2024-02-14 17:11:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:19, INFO: Using device: cpu -2024-02-14 17:11:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:19, INFO: Similarity_func: concatenation -2024-02-14 17:11:19, INFO: Layerwise_graph: False -2024-02-14 17:11:19, INFO: Skip_connection: True -2024-02-14 17:11:19, INFO: Number of layers: 1 -2024-02-14 17:11:19, INFO: Similarity_func: concatenation -2024-02-14 17:11:19, INFO: Layerwise_graph: False -2024-02-14 17:11:19, INFO: Skip_connection: True -2024-02-14 17:11:19, INFO: Number of layers: 1 -2024-02-14 17:11:19, INFO: Planning depth: 1 -2024-02-14 17:11:19, INFO: Planning width: 10 -2024-02-14 17:11:19, INFO: Sparse search: None -2024-02-14 17:11:22, INFO: human number: 10 -2024-02-14 17:11:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:26, INFO: Using device: cpu -2024-02-14 17:11:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:26, INFO: Similarity_func: concatenation -2024-02-14 17:11:26, INFO: Layerwise_graph: False -2024-02-14 17:11:26, INFO: Skip_connection: True -2024-02-14 17:11:26, INFO: Number of layers: 1 -2024-02-14 17:11:26, INFO: Similarity_func: concatenation -2024-02-14 17:11:26, INFO: Layerwise_graph: False -2024-02-14 17:11:26, INFO: Skip_connection: True -2024-02-14 17:11:26, INFO: Number of layers: 1 -2024-02-14 17:11:26, INFO: Planning depth: 1 -2024-02-14 17:11:26, INFO: Planning width: 10 -2024-02-14 17:11:26, INFO: Sparse search: None -2024-02-14 17:11:29, INFO: human number: 10 -2024-02-14 17:11:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:33, INFO: Using device: cpu -2024-02-14 17:11:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:33, INFO: Similarity_func: concatenation -2024-02-14 17:11:33, INFO: Layerwise_graph: False -2024-02-14 17:11:33, INFO: Skip_connection: True -2024-02-14 17:11:33, INFO: Number of layers: 1 -2024-02-14 17:11:33, INFO: Similarity_func: concatenation -2024-02-14 17:11:33, INFO: Layerwise_graph: False -2024-02-14 17:11:33, INFO: Skip_connection: True -2024-02-14 17:11:33, INFO: Number of layers: 1 -2024-02-14 17:11:33, INFO: Planning depth: 1 -2024-02-14 17:11:33, INFO: Planning width: 10 -2024-02-14 17:11:33, INFO: Sparse search: None -2024-02-14 17:11:36, INFO: human number: 10 -2024-02-14 17:11:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:40, INFO: Using device: cpu -2024-02-14 17:11:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:40, INFO: Similarity_func: concatenation -2024-02-14 17:11:40, INFO: Layerwise_graph: False -2024-02-14 17:11:40, INFO: Skip_connection: True -2024-02-14 17:11:40, INFO: Number of layers: 1 -2024-02-14 17:11:40, INFO: Similarity_func: concatenation -2024-02-14 17:11:40, INFO: Layerwise_graph: False -2024-02-14 17:11:40, INFO: Skip_connection: True -2024-02-14 17:11:40, INFO: Number of layers: 1 -2024-02-14 17:11:40, INFO: Planning depth: 1 -2024-02-14 17:11:40, INFO: Planning width: 10 -2024-02-14 17:11:40, INFO: Sparse search: None -2024-02-14 17:11:43, INFO: human number: 10 -2024-02-14 17:11:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:47, INFO: Using device: cpu -2024-02-14 17:11:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:47, INFO: Similarity_func: concatenation -2024-02-14 17:11:47, INFO: Layerwise_graph: False -2024-02-14 17:11:47, INFO: Skip_connection: True -2024-02-14 17:11:47, INFO: Number of layers: 1 -2024-02-14 17:11:47, INFO: Similarity_func: concatenation -2024-02-14 17:11:47, INFO: Layerwise_graph: False -2024-02-14 17:11:47, INFO: Skip_connection: True -2024-02-14 17:11:47, INFO: Number of layers: 1 -2024-02-14 17:11:47, INFO: Planning depth: 1 -2024-02-14 17:11:47, INFO: Planning width: 10 -2024-02-14 17:11:47, INFO: Sparse search: None -2024-02-14 17:11:50, INFO: human number: 10 -2024-02-14 17:11:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:11:54, INFO: Using device: cpu -2024-02-14 17:11:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:11:54, INFO: Similarity_func: concatenation -2024-02-14 17:11:54, INFO: Layerwise_graph: False -2024-02-14 17:11:54, INFO: Skip_connection: True -2024-02-14 17:11:54, INFO: Number of layers: 1 -2024-02-14 17:11:54, INFO: Similarity_func: concatenation -2024-02-14 17:11:54, INFO: Layerwise_graph: False -2024-02-14 17:11:54, INFO: Skip_connection: True -2024-02-14 17:11:54, INFO: Number of layers: 1 -2024-02-14 17:11:54, INFO: Planning depth: 1 -2024-02-14 17:11:54, INFO: Planning width: 10 -2024-02-14 17:11:54, INFO: Sparse search: None -2024-02-14 17:11:57, INFO: human number: 10 -2024-02-14 17:11:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:11:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:11:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:11:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:11:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:01, INFO: Using device: cpu -2024-02-14 17:12:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:01, INFO: Similarity_func: concatenation -2024-02-14 17:12:01, INFO: Layerwise_graph: False -2024-02-14 17:12:01, INFO: Skip_connection: True -2024-02-14 17:12:01, INFO: Number of layers: 1 -2024-02-14 17:12:01, INFO: Similarity_func: concatenation -2024-02-14 17:12:01, INFO: Layerwise_graph: False -2024-02-14 17:12:01, INFO: Skip_connection: True -2024-02-14 17:12:01, INFO: Number of layers: 1 -2024-02-14 17:12:01, INFO: Planning depth: 1 -2024-02-14 17:12:01, INFO: Planning width: 10 -2024-02-14 17:12:01, INFO: Sparse search: None -2024-02-14 17:12:04, INFO: human number: 10 -2024-02-14 17:12:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:08, INFO: Using device: cpu -2024-02-14 17:12:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:08, INFO: Similarity_func: concatenation -2024-02-14 17:12:08, INFO: Layerwise_graph: False -2024-02-14 17:12:08, INFO: Skip_connection: True -2024-02-14 17:12:08, INFO: Number of layers: 1 -2024-02-14 17:12:08, INFO: Similarity_func: concatenation -2024-02-14 17:12:08, INFO: Layerwise_graph: False -2024-02-14 17:12:08, INFO: Skip_connection: True -2024-02-14 17:12:08, INFO: Number of layers: 1 -2024-02-14 17:12:08, INFO: Planning depth: 1 -2024-02-14 17:12:08, INFO: Planning width: 10 -2024-02-14 17:12:08, INFO: Sparse search: None -2024-02-14 17:12:11, INFO: human number: 10 -2024-02-14 17:12:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:15, INFO: Using device: cpu -2024-02-14 17:12:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:15, INFO: Similarity_func: concatenation -2024-02-14 17:12:15, INFO: Layerwise_graph: False -2024-02-14 17:12:15, INFO: Skip_connection: True -2024-02-14 17:12:15, INFO: Number of layers: 1 -2024-02-14 17:12:15, INFO: Similarity_func: concatenation -2024-02-14 17:12:15, INFO: Layerwise_graph: False -2024-02-14 17:12:15, INFO: Skip_connection: True -2024-02-14 17:12:15, INFO: Number of layers: 1 -2024-02-14 17:12:15, INFO: Planning depth: 1 -2024-02-14 17:12:15, INFO: Planning width: 10 -2024-02-14 17:12:15, INFO: Sparse search: None -2024-02-14 17:12:18, INFO: human number: 10 -2024-02-14 17:12:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:22, INFO: Using device: cpu -2024-02-14 17:12:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:22, INFO: Similarity_func: concatenation -2024-02-14 17:12:22, INFO: Layerwise_graph: False -2024-02-14 17:12:22, INFO: Skip_connection: True -2024-02-14 17:12:22, INFO: Number of layers: 1 -2024-02-14 17:12:22, INFO: Similarity_func: concatenation -2024-02-14 17:12:22, INFO: Layerwise_graph: False -2024-02-14 17:12:22, INFO: Skip_connection: True -2024-02-14 17:12:22, INFO: Number of layers: 1 -2024-02-14 17:12:22, INFO: Planning depth: 1 -2024-02-14 17:12:22, INFO: Planning width: 10 -2024-02-14 17:12:22, INFO: Sparse search: None -2024-02-14 17:12:25, INFO: human number: 10 -2024-02-14 17:12:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:30, INFO: Using device: cpu -2024-02-14 17:12:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:30, INFO: Similarity_func: concatenation -2024-02-14 17:12:30, INFO: Layerwise_graph: False -2024-02-14 17:12:30, INFO: Skip_connection: True -2024-02-14 17:12:30, INFO: Number of layers: 1 -2024-02-14 17:12:30, INFO: Similarity_func: concatenation -2024-02-14 17:12:30, INFO: Layerwise_graph: False -2024-02-14 17:12:30, INFO: Skip_connection: True -2024-02-14 17:12:30, INFO: Number of layers: 1 -2024-02-14 17:12:30, INFO: Planning depth: 1 -2024-02-14 17:12:30, INFO: Planning width: 10 -2024-02-14 17:12:30, INFO: Sparse search: None -2024-02-14 17:12:33, INFO: human number: 10 -2024-02-14 17:12:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:33, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:37, INFO: Using device: cpu -2024-02-14 17:12:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:37, INFO: Similarity_func: concatenation -2024-02-14 17:12:37, INFO: Layerwise_graph: False -2024-02-14 17:12:37, INFO: Skip_connection: True -2024-02-14 17:12:37, INFO: Number of layers: 1 -2024-02-14 17:12:37, INFO: Similarity_func: concatenation -2024-02-14 17:12:37, INFO: Layerwise_graph: False -2024-02-14 17:12:37, INFO: Skip_connection: True -2024-02-14 17:12:37, INFO: Number of layers: 1 -2024-02-14 17:12:37, INFO: Planning depth: 1 -2024-02-14 17:12:37, INFO: Planning width: 10 -2024-02-14 17:12:37, INFO: Sparse search: None -2024-02-14 17:12:40, INFO: human number: 10 -2024-02-14 17:12:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:40, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:44, INFO: Using device: cpu -2024-02-14 17:12:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:44, INFO: Similarity_func: concatenation -2024-02-14 17:12:44, INFO: Layerwise_graph: False -2024-02-14 17:12:44, INFO: Skip_connection: True -2024-02-14 17:12:44, INFO: Number of layers: 1 -2024-02-14 17:12:44, INFO: Similarity_func: concatenation -2024-02-14 17:12:44, INFO: Layerwise_graph: False -2024-02-14 17:12:44, INFO: Skip_connection: True -2024-02-14 17:12:44, INFO: Number of layers: 1 -2024-02-14 17:12:44, INFO: Planning depth: 1 -2024-02-14 17:12:44, INFO: Planning width: 10 -2024-02-14 17:12:44, INFO: Sparse search: None -2024-02-14 17:12:47, INFO: human number: 10 -2024-02-14 17:12:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:51, INFO: Using device: cpu -2024-02-14 17:12:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:51, INFO: Similarity_func: concatenation -2024-02-14 17:12:51, INFO: Layerwise_graph: False -2024-02-14 17:12:51, INFO: Skip_connection: True -2024-02-14 17:12:51, INFO: Number of layers: 1 -2024-02-14 17:12:51, INFO: Similarity_func: concatenation -2024-02-14 17:12:51, INFO: Layerwise_graph: False -2024-02-14 17:12:51, INFO: Skip_connection: True -2024-02-14 17:12:51, INFO: Number of layers: 1 -2024-02-14 17:12:51, INFO: Planning depth: 1 -2024-02-14 17:12:51, INFO: Planning width: 10 -2024-02-14 17:12:51, INFO: Sparse search: None -2024-02-14 17:12:54, INFO: human number: 10 -2024-02-14 17:12:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:12:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:12:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:12:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:12:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:12:58, INFO: Using device: cpu -2024-02-14 17:12:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:12:58, INFO: Similarity_func: concatenation -2024-02-14 17:12:58, INFO: Layerwise_graph: False -2024-02-14 17:12:58, INFO: Skip_connection: True -2024-02-14 17:12:58, INFO: Number of layers: 1 -2024-02-14 17:12:58, INFO: Similarity_func: concatenation -2024-02-14 17:12:58, INFO: Layerwise_graph: False -2024-02-14 17:12:58, INFO: Skip_connection: True -2024-02-14 17:12:58, INFO: Number of layers: 1 -2024-02-14 17:12:58, INFO: Planning depth: 1 -2024-02-14 17:12:58, INFO: Planning width: 10 -2024-02-14 17:12:58, INFO: Sparse search: None -2024-02-14 17:13:00, INFO: human number: 10 -2024-02-14 17:13:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:05, INFO: Using device: cpu -2024-02-14 17:13:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:05, INFO: Similarity_func: concatenation -2024-02-14 17:13:05, INFO: Layerwise_graph: False -2024-02-14 17:13:05, INFO: Skip_connection: True -2024-02-14 17:13:05, INFO: Number of layers: 1 -2024-02-14 17:13:05, INFO: Similarity_func: concatenation -2024-02-14 17:13:05, INFO: Layerwise_graph: False -2024-02-14 17:13:05, INFO: Skip_connection: True -2024-02-14 17:13:05, INFO: Number of layers: 1 -2024-02-14 17:13:05, INFO: Planning depth: 1 -2024-02-14 17:13:05, INFO: Planning width: 10 -2024-02-14 17:13:05, INFO: Sparse search: None -2024-02-14 17:13:07, INFO: human number: 10 -2024-02-14 17:13:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:12, INFO: Using device: cpu -2024-02-14 17:13:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:12, INFO: Similarity_func: concatenation -2024-02-14 17:13:12, INFO: Layerwise_graph: False -2024-02-14 17:13:12, INFO: Skip_connection: True -2024-02-14 17:13:12, INFO: Number of layers: 1 -2024-02-14 17:13:12, INFO: Similarity_func: concatenation -2024-02-14 17:13:12, INFO: Layerwise_graph: False -2024-02-14 17:13:12, INFO: Skip_connection: True -2024-02-14 17:13:12, INFO: Number of layers: 1 -2024-02-14 17:13:12, INFO: Planning depth: 1 -2024-02-14 17:13:12, INFO: Planning width: 10 -2024-02-14 17:13:12, INFO: Sparse search: None -2024-02-14 17:13:15, INFO: human number: 10 -2024-02-14 17:13:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:20, INFO: Using device: cpu -2024-02-14 17:13:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:20, INFO: Similarity_func: concatenation -2024-02-14 17:13:20, INFO: Layerwise_graph: False -2024-02-14 17:13:20, INFO: Skip_connection: True -2024-02-14 17:13:20, INFO: Number of layers: 1 -2024-02-14 17:13:20, INFO: Similarity_func: concatenation -2024-02-14 17:13:20, INFO: Layerwise_graph: False -2024-02-14 17:13:20, INFO: Skip_connection: True -2024-02-14 17:13:20, INFO: Number of layers: 1 -2024-02-14 17:13:20, INFO: Planning depth: 1 -2024-02-14 17:13:20, INFO: Planning width: 10 -2024-02-14 17:13:20, INFO: Sparse search: None -2024-02-14 17:13:22, INFO: human number: 10 -2024-02-14 17:13:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:27, INFO: Using device: cpu -2024-02-14 17:13:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:27, INFO: Similarity_func: concatenation -2024-02-14 17:13:27, INFO: Layerwise_graph: False -2024-02-14 17:13:27, INFO: Skip_connection: True -2024-02-14 17:13:27, INFO: Number of layers: 1 -2024-02-14 17:13:27, INFO: Similarity_func: concatenation -2024-02-14 17:13:27, INFO: Layerwise_graph: False -2024-02-14 17:13:27, INFO: Skip_connection: True -2024-02-14 17:13:27, INFO: Number of layers: 1 -2024-02-14 17:13:27, INFO: Planning depth: 1 -2024-02-14 17:13:27, INFO: Planning width: 10 -2024-02-14 17:13:27, INFO: Sparse search: None -2024-02-14 17:13:29, INFO: human number: 10 -2024-02-14 17:13:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:34, INFO: Using device: cpu -2024-02-14 17:13:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:34, INFO: Similarity_func: concatenation -2024-02-14 17:13:34, INFO: Layerwise_graph: False -2024-02-14 17:13:34, INFO: Skip_connection: True -2024-02-14 17:13:34, INFO: Number of layers: 1 -2024-02-14 17:13:34, INFO: Similarity_func: concatenation -2024-02-14 17:13:34, INFO: Layerwise_graph: False -2024-02-14 17:13:34, INFO: Skip_connection: True -2024-02-14 17:13:34, INFO: Number of layers: 1 -2024-02-14 17:13:34, INFO: Planning depth: 1 -2024-02-14 17:13:34, INFO: Planning width: 10 -2024-02-14 17:13:34, INFO: Sparse search: None -2024-02-14 17:13:37, INFO: human number: 10 -2024-02-14 17:13:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:41, INFO: Using device: cpu -2024-02-14 17:13:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:41, INFO: Similarity_func: concatenation -2024-02-14 17:13:41, INFO: Layerwise_graph: False -2024-02-14 17:13:41, INFO: Skip_connection: True -2024-02-14 17:13:41, INFO: Number of layers: 1 -2024-02-14 17:13:41, INFO: Similarity_func: concatenation -2024-02-14 17:13:41, INFO: Layerwise_graph: False -2024-02-14 17:13:41, INFO: Skip_connection: True -2024-02-14 17:13:41, INFO: Number of layers: 1 -2024-02-14 17:13:41, INFO: Planning depth: 1 -2024-02-14 17:13:41, INFO: Planning width: 10 -2024-02-14 17:13:41, INFO: Sparse search: None -2024-02-14 17:13:44, INFO: human number: 10 -2024-02-14 17:13:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:48, INFO: Using device: cpu -2024-02-14 17:13:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:48, INFO: Similarity_func: concatenation -2024-02-14 17:13:48, INFO: Layerwise_graph: False -2024-02-14 17:13:48, INFO: Skip_connection: True -2024-02-14 17:13:48, INFO: Number of layers: 1 -2024-02-14 17:13:48, INFO: Similarity_func: concatenation -2024-02-14 17:13:48, INFO: Layerwise_graph: False -2024-02-14 17:13:48, INFO: Skip_connection: True -2024-02-14 17:13:48, INFO: Number of layers: 1 -2024-02-14 17:13:48, INFO: Planning depth: 1 -2024-02-14 17:13:48, INFO: Planning width: 10 -2024-02-14 17:13:48, INFO: Sparse search: None -2024-02-14 17:13:51, INFO: human number: 10 -2024-02-14 17:13:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:13:55, INFO: Using device: cpu -2024-02-14 17:13:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:13:55, INFO: Similarity_func: concatenation -2024-02-14 17:13:55, INFO: Layerwise_graph: False -2024-02-14 17:13:55, INFO: Skip_connection: True -2024-02-14 17:13:55, INFO: Number of layers: 1 -2024-02-14 17:13:55, INFO: Similarity_func: concatenation -2024-02-14 17:13:55, INFO: Layerwise_graph: False -2024-02-14 17:13:55, INFO: Skip_connection: True -2024-02-14 17:13:55, INFO: Number of layers: 1 -2024-02-14 17:13:55, INFO: Planning depth: 1 -2024-02-14 17:13:55, INFO: Planning width: 10 -2024-02-14 17:13:55, INFO: Sparse search: None -2024-02-14 17:13:58, INFO: human number: 10 -2024-02-14 17:13:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:13:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:13:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:13:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:13:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:03, INFO: Using device: cpu -2024-02-14 17:14:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:03, INFO: Similarity_func: concatenation -2024-02-14 17:14:03, INFO: Layerwise_graph: False -2024-02-14 17:14:03, INFO: Skip_connection: True -2024-02-14 17:14:03, INFO: Number of layers: 1 -2024-02-14 17:14:03, INFO: Similarity_func: concatenation -2024-02-14 17:14:03, INFO: Layerwise_graph: False -2024-02-14 17:14:03, INFO: Skip_connection: True -2024-02-14 17:14:03, INFO: Number of layers: 1 -2024-02-14 17:14:03, INFO: Planning depth: 1 -2024-02-14 17:14:03, INFO: Planning width: 10 -2024-02-14 17:14:03, INFO: Sparse search: None -2024-02-14 17:14:05, INFO: human number: 10 -2024-02-14 17:14:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:10, INFO: Using device: cpu -2024-02-14 17:14:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:10, INFO: Similarity_func: concatenation -2024-02-14 17:14:10, INFO: Layerwise_graph: False -2024-02-14 17:14:10, INFO: Skip_connection: True -2024-02-14 17:14:10, INFO: Number of layers: 1 -2024-02-14 17:14:10, INFO: Similarity_func: concatenation -2024-02-14 17:14:10, INFO: Layerwise_graph: False -2024-02-14 17:14:10, INFO: Skip_connection: True -2024-02-14 17:14:10, INFO: Number of layers: 1 -2024-02-14 17:14:10, INFO: Planning depth: 1 -2024-02-14 17:14:10, INFO: Planning width: 10 -2024-02-14 17:14:10, INFO: Sparse search: None -2024-02-14 17:14:13, INFO: human number: 10 -2024-02-14 17:14:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:17, INFO: Using device: cpu -2024-02-14 17:14:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:17, INFO: Similarity_func: concatenation -2024-02-14 17:14:17, INFO: Layerwise_graph: False -2024-02-14 17:14:17, INFO: Skip_connection: True -2024-02-14 17:14:17, INFO: Number of layers: 1 -2024-02-14 17:14:17, INFO: Similarity_func: concatenation -2024-02-14 17:14:17, INFO: Layerwise_graph: False -2024-02-14 17:14:17, INFO: Skip_connection: True -2024-02-14 17:14:17, INFO: Number of layers: 1 -2024-02-14 17:14:17, INFO: Planning depth: 1 -2024-02-14 17:14:17, INFO: Planning width: 10 -2024-02-14 17:14:17, INFO: Sparse search: None -2024-02-14 17:14:20, INFO: human number: 10 -2024-02-14 17:14:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:20, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:25, INFO: Using device: cpu -2024-02-14 17:14:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:25, INFO: Similarity_func: concatenation -2024-02-14 17:14:25, INFO: Layerwise_graph: False -2024-02-14 17:14:25, INFO: Skip_connection: True -2024-02-14 17:14:25, INFO: Number of layers: 1 -2024-02-14 17:14:25, INFO: Similarity_func: concatenation -2024-02-14 17:14:25, INFO: Layerwise_graph: False -2024-02-14 17:14:25, INFO: Skip_connection: True -2024-02-14 17:14:25, INFO: Number of layers: 1 -2024-02-14 17:14:25, INFO: Planning depth: 1 -2024-02-14 17:14:25, INFO: Planning width: 10 -2024-02-14 17:14:25, INFO: Sparse search: None -2024-02-14 17:14:27, INFO: human number: 10 -2024-02-14 17:14:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:32, INFO: Using device: cpu -2024-02-14 17:14:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:32, INFO: Similarity_func: concatenation -2024-02-14 17:14:32, INFO: Layerwise_graph: False -2024-02-14 17:14:32, INFO: Skip_connection: True -2024-02-14 17:14:32, INFO: Number of layers: 1 -2024-02-14 17:14:32, INFO: Similarity_func: concatenation -2024-02-14 17:14:32, INFO: Layerwise_graph: False -2024-02-14 17:14:32, INFO: Skip_connection: True -2024-02-14 17:14:32, INFO: Number of layers: 1 -2024-02-14 17:14:32, INFO: Planning depth: 1 -2024-02-14 17:14:32, INFO: Planning width: 10 -2024-02-14 17:14:32, INFO: Sparse search: None -2024-02-14 17:14:34, INFO: human number: 10 -2024-02-14 17:14:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:39, INFO: Using device: cpu -2024-02-14 17:14:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:39, INFO: Similarity_func: concatenation -2024-02-14 17:14:39, INFO: Layerwise_graph: False -2024-02-14 17:14:39, INFO: Skip_connection: True -2024-02-14 17:14:39, INFO: Number of layers: 1 -2024-02-14 17:14:39, INFO: Similarity_func: concatenation -2024-02-14 17:14:39, INFO: Layerwise_graph: False -2024-02-14 17:14:39, INFO: Skip_connection: True -2024-02-14 17:14:39, INFO: Number of layers: 1 -2024-02-14 17:14:39, INFO: Planning depth: 1 -2024-02-14 17:14:39, INFO: Planning width: 10 -2024-02-14 17:14:39, INFO: Sparse search: None -2024-02-14 17:14:42, INFO: human number: 10 -2024-02-14 17:14:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:47, INFO: Using device: cpu -2024-02-14 17:14:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:47, INFO: Similarity_func: concatenation -2024-02-14 17:14:47, INFO: Layerwise_graph: False -2024-02-14 17:14:47, INFO: Skip_connection: True -2024-02-14 17:14:47, INFO: Number of layers: 1 -2024-02-14 17:14:47, INFO: Similarity_func: concatenation -2024-02-14 17:14:47, INFO: Layerwise_graph: False -2024-02-14 17:14:47, INFO: Skip_connection: True -2024-02-14 17:14:47, INFO: Number of layers: 1 -2024-02-14 17:14:47, INFO: Planning depth: 1 -2024-02-14 17:14:47, INFO: Planning width: 10 -2024-02-14 17:14:47, INFO: Sparse search: None -2024-02-14 17:14:49, INFO: human number: 10 -2024-02-14 17:14:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:14:54, INFO: Using device: cpu -2024-02-14 17:14:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:14:54, INFO: Similarity_func: concatenation -2024-02-14 17:14:54, INFO: Layerwise_graph: False -2024-02-14 17:14:54, INFO: Skip_connection: True -2024-02-14 17:14:54, INFO: Number of layers: 1 -2024-02-14 17:14:54, INFO: Similarity_func: concatenation -2024-02-14 17:14:54, INFO: Layerwise_graph: False -2024-02-14 17:14:54, INFO: Skip_connection: True -2024-02-14 17:14:54, INFO: Number of layers: 1 -2024-02-14 17:14:54, INFO: Planning depth: 1 -2024-02-14 17:14:54, INFO: Planning width: 10 -2024-02-14 17:14:54, INFO: Sparse search: None -2024-02-14 17:14:56, INFO: human number: 10 -2024-02-14 17:14:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:14:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:14:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:14:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:14:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:01, INFO: Using device: cpu -2024-02-14 17:15:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:01, INFO: Similarity_func: concatenation -2024-02-14 17:15:01, INFO: Layerwise_graph: False -2024-02-14 17:15:01, INFO: Skip_connection: True -2024-02-14 17:15:01, INFO: Number of layers: 1 -2024-02-14 17:15:01, INFO: Similarity_func: concatenation -2024-02-14 17:15:01, INFO: Layerwise_graph: False -2024-02-14 17:15:01, INFO: Skip_connection: True -2024-02-14 17:15:01, INFO: Number of layers: 1 -2024-02-14 17:15:01, INFO: Planning depth: 1 -2024-02-14 17:15:01, INFO: Planning width: 10 -2024-02-14 17:15:01, INFO: Sparse search: None -2024-02-14 17:15:04, INFO: human number: 10 -2024-02-14 17:15:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:08, INFO: Using device: cpu -2024-02-14 17:15:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:08, INFO: Similarity_func: concatenation -2024-02-14 17:15:08, INFO: Layerwise_graph: False -2024-02-14 17:15:08, INFO: Skip_connection: True -2024-02-14 17:15:08, INFO: Number of layers: 1 -2024-02-14 17:15:08, INFO: Similarity_func: concatenation -2024-02-14 17:15:08, INFO: Layerwise_graph: False -2024-02-14 17:15:08, INFO: Skip_connection: True -2024-02-14 17:15:08, INFO: Number of layers: 1 -2024-02-14 17:15:08, INFO: Planning depth: 1 -2024-02-14 17:15:08, INFO: Planning width: 10 -2024-02-14 17:15:08, INFO: Sparse search: None -2024-02-14 17:15:11, INFO: human number: 10 -2024-02-14 17:15:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:15, INFO: Using device: cpu -2024-02-14 17:15:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:15, INFO: Similarity_func: concatenation -2024-02-14 17:15:15, INFO: Layerwise_graph: False -2024-02-14 17:15:15, INFO: Skip_connection: True -2024-02-14 17:15:15, INFO: Number of layers: 1 -2024-02-14 17:15:15, INFO: Similarity_func: concatenation -2024-02-14 17:15:15, INFO: Layerwise_graph: False -2024-02-14 17:15:15, INFO: Skip_connection: True -2024-02-14 17:15:15, INFO: Number of layers: 1 -2024-02-14 17:15:15, INFO: Planning depth: 1 -2024-02-14 17:15:15, INFO: Planning width: 10 -2024-02-14 17:15:15, INFO: Sparse search: None -2024-02-14 17:15:18, INFO: human number: 10 -2024-02-14 17:15:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:22, INFO: Using device: cpu -2024-02-14 17:15:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:22, INFO: Similarity_func: concatenation -2024-02-14 17:15:22, INFO: Layerwise_graph: False -2024-02-14 17:15:22, INFO: Skip_connection: True -2024-02-14 17:15:22, INFO: Number of layers: 1 -2024-02-14 17:15:22, INFO: Similarity_func: concatenation -2024-02-14 17:15:22, INFO: Layerwise_graph: False -2024-02-14 17:15:22, INFO: Skip_connection: True -2024-02-14 17:15:22, INFO: Number of layers: 1 -2024-02-14 17:15:22, INFO: Planning depth: 1 -2024-02-14 17:15:22, INFO: Planning width: 10 -2024-02-14 17:15:22, INFO: Sparse search: None -2024-02-14 17:15:25, INFO: human number: 10 -2024-02-14 17:15:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:29, INFO: Using device: cpu -2024-02-14 17:15:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:29, INFO: Similarity_func: concatenation -2024-02-14 17:15:29, INFO: Layerwise_graph: False -2024-02-14 17:15:29, INFO: Skip_connection: True -2024-02-14 17:15:29, INFO: Number of layers: 1 -2024-02-14 17:15:29, INFO: Similarity_func: concatenation -2024-02-14 17:15:29, INFO: Layerwise_graph: False -2024-02-14 17:15:29, INFO: Skip_connection: True -2024-02-14 17:15:29, INFO: Number of layers: 1 -2024-02-14 17:15:29, INFO: Planning depth: 1 -2024-02-14 17:15:29, INFO: Planning width: 10 -2024-02-14 17:15:29, INFO: Sparse search: None -2024-02-14 17:15:32, INFO: human number: 10 -2024-02-14 17:15:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:36, INFO: Using device: cpu -2024-02-14 17:15:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:36, INFO: Similarity_func: concatenation -2024-02-14 17:15:36, INFO: Layerwise_graph: False -2024-02-14 17:15:36, INFO: Skip_connection: True -2024-02-14 17:15:36, INFO: Number of layers: 1 -2024-02-14 17:15:36, INFO: Similarity_func: concatenation -2024-02-14 17:15:36, INFO: Layerwise_graph: False -2024-02-14 17:15:36, INFO: Skip_connection: True -2024-02-14 17:15:36, INFO: Number of layers: 1 -2024-02-14 17:15:36, INFO: Planning depth: 1 -2024-02-14 17:15:36, INFO: Planning width: 10 -2024-02-14 17:15:36, INFO: Sparse search: None -2024-02-14 17:15:39, INFO: human number: 10 -2024-02-14 17:15:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:43, INFO: Using device: cpu -2024-02-14 17:15:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:43, INFO: Similarity_func: concatenation -2024-02-14 17:15:43, INFO: Layerwise_graph: False -2024-02-14 17:15:43, INFO: Skip_connection: True -2024-02-14 17:15:43, INFO: Number of layers: 1 -2024-02-14 17:15:43, INFO: Similarity_func: concatenation -2024-02-14 17:15:43, INFO: Layerwise_graph: False -2024-02-14 17:15:43, INFO: Skip_connection: True -2024-02-14 17:15:43, INFO: Number of layers: 1 -2024-02-14 17:15:43, INFO: Planning depth: 1 -2024-02-14 17:15:43, INFO: Planning width: 10 -2024-02-14 17:15:43, INFO: Sparse search: None -2024-02-14 17:15:46, INFO: human number: 10 -2024-02-14 17:15:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:50, INFO: Using device: cpu -2024-02-14 17:15:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:50, INFO: Similarity_func: concatenation -2024-02-14 17:15:50, INFO: Layerwise_graph: False -2024-02-14 17:15:50, INFO: Skip_connection: True -2024-02-14 17:15:50, INFO: Number of layers: 1 -2024-02-14 17:15:50, INFO: Similarity_func: concatenation -2024-02-14 17:15:50, INFO: Layerwise_graph: False -2024-02-14 17:15:50, INFO: Skip_connection: True -2024-02-14 17:15:50, INFO: Number of layers: 1 -2024-02-14 17:15:50, INFO: Planning depth: 1 -2024-02-14 17:15:50, INFO: Planning width: 10 -2024-02-14 17:15:50, INFO: Sparse search: None -2024-02-14 17:15:53, INFO: human number: 10 -2024-02-14 17:15:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:15:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:15:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:15:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:15:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:15:58, INFO: Using device: cpu -2024-02-14 17:15:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:15:58, INFO: Similarity_func: concatenation -2024-02-14 17:15:58, INFO: Layerwise_graph: False -2024-02-14 17:15:58, INFO: Skip_connection: True -2024-02-14 17:15:58, INFO: Number of layers: 1 -2024-02-14 17:15:58, INFO: Similarity_func: concatenation -2024-02-14 17:15:58, INFO: Layerwise_graph: False -2024-02-14 17:15:58, INFO: Skip_connection: True -2024-02-14 17:15:58, INFO: Number of layers: 1 -2024-02-14 17:15:58, INFO: Planning depth: 1 -2024-02-14 17:15:58, INFO: Planning width: 10 -2024-02-14 17:15:58, INFO: Sparse search: None -2024-02-14 17:16:01, INFO: human number: 10 -2024-02-14 17:16:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:05, INFO: Using device: cpu -2024-02-14 17:16:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:05, INFO: Similarity_func: concatenation -2024-02-14 17:16:05, INFO: Layerwise_graph: False -2024-02-14 17:16:05, INFO: Skip_connection: True -2024-02-14 17:16:05, INFO: Number of layers: 1 -2024-02-14 17:16:05, INFO: Similarity_func: concatenation -2024-02-14 17:16:05, INFO: Layerwise_graph: False -2024-02-14 17:16:05, INFO: Skip_connection: True -2024-02-14 17:16:05, INFO: Number of layers: 1 -2024-02-14 17:16:05, INFO: Planning depth: 1 -2024-02-14 17:16:05, INFO: Planning width: 10 -2024-02-14 17:16:05, INFO: Sparse search: None -2024-02-14 17:16:08, INFO: human number: 10 -2024-02-14 17:16:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:12, INFO: Using device: cpu -2024-02-14 17:16:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:12, INFO: Similarity_func: concatenation -2024-02-14 17:16:12, INFO: Layerwise_graph: False -2024-02-14 17:16:12, INFO: Skip_connection: True -2024-02-14 17:16:12, INFO: Number of layers: 1 -2024-02-14 17:16:12, INFO: Similarity_func: concatenation -2024-02-14 17:16:12, INFO: Layerwise_graph: False -2024-02-14 17:16:12, INFO: Skip_connection: True -2024-02-14 17:16:12, INFO: Number of layers: 1 -2024-02-14 17:16:12, INFO: Planning depth: 1 -2024-02-14 17:16:12, INFO: Planning width: 10 -2024-02-14 17:16:12, INFO: Sparse search: None -2024-02-14 17:16:15, INFO: human number: 10 -2024-02-14 17:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:19, INFO: Using device: cpu -2024-02-14 17:16:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:19, INFO: Similarity_func: concatenation -2024-02-14 17:16:19, INFO: Layerwise_graph: False -2024-02-14 17:16:19, INFO: Skip_connection: True -2024-02-14 17:16:19, INFO: Number of layers: 1 -2024-02-14 17:16:19, INFO: Similarity_func: concatenation -2024-02-14 17:16:19, INFO: Layerwise_graph: False -2024-02-14 17:16:19, INFO: Skip_connection: True -2024-02-14 17:16:19, INFO: Number of layers: 1 -2024-02-14 17:16:19, INFO: Planning depth: 1 -2024-02-14 17:16:19, INFO: Planning width: 10 -2024-02-14 17:16:19, INFO: Sparse search: None -2024-02-14 17:16:22, INFO: human number: 10 -2024-02-14 17:16:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:26, INFO: Using device: cpu -2024-02-14 17:16:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:26, INFO: Similarity_func: concatenation -2024-02-14 17:16:26, INFO: Layerwise_graph: False -2024-02-14 17:16:26, INFO: Skip_connection: True -2024-02-14 17:16:26, INFO: Number of layers: 1 -2024-02-14 17:16:26, INFO: Similarity_func: concatenation -2024-02-14 17:16:26, INFO: Layerwise_graph: False -2024-02-14 17:16:26, INFO: Skip_connection: True -2024-02-14 17:16:26, INFO: Number of layers: 1 -2024-02-14 17:16:26, INFO: Planning depth: 1 -2024-02-14 17:16:26, INFO: Planning width: 10 -2024-02-14 17:16:26, INFO: Sparse search: None -2024-02-14 17:16:29, INFO: human number: 10 -2024-02-14 17:16:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:33, INFO: Using device: cpu -2024-02-14 17:16:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:33, INFO: Similarity_func: concatenation -2024-02-14 17:16:33, INFO: Layerwise_graph: False -2024-02-14 17:16:33, INFO: Skip_connection: True -2024-02-14 17:16:33, INFO: Number of layers: 1 -2024-02-14 17:16:33, INFO: Similarity_func: concatenation -2024-02-14 17:16:33, INFO: Layerwise_graph: False -2024-02-14 17:16:33, INFO: Skip_connection: True -2024-02-14 17:16:33, INFO: Number of layers: 1 -2024-02-14 17:16:33, INFO: Planning depth: 1 -2024-02-14 17:16:33, INFO: Planning width: 10 -2024-02-14 17:16:33, INFO: Sparse search: None -2024-02-14 17:16:36, INFO: human number: 10 -2024-02-14 17:16:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:40, INFO: Using device: cpu -2024-02-14 17:16:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:40, INFO: Similarity_func: concatenation -2024-02-14 17:16:40, INFO: Layerwise_graph: False -2024-02-14 17:16:40, INFO: Skip_connection: True -2024-02-14 17:16:40, INFO: Number of layers: 1 -2024-02-14 17:16:40, INFO: Similarity_func: concatenation -2024-02-14 17:16:40, INFO: Layerwise_graph: False -2024-02-14 17:16:40, INFO: Skip_connection: True -2024-02-14 17:16:40, INFO: Number of layers: 1 -2024-02-14 17:16:40, INFO: Planning depth: 1 -2024-02-14 17:16:40, INFO: Planning width: 10 -2024-02-14 17:16:40, INFO: Sparse search: None -2024-02-14 17:16:43, INFO: human number: 10 -2024-02-14 17:16:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:47, INFO: Using device: cpu -2024-02-14 17:16:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:47, INFO: Similarity_func: concatenation -2024-02-14 17:16:47, INFO: Layerwise_graph: False -2024-02-14 17:16:47, INFO: Skip_connection: True -2024-02-14 17:16:47, INFO: Number of layers: 1 -2024-02-14 17:16:47, INFO: Similarity_func: concatenation -2024-02-14 17:16:47, INFO: Layerwise_graph: False -2024-02-14 17:16:47, INFO: Skip_connection: True -2024-02-14 17:16:47, INFO: Number of layers: 1 -2024-02-14 17:16:47, INFO: Planning depth: 1 -2024-02-14 17:16:47, INFO: Planning width: 10 -2024-02-14 17:16:47, INFO: Sparse search: None -2024-02-14 17:16:50, INFO: human number: 10 -2024-02-14 17:16:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:16:54, INFO: Using device: cpu -2024-02-14 17:16:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:16:54, INFO: Similarity_func: concatenation -2024-02-14 17:16:54, INFO: Layerwise_graph: False -2024-02-14 17:16:54, INFO: Skip_connection: True -2024-02-14 17:16:54, INFO: Number of layers: 1 -2024-02-14 17:16:54, INFO: Similarity_func: concatenation -2024-02-14 17:16:54, INFO: Layerwise_graph: False -2024-02-14 17:16:54, INFO: Skip_connection: True -2024-02-14 17:16:54, INFO: Number of layers: 1 -2024-02-14 17:16:54, INFO: Planning depth: 1 -2024-02-14 17:16:54, INFO: Planning width: 10 -2024-02-14 17:16:54, INFO: Sparse search: None -2024-02-14 17:16:57, INFO: human number: 10 -2024-02-14 17:16:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:16:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:16:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:16:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:16:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:01, INFO: Using device: cpu -2024-02-14 17:17:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:01, INFO: Similarity_func: concatenation -2024-02-14 17:17:01, INFO: Layerwise_graph: False -2024-02-14 17:17:01, INFO: Skip_connection: True -2024-02-14 17:17:01, INFO: Number of layers: 1 -2024-02-14 17:17:01, INFO: Similarity_func: concatenation -2024-02-14 17:17:01, INFO: Layerwise_graph: False -2024-02-14 17:17:01, INFO: Skip_connection: True -2024-02-14 17:17:01, INFO: Number of layers: 1 -2024-02-14 17:17:01, INFO: Planning depth: 1 -2024-02-14 17:17:01, INFO: Planning width: 10 -2024-02-14 17:17:01, INFO: Sparse search: None -2024-02-14 17:17:04, INFO: human number: 10 -2024-02-14 17:17:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:08, INFO: Using device: cpu -2024-02-14 17:17:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:08, INFO: Similarity_func: concatenation -2024-02-14 17:17:08, INFO: Layerwise_graph: False -2024-02-14 17:17:08, INFO: Skip_connection: True -2024-02-14 17:17:08, INFO: Number of layers: 1 -2024-02-14 17:17:08, INFO: Similarity_func: concatenation -2024-02-14 17:17:08, INFO: Layerwise_graph: False -2024-02-14 17:17:08, INFO: Skip_connection: True -2024-02-14 17:17:08, INFO: Number of layers: 1 -2024-02-14 17:17:08, INFO: Planning depth: 1 -2024-02-14 17:17:08, INFO: Planning width: 10 -2024-02-14 17:17:08, INFO: Sparse search: None -2024-02-14 17:17:11, INFO: human number: 10 -2024-02-14 17:17:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:15, INFO: Using device: cpu -2024-02-14 17:17:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:15, INFO: Similarity_func: concatenation -2024-02-14 17:17:15, INFO: Layerwise_graph: False -2024-02-14 17:17:15, INFO: Skip_connection: True -2024-02-14 17:17:15, INFO: Number of layers: 1 -2024-02-14 17:17:15, INFO: Similarity_func: concatenation -2024-02-14 17:17:15, INFO: Layerwise_graph: False -2024-02-14 17:17:15, INFO: Skip_connection: True -2024-02-14 17:17:15, INFO: Number of layers: 1 -2024-02-14 17:17:15, INFO: Planning depth: 1 -2024-02-14 17:17:15, INFO: Planning width: 10 -2024-02-14 17:17:15, INFO: Sparse search: None -2024-02-14 17:17:18, INFO: human number: 10 -2024-02-14 17:17:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:22, INFO: Using device: cpu -2024-02-14 17:17:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:22, INFO: Similarity_func: concatenation -2024-02-14 17:17:22, INFO: Layerwise_graph: False -2024-02-14 17:17:22, INFO: Skip_connection: True -2024-02-14 17:17:22, INFO: Number of layers: 1 -2024-02-14 17:17:22, INFO: Similarity_func: concatenation -2024-02-14 17:17:22, INFO: Layerwise_graph: False -2024-02-14 17:17:22, INFO: Skip_connection: True -2024-02-14 17:17:22, INFO: Number of layers: 1 -2024-02-14 17:17:22, INFO: Planning depth: 1 -2024-02-14 17:17:22, INFO: Planning width: 10 -2024-02-14 17:17:22, INFO: Sparse search: None -2024-02-14 17:17:25, INFO: human number: 10 -2024-02-14 17:17:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:30, INFO: Using device: cpu -2024-02-14 17:17:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:30, INFO: Similarity_func: concatenation -2024-02-14 17:17:30, INFO: Layerwise_graph: False -2024-02-14 17:17:30, INFO: Skip_connection: True -2024-02-14 17:17:30, INFO: Number of layers: 1 -2024-02-14 17:17:30, INFO: Similarity_func: concatenation -2024-02-14 17:17:30, INFO: Layerwise_graph: False -2024-02-14 17:17:30, INFO: Skip_connection: True -2024-02-14 17:17:30, INFO: Number of layers: 1 -2024-02-14 17:17:30, INFO: Planning depth: 1 -2024-02-14 17:17:30, INFO: Planning width: 10 -2024-02-14 17:17:30, INFO: Sparse search: None -2024-02-14 17:17:32, INFO: human number: 10 -2024-02-14 17:17:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:36, INFO: Using device: cpu -2024-02-14 17:17:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:36, INFO: Similarity_func: concatenation -2024-02-14 17:17:36, INFO: Layerwise_graph: False -2024-02-14 17:17:36, INFO: Skip_connection: True -2024-02-14 17:17:36, INFO: Number of layers: 1 -2024-02-14 17:17:36, INFO: Similarity_func: concatenation -2024-02-14 17:17:36, INFO: Layerwise_graph: False -2024-02-14 17:17:36, INFO: Skip_connection: True -2024-02-14 17:17:36, INFO: Number of layers: 1 -2024-02-14 17:17:36, INFO: Planning depth: 1 -2024-02-14 17:17:36, INFO: Planning width: 10 -2024-02-14 17:17:36, INFO: Sparse search: None -2024-02-14 17:17:39, INFO: human number: 10 -2024-02-14 17:17:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:43, INFO: Using device: cpu -2024-02-14 17:17:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:43, INFO: Similarity_func: concatenation -2024-02-14 17:17:43, INFO: Layerwise_graph: False -2024-02-14 17:17:43, INFO: Skip_connection: True -2024-02-14 17:17:43, INFO: Number of layers: 1 -2024-02-14 17:17:43, INFO: Similarity_func: concatenation -2024-02-14 17:17:43, INFO: Layerwise_graph: False -2024-02-14 17:17:43, INFO: Skip_connection: True -2024-02-14 17:17:43, INFO: Number of layers: 1 -2024-02-14 17:17:43, INFO: Planning depth: 1 -2024-02-14 17:17:43, INFO: Planning width: 10 -2024-02-14 17:17:43, INFO: Sparse search: None -2024-02-14 17:17:46, INFO: human number: 10 -2024-02-14 17:17:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:50, INFO: Using device: cpu -2024-02-14 17:17:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:50, INFO: Similarity_func: concatenation -2024-02-14 17:17:50, INFO: Layerwise_graph: False -2024-02-14 17:17:50, INFO: Skip_connection: True -2024-02-14 17:17:50, INFO: Number of layers: 1 -2024-02-14 17:17:50, INFO: Similarity_func: concatenation -2024-02-14 17:17:50, INFO: Layerwise_graph: False -2024-02-14 17:17:50, INFO: Skip_connection: True -2024-02-14 17:17:50, INFO: Number of layers: 1 -2024-02-14 17:17:50, INFO: Planning depth: 1 -2024-02-14 17:17:50, INFO: Planning width: 10 -2024-02-14 17:17:50, INFO: Sparse search: None -2024-02-14 17:17:53, INFO: human number: 10 -2024-02-14 17:17:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:17:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:17:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:17:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:17:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:17:57, INFO: Using device: cpu -2024-02-14 17:17:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:17:57, INFO: Similarity_func: concatenation -2024-02-14 17:17:57, INFO: Layerwise_graph: False -2024-02-14 17:17:57, INFO: Skip_connection: True -2024-02-14 17:17:57, INFO: Number of layers: 1 -2024-02-14 17:17:57, INFO: Similarity_func: concatenation -2024-02-14 17:17:57, INFO: Layerwise_graph: False -2024-02-14 17:17:57, INFO: Skip_connection: True -2024-02-14 17:17:57, INFO: Number of layers: 1 -2024-02-14 17:17:57, INFO: Planning depth: 1 -2024-02-14 17:17:57, INFO: Planning width: 10 -2024-02-14 17:17:57, INFO: Sparse search: None -2024-02-14 17:18:00, INFO: human number: 10 -2024-02-14 17:18:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:05, INFO: Using device: cpu -2024-02-14 17:18:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:05, INFO: Similarity_func: concatenation -2024-02-14 17:18:05, INFO: Layerwise_graph: False -2024-02-14 17:18:05, INFO: Skip_connection: True -2024-02-14 17:18:05, INFO: Number of layers: 1 -2024-02-14 17:18:05, INFO: Similarity_func: concatenation -2024-02-14 17:18:05, INFO: Layerwise_graph: False -2024-02-14 17:18:05, INFO: Skip_connection: True -2024-02-14 17:18:05, INFO: Number of layers: 1 -2024-02-14 17:18:05, INFO: Planning depth: 1 -2024-02-14 17:18:05, INFO: Planning width: 10 -2024-02-14 17:18:05, INFO: Sparse search: None -2024-02-14 17:18:08, INFO: human number: 10 -2024-02-14 17:18:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:12, INFO: Using device: cpu -2024-02-14 17:18:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:12, INFO: Similarity_func: concatenation -2024-02-14 17:18:12, INFO: Layerwise_graph: False -2024-02-14 17:18:12, INFO: Skip_connection: True -2024-02-14 17:18:12, INFO: Number of layers: 1 -2024-02-14 17:18:12, INFO: Similarity_func: concatenation -2024-02-14 17:18:12, INFO: Layerwise_graph: False -2024-02-14 17:18:12, INFO: Skip_connection: True -2024-02-14 17:18:12, INFO: Number of layers: 1 -2024-02-14 17:18:12, INFO: Planning depth: 1 -2024-02-14 17:18:12, INFO: Planning width: 10 -2024-02-14 17:18:12, INFO: Sparse search: None -2024-02-14 17:18:15, INFO: human number: 10 -2024-02-14 17:18:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:19, INFO: Using device: cpu -2024-02-14 17:18:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:19, INFO: Similarity_func: concatenation -2024-02-14 17:18:19, INFO: Layerwise_graph: False -2024-02-14 17:18:19, INFO: Skip_connection: True -2024-02-14 17:18:19, INFO: Number of layers: 1 -2024-02-14 17:18:19, INFO: Similarity_func: concatenation -2024-02-14 17:18:19, INFO: Layerwise_graph: False -2024-02-14 17:18:19, INFO: Skip_connection: True -2024-02-14 17:18:19, INFO: Number of layers: 1 -2024-02-14 17:18:19, INFO: Planning depth: 1 -2024-02-14 17:18:19, INFO: Planning width: 10 -2024-02-14 17:18:19, INFO: Sparse search: None -2024-02-14 17:18:21, INFO: human number: 10 -2024-02-14 17:18:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:26, INFO: Using device: cpu -2024-02-14 17:18:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:26, INFO: Similarity_func: concatenation -2024-02-14 17:18:26, INFO: Layerwise_graph: False -2024-02-14 17:18:26, INFO: Skip_connection: True -2024-02-14 17:18:26, INFO: Number of layers: 1 -2024-02-14 17:18:26, INFO: Similarity_func: concatenation -2024-02-14 17:18:26, INFO: Layerwise_graph: False -2024-02-14 17:18:26, INFO: Skip_connection: True -2024-02-14 17:18:26, INFO: Number of layers: 1 -2024-02-14 17:18:26, INFO: Planning depth: 1 -2024-02-14 17:18:26, INFO: Planning width: 10 -2024-02-14 17:18:26, INFO: Sparse search: None -2024-02-14 17:18:28, INFO: human number: 10 -2024-02-14 17:18:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:33, INFO: Using device: cpu -2024-02-14 17:18:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:33, INFO: Similarity_func: concatenation -2024-02-14 17:18:33, INFO: Layerwise_graph: False -2024-02-14 17:18:33, INFO: Skip_connection: True -2024-02-14 17:18:33, INFO: Number of layers: 1 -2024-02-14 17:18:33, INFO: Similarity_func: concatenation -2024-02-14 17:18:33, INFO: Layerwise_graph: False -2024-02-14 17:18:33, INFO: Skip_connection: True -2024-02-14 17:18:33, INFO: Number of layers: 1 -2024-02-14 17:18:33, INFO: Planning depth: 1 -2024-02-14 17:18:33, INFO: Planning width: 10 -2024-02-14 17:18:33, INFO: Sparse search: None -2024-02-14 17:18:35, INFO: human number: 10 -2024-02-14 17:18:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:40, INFO: Using device: cpu -2024-02-14 17:18:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:40, INFO: Similarity_func: concatenation -2024-02-14 17:18:40, INFO: Layerwise_graph: False -2024-02-14 17:18:40, INFO: Skip_connection: True -2024-02-14 17:18:40, INFO: Number of layers: 1 -2024-02-14 17:18:40, INFO: Similarity_func: concatenation -2024-02-14 17:18:40, INFO: Layerwise_graph: False -2024-02-14 17:18:40, INFO: Skip_connection: True -2024-02-14 17:18:40, INFO: Number of layers: 1 -2024-02-14 17:18:40, INFO: Planning depth: 1 -2024-02-14 17:18:40, INFO: Planning width: 10 -2024-02-14 17:18:40, INFO: Sparse search: None -2024-02-14 17:18:42, INFO: human number: 10 -2024-02-14 17:18:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:47, INFO: Using device: cpu -2024-02-14 17:18:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:47, INFO: Similarity_func: concatenation -2024-02-14 17:18:47, INFO: Layerwise_graph: False -2024-02-14 17:18:47, INFO: Skip_connection: True -2024-02-14 17:18:47, INFO: Number of layers: 1 -2024-02-14 17:18:47, INFO: Similarity_func: concatenation -2024-02-14 17:18:47, INFO: Layerwise_graph: False -2024-02-14 17:18:47, INFO: Skip_connection: True -2024-02-14 17:18:47, INFO: Number of layers: 1 -2024-02-14 17:18:47, INFO: Planning depth: 1 -2024-02-14 17:18:47, INFO: Planning width: 10 -2024-02-14 17:18:47, INFO: Sparse search: None -2024-02-14 17:18:49, INFO: human number: 10 -2024-02-14 17:18:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:18:54, INFO: Using device: cpu -2024-02-14 17:18:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:18:54, INFO: Similarity_func: concatenation -2024-02-14 17:18:54, INFO: Layerwise_graph: False -2024-02-14 17:18:54, INFO: Skip_connection: True -2024-02-14 17:18:54, INFO: Number of layers: 1 -2024-02-14 17:18:54, INFO: Similarity_func: concatenation -2024-02-14 17:18:54, INFO: Layerwise_graph: False -2024-02-14 17:18:54, INFO: Skip_connection: True -2024-02-14 17:18:54, INFO: Number of layers: 1 -2024-02-14 17:18:54, INFO: Planning depth: 1 -2024-02-14 17:18:54, INFO: Planning width: 10 -2024-02-14 17:18:54, INFO: Sparse search: None -2024-02-14 17:18:56, INFO: human number: 10 -2024-02-14 17:18:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:18:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:18:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:18:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:18:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:01, INFO: Using device: cpu -2024-02-14 17:19:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:01, INFO: Similarity_func: concatenation -2024-02-14 17:19:01, INFO: Layerwise_graph: False -2024-02-14 17:19:01, INFO: Skip_connection: True -2024-02-14 17:19:01, INFO: Number of layers: 1 -2024-02-14 17:19:01, INFO: Similarity_func: concatenation -2024-02-14 17:19:01, INFO: Layerwise_graph: False -2024-02-14 17:19:01, INFO: Skip_connection: True -2024-02-14 17:19:01, INFO: Number of layers: 1 -2024-02-14 17:19:01, INFO: Planning depth: 1 -2024-02-14 17:19:01, INFO: Planning width: 10 -2024-02-14 17:19:01, INFO: Sparse search: None -2024-02-14 17:19:04, INFO: human number: 10 -2024-02-14 17:19:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:08, INFO: Using device: cpu -2024-02-14 17:19:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:08, INFO: Similarity_func: concatenation -2024-02-14 17:19:08, INFO: Layerwise_graph: False -2024-02-14 17:19:08, INFO: Skip_connection: True -2024-02-14 17:19:08, INFO: Number of layers: 1 -2024-02-14 17:19:08, INFO: Similarity_func: concatenation -2024-02-14 17:19:08, INFO: Layerwise_graph: False -2024-02-14 17:19:08, INFO: Skip_connection: True -2024-02-14 17:19:08, INFO: Number of layers: 1 -2024-02-14 17:19:08, INFO: Planning depth: 1 -2024-02-14 17:19:08, INFO: Planning width: 10 -2024-02-14 17:19:08, INFO: Sparse search: None -2024-02-14 17:19:10, INFO: human number: 10 -2024-02-14 17:19:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:14, INFO: Using device: cpu -2024-02-14 17:19:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:14, INFO: Similarity_func: concatenation -2024-02-14 17:19:14, INFO: Layerwise_graph: False -2024-02-14 17:19:14, INFO: Skip_connection: True -2024-02-14 17:19:14, INFO: Number of layers: 1 -2024-02-14 17:19:14, INFO: Similarity_func: concatenation -2024-02-14 17:19:14, INFO: Layerwise_graph: False -2024-02-14 17:19:14, INFO: Skip_connection: True -2024-02-14 17:19:14, INFO: Number of layers: 1 -2024-02-14 17:19:14, INFO: Planning depth: 1 -2024-02-14 17:19:14, INFO: Planning width: 10 -2024-02-14 17:19:14, INFO: Sparse search: None -2024-02-14 17:19:17, INFO: human number: 10 -2024-02-14 17:19:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:21, INFO: Using device: cpu -2024-02-14 17:19:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:21, INFO: Similarity_func: concatenation -2024-02-14 17:19:21, INFO: Layerwise_graph: False -2024-02-14 17:19:21, INFO: Skip_connection: True -2024-02-14 17:19:22, INFO: Number of layers: 1 -2024-02-14 17:19:22, INFO: Similarity_func: concatenation -2024-02-14 17:19:22, INFO: Layerwise_graph: False -2024-02-14 17:19:22, INFO: Skip_connection: True -2024-02-14 17:19:22, INFO: Number of layers: 1 -2024-02-14 17:19:22, INFO: Planning depth: 1 -2024-02-14 17:19:22, INFO: Planning width: 10 -2024-02-14 17:19:22, INFO: Sparse search: None -2024-02-14 17:19:24, INFO: human number: 10 -2024-02-14 17:19:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:29, INFO: Using device: cpu -2024-02-14 17:19:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:29, INFO: Similarity_func: concatenation -2024-02-14 17:19:29, INFO: Layerwise_graph: False -2024-02-14 17:19:29, INFO: Skip_connection: True -2024-02-14 17:19:29, INFO: Number of layers: 1 -2024-02-14 17:19:29, INFO: Similarity_func: concatenation -2024-02-14 17:19:29, INFO: Layerwise_graph: False -2024-02-14 17:19:29, INFO: Skip_connection: True -2024-02-14 17:19:29, INFO: Number of layers: 1 -2024-02-14 17:19:29, INFO: Planning depth: 1 -2024-02-14 17:19:29, INFO: Planning width: 10 -2024-02-14 17:19:29, INFO: Sparse search: None -2024-02-14 17:19:31, INFO: human number: 10 -2024-02-14 17:19:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:36, INFO: Using device: cpu -2024-02-14 17:19:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:36, INFO: Similarity_func: concatenation -2024-02-14 17:19:36, INFO: Layerwise_graph: False -2024-02-14 17:19:36, INFO: Skip_connection: True -2024-02-14 17:19:36, INFO: Number of layers: 1 -2024-02-14 17:19:36, INFO: Similarity_func: concatenation -2024-02-14 17:19:36, INFO: Layerwise_graph: False -2024-02-14 17:19:36, INFO: Skip_connection: True -2024-02-14 17:19:36, INFO: Number of layers: 1 -2024-02-14 17:19:36, INFO: Planning depth: 1 -2024-02-14 17:19:36, INFO: Planning width: 10 -2024-02-14 17:19:36, INFO: Sparse search: None -2024-02-14 17:19:38, INFO: human number: 10 -2024-02-14 17:19:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:43, INFO: Using device: cpu -2024-02-14 17:19:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:43, INFO: Similarity_func: concatenation -2024-02-14 17:19:43, INFO: Layerwise_graph: False -2024-02-14 17:19:43, INFO: Skip_connection: True -2024-02-14 17:19:43, INFO: Number of layers: 1 -2024-02-14 17:19:43, INFO: Similarity_func: concatenation -2024-02-14 17:19:43, INFO: Layerwise_graph: False -2024-02-14 17:19:43, INFO: Skip_connection: True -2024-02-14 17:19:43, INFO: Number of layers: 1 -2024-02-14 17:19:43, INFO: Planning depth: 1 -2024-02-14 17:19:43, INFO: Planning width: 10 -2024-02-14 17:19:43, INFO: Sparse search: None -2024-02-14 17:19:46, INFO: human number: 10 -2024-02-14 17:19:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:50, INFO: Using device: cpu -2024-02-14 17:19:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:50, INFO: Similarity_func: concatenation -2024-02-14 17:19:50, INFO: Layerwise_graph: False -2024-02-14 17:19:50, INFO: Skip_connection: True -2024-02-14 17:19:50, INFO: Number of layers: 1 -2024-02-14 17:19:50, INFO: Similarity_func: concatenation -2024-02-14 17:19:50, INFO: Layerwise_graph: False -2024-02-14 17:19:50, INFO: Skip_connection: True -2024-02-14 17:19:50, INFO: Number of layers: 1 -2024-02-14 17:19:50, INFO: Planning depth: 1 -2024-02-14 17:19:50, INFO: Planning width: 10 -2024-02-14 17:19:50, INFO: Sparse search: None -2024-02-14 17:19:53, INFO: human number: 10 -2024-02-14 17:19:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:19:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:19:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:19:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:19:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:19:57, INFO: Using device: cpu -2024-02-14 17:19:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:19:57, INFO: Similarity_func: concatenation -2024-02-14 17:19:57, INFO: Layerwise_graph: False -2024-02-14 17:19:57, INFO: Skip_connection: True -2024-02-14 17:19:57, INFO: Number of layers: 1 -2024-02-14 17:19:57, INFO: Similarity_func: concatenation -2024-02-14 17:19:57, INFO: Layerwise_graph: False -2024-02-14 17:19:57, INFO: Skip_connection: True -2024-02-14 17:19:57, INFO: Number of layers: 1 -2024-02-14 17:19:57, INFO: Planning depth: 1 -2024-02-14 17:19:57, INFO: Planning width: 10 -2024-02-14 17:19:57, INFO: Sparse search: None -2024-02-14 17:20:00, INFO: human number: 10 -2024-02-14 17:20:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:04, INFO: Using device: cpu -2024-02-14 17:20:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:04, INFO: Similarity_func: concatenation -2024-02-14 17:20:04, INFO: Layerwise_graph: False -2024-02-14 17:20:04, INFO: Skip_connection: True -2024-02-14 17:20:04, INFO: Number of layers: 1 -2024-02-14 17:20:04, INFO: Similarity_func: concatenation -2024-02-14 17:20:04, INFO: Layerwise_graph: False -2024-02-14 17:20:04, INFO: Skip_connection: True -2024-02-14 17:20:04, INFO: Number of layers: 1 -2024-02-14 17:20:04, INFO: Planning depth: 1 -2024-02-14 17:20:04, INFO: Planning width: 10 -2024-02-14 17:20:04, INFO: Sparse search: None -2024-02-14 17:20:07, INFO: human number: 10 -2024-02-14 17:20:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:11, INFO: Using device: cpu -2024-02-14 17:20:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:11, INFO: Similarity_func: concatenation -2024-02-14 17:20:11, INFO: Layerwise_graph: False -2024-02-14 17:20:11, INFO: Skip_connection: True -2024-02-14 17:20:11, INFO: Number of layers: 1 -2024-02-14 17:20:11, INFO: Similarity_func: concatenation -2024-02-14 17:20:11, INFO: Layerwise_graph: False -2024-02-14 17:20:11, INFO: Skip_connection: True -2024-02-14 17:20:11, INFO: Number of layers: 1 -2024-02-14 17:20:11, INFO: Planning depth: 1 -2024-02-14 17:20:11, INFO: Planning width: 10 -2024-02-14 17:20:11, INFO: Sparse search: None -2024-02-14 17:20:14, INFO: human number: 10 -2024-02-14 17:20:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:18, INFO: Using device: cpu -2024-02-14 17:20:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:18, INFO: Similarity_func: concatenation -2024-02-14 17:20:18, INFO: Layerwise_graph: False -2024-02-14 17:20:18, INFO: Skip_connection: True -2024-02-14 17:20:18, INFO: Number of layers: 1 -2024-02-14 17:20:18, INFO: Similarity_func: concatenation -2024-02-14 17:20:18, INFO: Layerwise_graph: False -2024-02-14 17:20:18, INFO: Skip_connection: True -2024-02-14 17:20:18, INFO: Number of layers: 1 -2024-02-14 17:20:18, INFO: Planning depth: 1 -2024-02-14 17:20:18, INFO: Planning width: 10 -2024-02-14 17:20:18, INFO: Sparse search: None -2024-02-14 17:20:21, INFO: human number: 10 -2024-02-14 17:20:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:25, INFO: Using device: cpu -2024-02-14 17:20:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:25, INFO: Similarity_func: concatenation -2024-02-14 17:20:25, INFO: Layerwise_graph: False -2024-02-14 17:20:25, INFO: Skip_connection: True -2024-02-14 17:20:25, INFO: Number of layers: 1 -2024-02-14 17:20:25, INFO: Similarity_func: concatenation -2024-02-14 17:20:25, INFO: Layerwise_graph: False -2024-02-14 17:20:25, INFO: Skip_connection: True -2024-02-14 17:20:25, INFO: Number of layers: 1 -2024-02-14 17:20:25, INFO: Planning depth: 1 -2024-02-14 17:20:25, INFO: Planning width: 10 -2024-02-14 17:20:25, INFO: Sparse search: None -2024-02-14 17:20:28, INFO: human number: 10 -2024-02-14 17:20:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:32, INFO: Using device: cpu -2024-02-14 17:20:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:32, INFO: Similarity_func: concatenation -2024-02-14 17:20:32, INFO: Layerwise_graph: False -2024-02-14 17:20:32, INFO: Skip_connection: True -2024-02-14 17:20:32, INFO: Number of layers: 1 -2024-02-14 17:20:32, INFO: Similarity_func: concatenation -2024-02-14 17:20:32, INFO: Layerwise_graph: False -2024-02-14 17:20:32, INFO: Skip_connection: True -2024-02-14 17:20:32, INFO: Number of layers: 1 -2024-02-14 17:20:32, INFO: Planning depth: 1 -2024-02-14 17:20:32, INFO: Planning width: 10 -2024-02-14 17:20:32, INFO: Sparse search: None -2024-02-14 17:20:35, INFO: human number: 10 -2024-02-14 17:20:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:39, INFO: Using device: cpu -2024-02-14 17:20:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:39, INFO: Similarity_func: concatenation -2024-02-14 17:20:39, INFO: Layerwise_graph: False -2024-02-14 17:20:39, INFO: Skip_connection: True -2024-02-14 17:20:39, INFO: Number of layers: 1 -2024-02-14 17:20:39, INFO: Similarity_func: concatenation -2024-02-14 17:20:39, INFO: Layerwise_graph: False -2024-02-14 17:20:39, INFO: Skip_connection: True -2024-02-14 17:20:39, INFO: Number of layers: 1 -2024-02-14 17:20:39, INFO: Planning depth: 1 -2024-02-14 17:20:39, INFO: Planning width: 10 -2024-02-14 17:20:39, INFO: Sparse search: None -2024-02-14 17:20:42, INFO: human number: 10 -2024-02-14 17:20:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:46, INFO: Using device: cpu -2024-02-14 17:20:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:46, INFO: Similarity_func: concatenation -2024-02-14 17:20:46, INFO: Layerwise_graph: False -2024-02-14 17:20:46, INFO: Skip_connection: True -2024-02-14 17:20:46, INFO: Number of layers: 1 -2024-02-14 17:20:46, INFO: Similarity_func: concatenation -2024-02-14 17:20:46, INFO: Layerwise_graph: False -2024-02-14 17:20:46, INFO: Skip_connection: True -2024-02-14 17:20:46, INFO: Number of layers: 1 -2024-02-14 17:20:46, INFO: Planning depth: 1 -2024-02-14 17:20:46, INFO: Planning width: 10 -2024-02-14 17:20:46, INFO: Sparse search: None -2024-02-14 17:20:49, INFO: human number: 10 -2024-02-14 17:20:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:20:53, INFO: Using device: cpu -2024-02-14 17:20:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:20:53, INFO: Similarity_func: concatenation -2024-02-14 17:20:53, INFO: Layerwise_graph: False -2024-02-14 17:20:53, INFO: Skip_connection: True -2024-02-14 17:20:53, INFO: Number of layers: 1 -2024-02-14 17:20:53, INFO: Similarity_func: concatenation -2024-02-14 17:20:53, INFO: Layerwise_graph: False -2024-02-14 17:20:53, INFO: Skip_connection: True -2024-02-14 17:20:53, INFO: Number of layers: 1 -2024-02-14 17:20:53, INFO: Planning depth: 1 -2024-02-14 17:20:53, INFO: Planning width: 10 -2024-02-14 17:20:53, INFO: Sparse search: None -2024-02-14 17:20:55, INFO: human number: 10 -2024-02-14 17:20:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:20:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:20:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:20:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:20:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:00, INFO: Using device: cpu -2024-02-14 17:21:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:00, INFO: Similarity_func: concatenation -2024-02-14 17:21:00, INFO: Layerwise_graph: False -2024-02-14 17:21:00, INFO: Skip_connection: True -2024-02-14 17:21:00, INFO: Number of layers: 1 -2024-02-14 17:21:00, INFO: Similarity_func: concatenation -2024-02-14 17:21:00, INFO: Layerwise_graph: False -2024-02-14 17:21:00, INFO: Skip_connection: True -2024-02-14 17:21:00, INFO: Number of layers: 1 -2024-02-14 17:21:00, INFO: Planning depth: 1 -2024-02-14 17:21:00, INFO: Planning width: 10 -2024-02-14 17:21:00, INFO: Sparse search: None -2024-02-14 17:21:03, INFO: human number: 10 -2024-02-14 17:21:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:07, INFO: Using device: cpu -2024-02-14 17:21:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:07, INFO: Similarity_func: concatenation -2024-02-14 17:21:07, INFO: Layerwise_graph: False -2024-02-14 17:21:07, INFO: Skip_connection: True -2024-02-14 17:21:07, INFO: Number of layers: 1 -2024-02-14 17:21:07, INFO: Similarity_func: concatenation -2024-02-14 17:21:07, INFO: Layerwise_graph: False -2024-02-14 17:21:07, INFO: Skip_connection: True -2024-02-14 17:21:07, INFO: Number of layers: 1 -2024-02-14 17:21:07, INFO: Planning depth: 1 -2024-02-14 17:21:07, INFO: Planning width: 10 -2024-02-14 17:21:07, INFO: Sparse search: None -2024-02-14 17:21:09, INFO: human number: 10 -2024-02-14 17:21:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:14, INFO: Using device: cpu -2024-02-14 17:21:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:14, INFO: Similarity_func: concatenation -2024-02-14 17:21:14, INFO: Layerwise_graph: False -2024-02-14 17:21:14, INFO: Skip_connection: True -2024-02-14 17:21:14, INFO: Number of layers: 1 -2024-02-14 17:21:14, INFO: Similarity_func: concatenation -2024-02-14 17:21:14, INFO: Layerwise_graph: False -2024-02-14 17:21:14, INFO: Skip_connection: True -2024-02-14 17:21:14, INFO: Number of layers: 1 -2024-02-14 17:21:14, INFO: Planning depth: 1 -2024-02-14 17:21:14, INFO: Planning width: 10 -2024-02-14 17:21:14, INFO: Sparse search: None -2024-02-14 17:21:17, INFO: human number: 10 -2024-02-14 17:21:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:21, INFO: Using device: cpu -2024-02-14 17:21:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:21, INFO: Similarity_func: concatenation -2024-02-14 17:21:21, INFO: Layerwise_graph: False -2024-02-14 17:21:21, INFO: Skip_connection: True -2024-02-14 17:21:21, INFO: Number of layers: 1 -2024-02-14 17:21:21, INFO: Similarity_func: concatenation -2024-02-14 17:21:21, INFO: Layerwise_graph: False -2024-02-14 17:21:21, INFO: Skip_connection: True -2024-02-14 17:21:21, INFO: Number of layers: 1 -2024-02-14 17:21:21, INFO: Planning depth: 1 -2024-02-14 17:21:21, INFO: Planning width: 10 -2024-02-14 17:21:21, INFO: Sparse search: None -2024-02-14 17:21:24, INFO: human number: 10 -2024-02-14 17:21:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:28, INFO: Using device: cpu -2024-02-14 17:21:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:28, INFO: Similarity_func: concatenation -2024-02-14 17:21:28, INFO: Layerwise_graph: False -2024-02-14 17:21:28, INFO: Skip_connection: True -2024-02-14 17:21:28, INFO: Number of layers: 1 -2024-02-14 17:21:28, INFO: Similarity_func: concatenation -2024-02-14 17:21:28, INFO: Layerwise_graph: False -2024-02-14 17:21:28, INFO: Skip_connection: True -2024-02-14 17:21:28, INFO: Number of layers: 1 -2024-02-14 17:21:28, INFO: Planning depth: 1 -2024-02-14 17:21:28, INFO: Planning width: 10 -2024-02-14 17:21:28, INFO: Sparse search: None -2024-02-14 17:21:31, INFO: human number: 10 -2024-02-14 17:21:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:35, INFO: Using device: cpu -2024-02-14 17:21:35, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:35, INFO: Similarity_func: concatenation -2024-02-14 17:21:35, INFO: Layerwise_graph: False -2024-02-14 17:21:35, INFO: Skip_connection: True -2024-02-14 17:21:35, INFO: Number of layers: 1 -2024-02-14 17:21:35, INFO: Similarity_func: concatenation -2024-02-14 17:21:35, INFO: Layerwise_graph: False -2024-02-14 17:21:35, INFO: Skip_connection: True -2024-02-14 17:21:35, INFO: Number of layers: 1 -2024-02-14 17:21:35, INFO: Planning depth: 1 -2024-02-14 17:21:35, INFO: Planning width: 10 -2024-02-14 17:21:35, INFO: Sparse search: None -2024-02-14 17:21:38, INFO: human number: 10 -2024-02-14 17:21:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:42, INFO: Using device: cpu -2024-02-14 17:21:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:42, INFO: Similarity_func: concatenation -2024-02-14 17:21:42, INFO: Layerwise_graph: False -2024-02-14 17:21:42, INFO: Skip_connection: True -2024-02-14 17:21:42, INFO: Number of layers: 1 -2024-02-14 17:21:42, INFO: Similarity_func: concatenation -2024-02-14 17:21:42, INFO: Layerwise_graph: False -2024-02-14 17:21:42, INFO: Skip_connection: True -2024-02-14 17:21:42, INFO: Number of layers: 1 -2024-02-14 17:21:42, INFO: Planning depth: 1 -2024-02-14 17:21:42, INFO: Planning width: 10 -2024-02-14 17:21:42, INFO: Sparse search: None -2024-02-14 17:21:45, INFO: human number: 10 -2024-02-14 17:21:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:49, INFO: Using device: cpu -2024-02-14 17:21:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:49, INFO: Similarity_func: concatenation -2024-02-14 17:21:49, INFO: Layerwise_graph: False -2024-02-14 17:21:49, INFO: Skip_connection: True -2024-02-14 17:21:49, INFO: Number of layers: 1 -2024-02-14 17:21:49, INFO: Similarity_func: concatenation -2024-02-14 17:21:49, INFO: Layerwise_graph: False -2024-02-14 17:21:49, INFO: Skip_connection: True -2024-02-14 17:21:49, INFO: Number of layers: 1 -2024-02-14 17:21:49, INFO: Planning depth: 1 -2024-02-14 17:21:49, INFO: Planning width: 10 -2024-02-14 17:21:49, INFO: Sparse search: None -2024-02-14 17:21:52, INFO: human number: 10 -2024-02-14 17:21:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:21:57, INFO: Using device: cpu -2024-02-14 17:21:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:21:57, INFO: Similarity_func: concatenation -2024-02-14 17:21:57, INFO: Layerwise_graph: False -2024-02-14 17:21:57, INFO: Skip_connection: True -2024-02-14 17:21:57, INFO: Number of layers: 1 -2024-02-14 17:21:57, INFO: Similarity_func: concatenation -2024-02-14 17:21:57, INFO: Layerwise_graph: False -2024-02-14 17:21:57, INFO: Skip_connection: True -2024-02-14 17:21:57, INFO: Number of layers: 1 -2024-02-14 17:21:57, INFO: Planning depth: 1 -2024-02-14 17:21:57, INFO: Planning width: 10 -2024-02-14 17:21:57, INFO: Sparse search: None -2024-02-14 17:21:59, INFO: human number: 10 -2024-02-14 17:21:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:21:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:21:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:21:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:21:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:03, INFO: Using device: cpu -2024-02-14 17:22:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:03, INFO: Similarity_func: concatenation -2024-02-14 17:22:03, INFO: Layerwise_graph: False -2024-02-14 17:22:03, INFO: Skip_connection: True -2024-02-14 17:22:03, INFO: Number of layers: 1 -2024-02-14 17:22:03, INFO: Similarity_func: concatenation -2024-02-14 17:22:03, INFO: Layerwise_graph: False -2024-02-14 17:22:03, INFO: Skip_connection: True -2024-02-14 17:22:03, INFO: Number of layers: 1 -2024-02-14 17:22:03, INFO: Planning depth: 1 -2024-02-14 17:22:03, INFO: Planning width: 10 -2024-02-14 17:22:03, INFO: Sparse search: None -2024-02-14 17:22:06, INFO: human number: 10 -2024-02-14 17:22:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:10, INFO: Using device: cpu -2024-02-14 17:22:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:10, INFO: Similarity_func: concatenation -2024-02-14 17:22:10, INFO: Layerwise_graph: False -2024-02-14 17:22:10, INFO: Skip_connection: True -2024-02-14 17:22:10, INFO: Number of layers: 1 -2024-02-14 17:22:10, INFO: Similarity_func: concatenation -2024-02-14 17:22:10, INFO: Layerwise_graph: False -2024-02-14 17:22:10, INFO: Skip_connection: True -2024-02-14 17:22:10, INFO: Number of layers: 1 -2024-02-14 17:22:10, INFO: Planning depth: 1 -2024-02-14 17:22:10, INFO: Planning width: 10 -2024-02-14 17:22:10, INFO: Sparse search: None -2024-02-14 17:22:13, INFO: human number: 10 -2024-02-14 17:22:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:17, INFO: Using device: cpu -2024-02-14 17:22:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:17, INFO: Similarity_func: concatenation -2024-02-14 17:22:17, INFO: Layerwise_graph: False -2024-02-14 17:22:17, INFO: Skip_connection: True -2024-02-14 17:22:17, INFO: Number of layers: 1 -2024-02-14 17:22:17, INFO: Similarity_func: concatenation -2024-02-14 17:22:17, INFO: Layerwise_graph: False -2024-02-14 17:22:17, INFO: Skip_connection: True -2024-02-14 17:22:17, INFO: Number of layers: 1 -2024-02-14 17:22:17, INFO: Planning depth: 1 -2024-02-14 17:22:17, INFO: Planning width: 10 -2024-02-14 17:22:17, INFO: Sparse search: None -2024-02-14 17:22:20, INFO: human number: 10 -2024-02-14 17:22:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:20, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:24, INFO: Using device: cpu -2024-02-14 17:22:24, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:24, INFO: Similarity_func: concatenation -2024-02-14 17:22:24, INFO: Layerwise_graph: False -2024-02-14 17:22:24, INFO: Skip_connection: True -2024-02-14 17:22:24, INFO: Number of layers: 1 -2024-02-14 17:22:24, INFO: Similarity_func: concatenation -2024-02-14 17:22:24, INFO: Layerwise_graph: False -2024-02-14 17:22:24, INFO: Skip_connection: True -2024-02-14 17:22:24, INFO: Number of layers: 1 -2024-02-14 17:22:24, INFO: Planning depth: 1 -2024-02-14 17:22:24, INFO: Planning width: 10 -2024-02-14 17:22:24, INFO: Sparse search: None -2024-02-14 17:22:27, INFO: human number: 10 -2024-02-14 17:22:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:31, INFO: Using device: cpu -2024-02-14 17:22:31, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:31, INFO: Similarity_func: concatenation -2024-02-14 17:22:31, INFO: Layerwise_graph: False -2024-02-14 17:22:31, INFO: Skip_connection: True -2024-02-14 17:22:31, INFO: Number of layers: 1 -2024-02-14 17:22:31, INFO: Similarity_func: concatenation -2024-02-14 17:22:31, INFO: Layerwise_graph: False -2024-02-14 17:22:31, INFO: Skip_connection: True -2024-02-14 17:22:31, INFO: Number of layers: 1 -2024-02-14 17:22:31, INFO: Planning depth: 1 -2024-02-14 17:22:31, INFO: Planning width: 10 -2024-02-14 17:22:31, INFO: Sparse search: None -2024-02-14 17:22:34, INFO: human number: 10 -2024-02-14 17:22:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:38, INFO: Using device: cpu -2024-02-14 17:22:38, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:38, INFO: Similarity_func: concatenation -2024-02-14 17:22:38, INFO: Layerwise_graph: False -2024-02-14 17:22:38, INFO: Skip_connection: True -2024-02-14 17:22:38, INFO: Number of layers: 1 -2024-02-14 17:22:38, INFO: Similarity_func: concatenation -2024-02-14 17:22:38, INFO: Layerwise_graph: False -2024-02-14 17:22:38, INFO: Skip_connection: True -2024-02-14 17:22:38, INFO: Number of layers: 1 -2024-02-14 17:22:38, INFO: Planning depth: 1 -2024-02-14 17:22:38, INFO: Planning width: 10 -2024-02-14 17:22:38, INFO: Sparse search: None -2024-02-14 17:22:41, INFO: human number: 10 -2024-02-14 17:22:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:45, INFO: Using device: cpu -2024-02-14 17:22:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:45, INFO: Similarity_func: concatenation -2024-02-14 17:22:45, INFO: Layerwise_graph: False -2024-02-14 17:22:45, INFO: Skip_connection: True -2024-02-14 17:22:45, INFO: Number of layers: 1 -2024-02-14 17:22:45, INFO: Similarity_func: concatenation -2024-02-14 17:22:45, INFO: Layerwise_graph: False -2024-02-14 17:22:45, INFO: Skip_connection: True -2024-02-14 17:22:45, INFO: Number of layers: 1 -2024-02-14 17:22:45, INFO: Planning depth: 1 -2024-02-14 17:22:45, INFO: Planning width: 10 -2024-02-14 17:22:45, INFO: Sparse search: None -2024-02-14 17:22:48, INFO: human number: 10 -2024-02-14 17:22:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:22:53, INFO: Using device: cpu -2024-02-14 17:22:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:22:53, INFO: Similarity_func: concatenation -2024-02-14 17:22:53, INFO: Layerwise_graph: False -2024-02-14 17:22:53, INFO: Skip_connection: True -2024-02-14 17:22:53, INFO: Number of layers: 1 -2024-02-14 17:22:53, INFO: Similarity_func: concatenation -2024-02-14 17:22:53, INFO: Layerwise_graph: False -2024-02-14 17:22:53, INFO: Skip_connection: True -2024-02-14 17:22:53, INFO: Number of layers: 1 -2024-02-14 17:22:53, INFO: Planning depth: 1 -2024-02-14 17:22:53, INFO: Planning width: 10 -2024-02-14 17:22:53, INFO: Sparse search: None -2024-02-14 17:22:56, INFO: human number: 10 -2024-02-14 17:22:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:22:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:22:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:22:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:22:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:00, INFO: Using device: cpu -2024-02-14 17:23:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:00, INFO: Similarity_func: concatenation -2024-02-14 17:23:00, INFO: Layerwise_graph: False -2024-02-14 17:23:00, INFO: Skip_connection: True -2024-02-14 17:23:00, INFO: Number of layers: 1 -2024-02-14 17:23:00, INFO: Similarity_func: concatenation -2024-02-14 17:23:00, INFO: Layerwise_graph: False -2024-02-14 17:23:00, INFO: Skip_connection: True -2024-02-14 17:23:00, INFO: Number of layers: 1 -2024-02-14 17:23:00, INFO: Planning depth: 1 -2024-02-14 17:23:00, INFO: Planning width: 10 -2024-02-14 17:23:00, INFO: Sparse search: None -2024-02-14 17:23:03, INFO: human number: 10 -2024-02-14 17:23:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:07, INFO: Using device: cpu -2024-02-14 17:23:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:07, INFO: Similarity_func: concatenation -2024-02-14 17:23:07, INFO: Layerwise_graph: False -2024-02-14 17:23:07, INFO: Skip_connection: True -2024-02-14 17:23:07, INFO: Number of layers: 1 -2024-02-14 17:23:07, INFO: Similarity_func: concatenation -2024-02-14 17:23:07, INFO: Layerwise_graph: False -2024-02-14 17:23:07, INFO: Skip_connection: True -2024-02-14 17:23:07, INFO: Number of layers: 1 -2024-02-14 17:23:07, INFO: Planning depth: 1 -2024-02-14 17:23:07, INFO: Planning width: 10 -2024-02-14 17:23:07, INFO: Sparse search: None -2024-02-14 17:23:10, INFO: human number: 10 -2024-02-14 17:23:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:14, INFO: Using device: cpu -2024-02-14 17:23:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:14, INFO: Similarity_func: concatenation -2024-02-14 17:23:14, INFO: Layerwise_graph: False -2024-02-14 17:23:14, INFO: Skip_connection: True -2024-02-14 17:23:14, INFO: Number of layers: 1 -2024-02-14 17:23:14, INFO: Similarity_func: concatenation -2024-02-14 17:23:14, INFO: Layerwise_graph: False -2024-02-14 17:23:14, INFO: Skip_connection: True -2024-02-14 17:23:14, INFO: Number of layers: 1 -2024-02-14 17:23:14, INFO: Planning depth: 1 -2024-02-14 17:23:14, INFO: Planning width: 10 -2024-02-14 17:23:14, INFO: Sparse search: None -2024-02-14 17:23:17, INFO: human number: 10 -2024-02-14 17:23:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:21, INFO: Using device: cpu -2024-02-14 17:23:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:21, INFO: Similarity_func: concatenation -2024-02-14 17:23:21, INFO: Layerwise_graph: False -2024-02-14 17:23:21, INFO: Skip_connection: True -2024-02-14 17:23:21, INFO: Number of layers: 1 -2024-02-14 17:23:21, INFO: Similarity_func: concatenation -2024-02-14 17:23:21, INFO: Layerwise_graph: False -2024-02-14 17:23:21, INFO: Skip_connection: True -2024-02-14 17:23:21, INFO: Number of layers: 1 -2024-02-14 17:23:21, INFO: Planning depth: 1 -2024-02-14 17:23:21, INFO: Planning width: 10 -2024-02-14 17:23:21, INFO: Sparse search: None -2024-02-14 17:23:23, INFO: human number: 10 -2024-02-14 17:23:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:23, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:28, INFO: Using device: cpu -2024-02-14 17:23:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:28, INFO: Similarity_func: concatenation -2024-02-14 17:23:28, INFO: Layerwise_graph: False -2024-02-14 17:23:28, INFO: Skip_connection: True -2024-02-14 17:23:28, INFO: Number of layers: 1 -2024-02-14 17:23:28, INFO: Similarity_func: concatenation -2024-02-14 17:23:28, INFO: Layerwise_graph: False -2024-02-14 17:23:28, INFO: Skip_connection: True -2024-02-14 17:23:28, INFO: Number of layers: 1 -2024-02-14 17:23:28, INFO: Planning depth: 1 -2024-02-14 17:23:28, INFO: Planning width: 10 -2024-02-14 17:23:28, INFO: Sparse search: None -2024-02-14 17:23:30, INFO: human number: 10 -2024-02-14 17:23:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:35, INFO: Using device: cpu -2024-02-14 17:23:35, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:35, INFO: Similarity_func: concatenation -2024-02-14 17:23:35, INFO: Layerwise_graph: False -2024-02-14 17:23:35, INFO: Skip_connection: True -2024-02-14 17:23:35, INFO: Number of layers: 1 -2024-02-14 17:23:35, INFO: Similarity_func: concatenation -2024-02-14 17:23:35, INFO: Layerwise_graph: False -2024-02-14 17:23:35, INFO: Skip_connection: True -2024-02-14 17:23:35, INFO: Number of layers: 1 -2024-02-14 17:23:35, INFO: Planning depth: 1 -2024-02-14 17:23:35, INFO: Planning width: 10 -2024-02-14 17:23:35, INFO: Sparse search: None -2024-02-14 17:23:38, INFO: human number: 10 -2024-02-14 17:23:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:42, INFO: Using device: cpu -2024-02-14 17:23:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:42, INFO: Similarity_func: concatenation -2024-02-14 17:23:42, INFO: Layerwise_graph: False -2024-02-14 17:23:42, INFO: Skip_connection: True -2024-02-14 17:23:42, INFO: Number of layers: 1 -2024-02-14 17:23:42, INFO: Similarity_func: concatenation -2024-02-14 17:23:42, INFO: Layerwise_graph: False -2024-02-14 17:23:42, INFO: Skip_connection: True -2024-02-14 17:23:42, INFO: Number of layers: 1 -2024-02-14 17:23:42, INFO: Planning depth: 1 -2024-02-14 17:23:42, INFO: Planning width: 10 -2024-02-14 17:23:42, INFO: Sparse search: None -2024-02-14 17:23:45, INFO: human number: 10 -2024-02-14 17:23:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:50, INFO: Using device: cpu -2024-02-14 17:23:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:50, INFO: Similarity_func: concatenation -2024-02-14 17:23:50, INFO: Layerwise_graph: False -2024-02-14 17:23:50, INFO: Skip_connection: True -2024-02-14 17:23:50, INFO: Number of layers: 1 -2024-02-14 17:23:50, INFO: Similarity_func: concatenation -2024-02-14 17:23:50, INFO: Layerwise_graph: False -2024-02-14 17:23:50, INFO: Skip_connection: True -2024-02-14 17:23:50, INFO: Number of layers: 1 -2024-02-14 17:23:50, INFO: Planning depth: 1 -2024-02-14 17:23:50, INFO: Planning width: 10 -2024-02-14 17:23:50, INFO: Sparse search: None -2024-02-14 17:23:53, INFO: human number: 10 -2024-02-14 17:23:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:23:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:23:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:23:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:23:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:23:57, INFO: Using device: cpu -2024-02-14 17:23:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:23:57, INFO: Similarity_func: concatenation -2024-02-14 17:23:57, INFO: Layerwise_graph: False -2024-02-14 17:23:57, INFO: Skip_connection: True -2024-02-14 17:23:57, INFO: Number of layers: 1 -2024-02-14 17:23:57, INFO: Similarity_func: concatenation -2024-02-14 17:23:57, INFO: Layerwise_graph: False -2024-02-14 17:23:57, INFO: Skip_connection: True -2024-02-14 17:23:57, INFO: Number of layers: 1 -2024-02-14 17:23:57, INFO: Planning depth: 1 -2024-02-14 17:23:57, INFO: Planning width: 10 -2024-02-14 17:23:57, INFO: Sparse search: None -2024-02-14 17:24:00, INFO: human number: 10 -2024-02-14 17:24:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:04, INFO: Using device: cpu -2024-02-14 17:24:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:04, INFO: Similarity_func: concatenation -2024-02-14 17:24:04, INFO: Layerwise_graph: False -2024-02-14 17:24:04, INFO: Skip_connection: True -2024-02-14 17:24:04, INFO: Number of layers: 1 -2024-02-14 17:24:04, INFO: Similarity_func: concatenation -2024-02-14 17:24:04, INFO: Layerwise_graph: False -2024-02-14 17:24:04, INFO: Skip_connection: True -2024-02-14 17:24:04, INFO: Number of layers: 1 -2024-02-14 17:24:04, INFO: Planning depth: 1 -2024-02-14 17:24:04, INFO: Planning width: 10 -2024-02-14 17:24:04, INFO: Sparse search: None -2024-02-14 17:24:07, INFO: human number: 10 -2024-02-14 17:24:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:11, INFO: Using device: cpu -2024-02-14 17:24:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:11, INFO: Similarity_func: concatenation -2024-02-14 17:24:11, INFO: Layerwise_graph: False -2024-02-14 17:24:11, INFO: Skip_connection: True -2024-02-14 17:24:11, INFO: Number of layers: 1 -2024-02-14 17:24:11, INFO: Similarity_func: concatenation -2024-02-14 17:24:11, INFO: Layerwise_graph: False -2024-02-14 17:24:11, INFO: Skip_connection: True -2024-02-14 17:24:11, INFO: Number of layers: 1 -2024-02-14 17:24:11, INFO: Planning depth: 1 -2024-02-14 17:24:11, INFO: Planning width: 10 -2024-02-14 17:24:11, INFO: Sparse search: None -2024-02-14 17:24:14, INFO: human number: 10 -2024-02-14 17:24:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:18, INFO: Using device: cpu -2024-02-14 17:24:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:18, INFO: Similarity_func: concatenation -2024-02-14 17:24:18, INFO: Layerwise_graph: False -2024-02-14 17:24:18, INFO: Skip_connection: True -2024-02-14 17:24:18, INFO: Number of layers: 1 -2024-02-14 17:24:18, INFO: Similarity_func: concatenation -2024-02-14 17:24:18, INFO: Layerwise_graph: False -2024-02-14 17:24:18, INFO: Skip_connection: True -2024-02-14 17:24:18, INFO: Number of layers: 1 -2024-02-14 17:24:18, INFO: Planning depth: 1 -2024-02-14 17:24:18, INFO: Planning width: 10 -2024-02-14 17:24:18, INFO: Sparse search: None -2024-02-14 17:24:21, INFO: human number: 10 -2024-02-14 17:24:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:25, INFO: Using device: cpu -2024-02-14 17:24:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:25, INFO: Similarity_func: concatenation -2024-02-14 17:24:25, INFO: Layerwise_graph: False -2024-02-14 17:24:25, INFO: Skip_connection: True -2024-02-14 17:24:25, INFO: Number of layers: 1 -2024-02-14 17:24:25, INFO: Similarity_func: concatenation -2024-02-14 17:24:25, INFO: Layerwise_graph: False -2024-02-14 17:24:25, INFO: Skip_connection: True -2024-02-14 17:24:25, INFO: Number of layers: 1 -2024-02-14 17:24:25, INFO: Planning depth: 1 -2024-02-14 17:24:25, INFO: Planning width: 10 -2024-02-14 17:24:25, INFO: Sparse search: None -2024-02-14 17:24:28, INFO: human number: 10 -2024-02-14 17:24:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:32, INFO: Using device: cpu -2024-02-14 17:24:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:32, INFO: Similarity_func: concatenation -2024-02-14 17:24:32, INFO: Layerwise_graph: False -2024-02-14 17:24:32, INFO: Skip_connection: True -2024-02-14 17:24:32, INFO: Number of layers: 1 -2024-02-14 17:24:32, INFO: Similarity_func: concatenation -2024-02-14 17:24:32, INFO: Layerwise_graph: False -2024-02-14 17:24:32, INFO: Skip_connection: True -2024-02-14 17:24:32, INFO: Number of layers: 1 -2024-02-14 17:24:32, INFO: Planning depth: 1 -2024-02-14 17:24:32, INFO: Planning width: 10 -2024-02-14 17:24:32, INFO: Sparse search: None -2024-02-14 17:24:35, INFO: human number: 10 -2024-02-14 17:24:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:39, INFO: Using device: cpu -2024-02-14 17:24:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:39, INFO: Similarity_func: concatenation -2024-02-14 17:24:39, INFO: Layerwise_graph: False -2024-02-14 17:24:39, INFO: Skip_connection: True -2024-02-14 17:24:39, INFO: Number of layers: 1 -2024-02-14 17:24:39, INFO: Similarity_func: concatenation -2024-02-14 17:24:39, INFO: Layerwise_graph: False -2024-02-14 17:24:39, INFO: Skip_connection: True -2024-02-14 17:24:39, INFO: Number of layers: 1 -2024-02-14 17:24:39, INFO: Planning depth: 1 -2024-02-14 17:24:39, INFO: Planning width: 10 -2024-02-14 17:24:39, INFO: Sparse search: None -2024-02-14 17:24:42, INFO: human number: 10 -2024-02-14 17:24:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:46, INFO: Using device: cpu -2024-02-14 17:24:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:46, INFO: Similarity_func: concatenation -2024-02-14 17:24:46, INFO: Layerwise_graph: False -2024-02-14 17:24:46, INFO: Skip_connection: True -2024-02-14 17:24:46, INFO: Number of layers: 1 -2024-02-14 17:24:46, INFO: Similarity_func: concatenation -2024-02-14 17:24:46, INFO: Layerwise_graph: False -2024-02-14 17:24:46, INFO: Skip_connection: True -2024-02-14 17:24:46, INFO: Number of layers: 1 -2024-02-14 17:24:46, INFO: Planning depth: 1 -2024-02-14 17:24:46, INFO: Planning width: 10 -2024-02-14 17:24:46, INFO: Sparse search: None -2024-02-14 17:24:49, INFO: human number: 10 -2024-02-14 17:24:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:24:52, INFO: Using device: cpu -2024-02-14 17:24:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:24:52, INFO: Similarity_func: concatenation -2024-02-14 17:24:52, INFO: Layerwise_graph: False -2024-02-14 17:24:52, INFO: Skip_connection: True -2024-02-14 17:24:52, INFO: Number of layers: 1 -2024-02-14 17:24:52, INFO: Similarity_func: concatenation -2024-02-14 17:24:52, INFO: Layerwise_graph: False -2024-02-14 17:24:52, INFO: Skip_connection: True -2024-02-14 17:24:52, INFO: Number of layers: 1 -2024-02-14 17:24:52, INFO: Planning depth: 1 -2024-02-14 17:24:52, INFO: Planning width: 10 -2024-02-14 17:24:52, INFO: Sparse search: None -2024-02-14 17:24:55, INFO: human number: 10 -2024-02-14 17:24:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:24:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:24:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:24:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:24:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:00, INFO: Using device: cpu -2024-02-14 17:25:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:00, INFO: Similarity_func: concatenation -2024-02-14 17:25:00, INFO: Layerwise_graph: False -2024-02-14 17:25:00, INFO: Skip_connection: True -2024-02-14 17:25:00, INFO: Number of layers: 1 -2024-02-14 17:25:00, INFO: Similarity_func: concatenation -2024-02-14 17:25:00, INFO: Layerwise_graph: False -2024-02-14 17:25:00, INFO: Skip_connection: True -2024-02-14 17:25:00, INFO: Number of layers: 1 -2024-02-14 17:25:00, INFO: Planning depth: 1 -2024-02-14 17:25:00, INFO: Planning width: 10 -2024-02-14 17:25:00, INFO: Sparse search: None -2024-02-14 17:25:03, INFO: human number: 10 -2024-02-14 17:25:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:07, INFO: Using device: cpu -2024-02-14 17:25:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:07, INFO: Similarity_func: concatenation -2024-02-14 17:25:07, INFO: Layerwise_graph: False -2024-02-14 17:25:07, INFO: Skip_connection: True -2024-02-14 17:25:07, INFO: Number of layers: 1 -2024-02-14 17:25:07, INFO: Similarity_func: concatenation -2024-02-14 17:25:07, INFO: Layerwise_graph: False -2024-02-14 17:25:07, INFO: Skip_connection: True -2024-02-14 17:25:07, INFO: Number of layers: 1 -2024-02-14 17:25:07, INFO: Planning depth: 1 -2024-02-14 17:25:07, INFO: Planning width: 10 -2024-02-14 17:25:07, INFO: Sparse search: None -2024-02-14 17:25:10, INFO: human number: 10 -2024-02-14 17:25:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:14, INFO: Using device: cpu -2024-02-14 17:25:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:14, INFO: Similarity_func: concatenation -2024-02-14 17:25:14, INFO: Layerwise_graph: False -2024-02-14 17:25:14, INFO: Skip_connection: True -2024-02-14 17:25:14, INFO: Number of layers: 1 -2024-02-14 17:25:14, INFO: Similarity_func: concatenation -2024-02-14 17:25:14, INFO: Layerwise_graph: False -2024-02-14 17:25:14, INFO: Skip_connection: True -2024-02-14 17:25:14, INFO: Number of layers: 1 -2024-02-14 17:25:14, INFO: Planning depth: 1 -2024-02-14 17:25:14, INFO: Planning width: 10 -2024-02-14 17:25:14, INFO: Sparse search: None -2024-02-14 17:25:17, INFO: human number: 10 -2024-02-14 17:25:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:21, INFO: Using device: cpu -2024-02-14 17:25:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:21, INFO: Similarity_func: concatenation -2024-02-14 17:25:21, INFO: Layerwise_graph: False -2024-02-14 17:25:21, INFO: Skip_connection: True -2024-02-14 17:25:21, INFO: Number of layers: 1 -2024-02-14 17:25:21, INFO: Similarity_func: concatenation -2024-02-14 17:25:21, INFO: Layerwise_graph: False -2024-02-14 17:25:21, INFO: Skip_connection: True -2024-02-14 17:25:21, INFO: Number of layers: 1 -2024-02-14 17:25:21, INFO: Planning depth: 1 -2024-02-14 17:25:21, INFO: Planning width: 10 -2024-02-14 17:25:21, INFO: Sparse search: None -2024-02-14 17:25:24, INFO: human number: 10 -2024-02-14 17:25:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:28, INFO: Using device: cpu -2024-02-14 17:25:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:28, INFO: Similarity_func: concatenation -2024-02-14 17:25:28, INFO: Layerwise_graph: False -2024-02-14 17:25:28, INFO: Skip_connection: True -2024-02-14 17:25:28, INFO: Number of layers: 1 -2024-02-14 17:25:28, INFO: Similarity_func: concatenation -2024-02-14 17:25:28, INFO: Layerwise_graph: False -2024-02-14 17:25:28, INFO: Skip_connection: True -2024-02-14 17:25:28, INFO: Number of layers: 1 -2024-02-14 17:25:28, INFO: Planning depth: 1 -2024-02-14 17:25:28, INFO: Planning width: 10 -2024-02-14 17:25:28, INFO: Sparse search: None -2024-02-14 17:25:31, INFO: human number: 10 -2024-02-14 17:25:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:35, INFO: Using device: cpu -2024-02-14 17:25:35, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:35, INFO: Similarity_func: concatenation -2024-02-14 17:25:35, INFO: Layerwise_graph: False -2024-02-14 17:25:35, INFO: Skip_connection: True -2024-02-14 17:25:35, INFO: Number of layers: 1 -2024-02-14 17:25:35, INFO: Similarity_func: concatenation -2024-02-14 17:25:35, INFO: Layerwise_graph: False -2024-02-14 17:25:35, INFO: Skip_connection: True -2024-02-14 17:25:35, INFO: Number of layers: 1 -2024-02-14 17:25:35, INFO: Planning depth: 1 -2024-02-14 17:25:35, INFO: Planning width: 10 -2024-02-14 17:25:35, INFO: Sparse search: None -2024-02-14 17:25:38, INFO: human number: 10 -2024-02-14 17:25:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:42, INFO: Using device: cpu -2024-02-14 17:25:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:42, INFO: Similarity_func: concatenation -2024-02-14 17:25:42, INFO: Layerwise_graph: False -2024-02-14 17:25:42, INFO: Skip_connection: True -2024-02-14 17:25:42, INFO: Number of layers: 1 -2024-02-14 17:25:42, INFO: Similarity_func: concatenation -2024-02-14 17:25:42, INFO: Layerwise_graph: False -2024-02-14 17:25:42, INFO: Skip_connection: True -2024-02-14 17:25:42, INFO: Number of layers: 1 -2024-02-14 17:25:42, INFO: Planning depth: 1 -2024-02-14 17:25:42, INFO: Planning width: 10 -2024-02-14 17:25:42, INFO: Sparse search: None -2024-02-14 17:25:45, INFO: human number: 10 -2024-02-14 17:25:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:49, INFO: Using device: cpu -2024-02-14 17:25:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:49, INFO: Similarity_func: concatenation -2024-02-14 17:25:49, INFO: Layerwise_graph: False -2024-02-14 17:25:49, INFO: Skip_connection: True -2024-02-14 17:25:49, INFO: Number of layers: 1 -2024-02-14 17:25:49, INFO: Similarity_func: concatenation -2024-02-14 17:25:49, INFO: Layerwise_graph: False -2024-02-14 17:25:49, INFO: Skip_connection: True -2024-02-14 17:25:49, INFO: Number of layers: 1 -2024-02-14 17:25:49, INFO: Planning depth: 1 -2024-02-14 17:25:49, INFO: Planning width: 10 -2024-02-14 17:25:49, INFO: Sparse search: None -2024-02-14 17:25:52, INFO: human number: 10 -2024-02-14 17:25:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:25:57, INFO: Using device: cpu -2024-02-14 17:25:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:25:57, INFO: Similarity_func: concatenation -2024-02-14 17:25:57, INFO: Layerwise_graph: False -2024-02-14 17:25:57, INFO: Skip_connection: True -2024-02-14 17:25:57, INFO: Number of layers: 1 -2024-02-14 17:25:57, INFO: Similarity_func: concatenation -2024-02-14 17:25:57, INFO: Layerwise_graph: False -2024-02-14 17:25:57, INFO: Skip_connection: True -2024-02-14 17:25:57, INFO: Number of layers: 1 -2024-02-14 17:25:57, INFO: Planning depth: 1 -2024-02-14 17:25:57, INFO: Planning width: 10 -2024-02-14 17:25:57, INFO: Sparse search: None -2024-02-14 17:25:59, INFO: human number: 10 -2024-02-14 17:25:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:25:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:25:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:25:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:25:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:04, INFO: Using device: cpu -2024-02-14 17:26:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:04, INFO: Similarity_func: concatenation -2024-02-14 17:26:04, INFO: Layerwise_graph: False -2024-02-14 17:26:04, INFO: Skip_connection: True -2024-02-14 17:26:04, INFO: Number of layers: 1 -2024-02-14 17:26:04, INFO: Similarity_func: concatenation -2024-02-14 17:26:04, INFO: Layerwise_graph: False -2024-02-14 17:26:04, INFO: Skip_connection: True -2024-02-14 17:26:04, INFO: Number of layers: 1 -2024-02-14 17:26:04, INFO: Planning depth: 1 -2024-02-14 17:26:04, INFO: Planning width: 10 -2024-02-14 17:26:04, INFO: Sparse search: None -2024-02-14 17:26:06, INFO: human number: 10 -2024-02-14 17:26:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:11, INFO: Using device: cpu -2024-02-14 17:26:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:11, INFO: Similarity_func: concatenation -2024-02-14 17:26:11, INFO: Layerwise_graph: False -2024-02-14 17:26:11, INFO: Skip_connection: True -2024-02-14 17:26:11, INFO: Number of layers: 1 -2024-02-14 17:26:11, INFO: Similarity_func: concatenation -2024-02-14 17:26:11, INFO: Layerwise_graph: False -2024-02-14 17:26:11, INFO: Skip_connection: True -2024-02-14 17:26:11, INFO: Number of layers: 1 -2024-02-14 17:26:11, INFO: Planning depth: 1 -2024-02-14 17:26:11, INFO: Planning width: 10 -2024-02-14 17:26:11, INFO: Sparse search: None -2024-02-14 17:26:14, INFO: human number: 10 -2024-02-14 17:26:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:18, INFO: Using device: cpu -2024-02-14 17:26:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:18, INFO: Similarity_func: concatenation -2024-02-14 17:26:18, INFO: Layerwise_graph: False -2024-02-14 17:26:18, INFO: Skip_connection: True -2024-02-14 17:26:18, INFO: Number of layers: 1 -2024-02-14 17:26:18, INFO: Similarity_func: concatenation -2024-02-14 17:26:18, INFO: Layerwise_graph: False -2024-02-14 17:26:18, INFO: Skip_connection: True -2024-02-14 17:26:18, INFO: Number of layers: 1 -2024-02-14 17:26:18, INFO: Planning depth: 1 -2024-02-14 17:26:18, INFO: Planning width: 10 -2024-02-14 17:26:18, INFO: Sparse search: None -2024-02-14 17:26:21, INFO: human number: 10 -2024-02-14 17:26:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:25, INFO: Using device: cpu -2024-02-14 17:26:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:25, INFO: Similarity_func: concatenation -2024-02-14 17:26:25, INFO: Layerwise_graph: False -2024-02-14 17:26:25, INFO: Skip_connection: True -2024-02-14 17:26:25, INFO: Number of layers: 1 -2024-02-14 17:26:25, INFO: Similarity_func: concatenation -2024-02-14 17:26:25, INFO: Layerwise_graph: False -2024-02-14 17:26:25, INFO: Skip_connection: True -2024-02-14 17:26:25, INFO: Number of layers: 1 -2024-02-14 17:26:25, INFO: Planning depth: 1 -2024-02-14 17:26:25, INFO: Planning width: 10 -2024-02-14 17:26:25, INFO: Sparse search: None -2024-02-14 17:26:28, INFO: human number: 10 -2024-02-14 17:26:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:32, INFO: Using device: cpu -2024-02-14 17:26:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:32, INFO: Similarity_func: concatenation -2024-02-14 17:26:32, INFO: Layerwise_graph: False -2024-02-14 17:26:32, INFO: Skip_connection: True -2024-02-14 17:26:32, INFO: Number of layers: 1 -2024-02-14 17:26:32, INFO: Similarity_func: concatenation -2024-02-14 17:26:32, INFO: Layerwise_graph: False -2024-02-14 17:26:32, INFO: Skip_connection: True -2024-02-14 17:26:32, INFO: Number of layers: 1 -2024-02-14 17:26:32, INFO: Planning depth: 1 -2024-02-14 17:26:32, INFO: Planning width: 10 -2024-02-14 17:26:32, INFO: Sparse search: None -2024-02-14 17:26:35, INFO: human number: 10 -2024-02-14 17:26:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:39, INFO: Using device: cpu -2024-02-14 17:26:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:39, INFO: Similarity_func: concatenation -2024-02-14 17:26:39, INFO: Layerwise_graph: False -2024-02-14 17:26:39, INFO: Skip_connection: True -2024-02-14 17:26:39, INFO: Number of layers: 1 -2024-02-14 17:26:39, INFO: Similarity_func: concatenation -2024-02-14 17:26:39, INFO: Layerwise_graph: False -2024-02-14 17:26:39, INFO: Skip_connection: True -2024-02-14 17:26:39, INFO: Number of layers: 1 -2024-02-14 17:26:39, INFO: Planning depth: 1 -2024-02-14 17:26:39, INFO: Planning width: 10 -2024-02-14 17:26:39, INFO: Sparse search: None -2024-02-14 17:26:41, INFO: human number: 10 -2024-02-14 17:26:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:46, INFO: Using device: cpu -2024-02-14 17:26:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:46, INFO: Similarity_func: concatenation -2024-02-14 17:26:46, INFO: Layerwise_graph: False -2024-02-14 17:26:46, INFO: Skip_connection: True -2024-02-14 17:26:46, INFO: Number of layers: 1 -2024-02-14 17:26:46, INFO: Similarity_func: concatenation -2024-02-14 17:26:46, INFO: Layerwise_graph: False -2024-02-14 17:26:46, INFO: Skip_connection: True -2024-02-14 17:26:46, INFO: Number of layers: 1 -2024-02-14 17:26:46, INFO: Planning depth: 1 -2024-02-14 17:26:46, INFO: Planning width: 10 -2024-02-14 17:26:46, INFO: Sparse search: None -2024-02-14 17:26:49, INFO: human number: 10 -2024-02-14 17:26:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:26:53, INFO: Using device: cpu -2024-02-14 17:26:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:26:53, INFO: Similarity_func: concatenation -2024-02-14 17:26:53, INFO: Layerwise_graph: False -2024-02-14 17:26:53, INFO: Skip_connection: True -2024-02-14 17:26:53, INFO: Number of layers: 1 -2024-02-14 17:26:53, INFO: Similarity_func: concatenation -2024-02-14 17:26:53, INFO: Layerwise_graph: False -2024-02-14 17:26:53, INFO: Skip_connection: True -2024-02-14 17:26:53, INFO: Number of layers: 1 -2024-02-14 17:26:53, INFO: Planning depth: 1 -2024-02-14 17:26:53, INFO: Planning width: 10 -2024-02-14 17:26:53, INFO: Sparse search: None -2024-02-14 17:26:56, INFO: human number: 10 -2024-02-14 17:26:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:26:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:26:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:26:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:26:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:01, INFO: Using device: cpu -2024-02-14 17:27:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:01, INFO: Similarity_func: concatenation -2024-02-14 17:27:01, INFO: Layerwise_graph: False -2024-02-14 17:27:01, INFO: Skip_connection: True -2024-02-14 17:27:01, INFO: Number of layers: 1 -2024-02-14 17:27:01, INFO: Similarity_func: concatenation -2024-02-14 17:27:01, INFO: Layerwise_graph: False -2024-02-14 17:27:01, INFO: Skip_connection: True -2024-02-14 17:27:01, INFO: Number of layers: 1 -2024-02-14 17:27:01, INFO: Planning depth: 1 -2024-02-14 17:27:01, INFO: Planning width: 10 -2024-02-14 17:27:01, INFO: Sparse search: None -2024-02-14 17:27:04, INFO: human number: 10 -2024-02-14 17:27:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:08, INFO: Using device: cpu -2024-02-14 17:27:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:08, INFO: Similarity_func: concatenation -2024-02-14 17:27:08, INFO: Layerwise_graph: False -2024-02-14 17:27:08, INFO: Skip_connection: True -2024-02-14 17:27:08, INFO: Number of layers: 1 -2024-02-14 17:27:08, INFO: Similarity_func: concatenation -2024-02-14 17:27:08, INFO: Layerwise_graph: False -2024-02-14 17:27:08, INFO: Skip_connection: True -2024-02-14 17:27:08, INFO: Number of layers: 1 -2024-02-14 17:27:08, INFO: Planning depth: 1 -2024-02-14 17:27:08, INFO: Planning width: 10 -2024-02-14 17:27:08, INFO: Sparse search: None -2024-02-14 17:27:11, INFO: human number: 10 -2024-02-14 17:27:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:15, INFO: Using device: cpu -2024-02-14 17:27:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:15, INFO: Similarity_func: concatenation -2024-02-14 17:27:15, INFO: Layerwise_graph: False -2024-02-14 17:27:15, INFO: Skip_connection: True -2024-02-14 17:27:15, INFO: Number of layers: 1 -2024-02-14 17:27:15, INFO: Similarity_func: concatenation -2024-02-14 17:27:15, INFO: Layerwise_graph: False -2024-02-14 17:27:15, INFO: Skip_connection: True -2024-02-14 17:27:15, INFO: Number of layers: 1 -2024-02-14 17:27:15, INFO: Planning depth: 1 -2024-02-14 17:27:15, INFO: Planning width: 10 -2024-02-14 17:27:15, INFO: Sparse search: None -2024-02-14 17:27:18, INFO: human number: 10 -2024-02-14 17:27:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:22, INFO: Using device: cpu -2024-02-14 17:27:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:22, INFO: Similarity_func: concatenation -2024-02-14 17:27:22, INFO: Layerwise_graph: False -2024-02-14 17:27:22, INFO: Skip_connection: True -2024-02-14 17:27:22, INFO: Number of layers: 1 -2024-02-14 17:27:22, INFO: Similarity_func: concatenation -2024-02-14 17:27:22, INFO: Layerwise_graph: False -2024-02-14 17:27:22, INFO: Skip_connection: True -2024-02-14 17:27:22, INFO: Number of layers: 1 -2024-02-14 17:27:22, INFO: Planning depth: 1 -2024-02-14 17:27:22, INFO: Planning width: 10 -2024-02-14 17:27:22, INFO: Sparse search: None -2024-02-14 17:27:25, INFO: human number: 10 -2024-02-14 17:27:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:29, INFO: Using device: cpu -2024-02-14 17:27:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:29, INFO: Similarity_func: concatenation -2024-02-14 17:27:29, INFO: Layerwise_graph: False -2024-02-14 17:27:29, INFO: Skip_connection: True -2024-02-14 17:27:29, INFO: Number of layers: 1 -2024-02-14 17:27:29, INFO: Similarity_func: concatenation -2024-02-14 17:27:29, INFO: Layerwise_graph: False -2024-02-14 17:27:29, INFO: Skip_connection: True -2024-02-14 17:27:29, INFO: Number of layers: 1 -2024-02-14 17:27:29, INFO: Planning depth: 1 -2024-02-14 17:27:29, INFO: Planning width: 10 -2024-02-14 17:27:29, INFO: Sparse search: None -2024-02-14 17:27:32, INFO: human number: 10 -2024-02-14 17:27:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:36, INFO: Using device: cpu -2024-02-14 17:27:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:36, INFO: Similarity_func: concatenation -2024-02-14 17:27:36, INFO: Layerwise_graph: False -2024-02-14 17:27:36, INFO: Skip_connection: True -2024-02-14 17:27:36, INFO: Number of layers: 1 -2024-02-14 17:27:36, INFO: Similarity_func: concatenation -2024-02-14 17:27:36, INFO: Layerwise_graph: False -2024-02-14 17:27:36, INFO: Skip_connection: True -2024-02-14 17:27:36, INFO: Number of layers: 1 -2024-02-14 17:27:36, INFO: Planning depth: 1 -2024-02-14 17:27:36, INFO: Planning width: 10 -2024-02-14 17:27:36, INFO: Sparse search: None -2024-02-14 17:27:39, INFO: human number: 10 -2024-02-14 17:27:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:43, INFO: Using device: cpu -2024-02-14 17:27:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:43, INFO: Similarity_func: concatenation -2024-02-14 17:27:43, INFO: Layerwise_graph: False -2024-02-14 17:27:43, INFO: Skip_connection: True -2024-02-14 17:27:43, INFO: Number of layers: 1 -2024-02-14 17:27:43, INFO: Similarity_func: concatenation -2024-02-14 17:27:43, INFO: Layerwise_graph: False -2024-02-14 17:27:43, INFO: Skip_connection: True -2024-02-14 17:27:43, INFO: Number of layers: 1 -2024-02-14 17:27:43, INFO: Planning depth: 1 -2024-02-14 17:27:43, INFO: Planning width: 10 -2024-02-14 17:27:43, INFO: Sparse search: None -2024-02-14 17:27:46, INFO: human number: 10 -2024-02-14 17:27:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:50, INFO: Using device: cpu -2024-02-14 17:27:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:50, INFO: Similarity_func: concatenation -2024-02-14 17:27:50, INFO: Layerwise_graph: False -2024-02-14 17:27:50, INFO: Skip_connection: True -2024-02-14 17:27:50, INFO: Number of layers: 1 -2024-02-14 17:27:50, INFO: Similarity_func: concatenation -2024-02-14 17:27:50, INFO: Layerwise_graph: False -2024-02-14 17:27:50, INFO: Skip_connection: True -2024-02-14 17:27:50, INFO: Number of layers: 1 -2024-02-14 17:27:50, INFO: Planning depth: 1 -2024-02-14 17:27:50, INFO: Planning width: 10 -2024-02-14 17:27:50, INFO: Sparse search: None -2024-02-14 17:27:53, INFO: human number: 10 -2024-02-14 17:27:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:27:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:27:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:27:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:27:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:27:57, INFO: Using device: cpu -2024-02-14 17:27:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:27:57, INFO: Similarity_func: concatenation -2024-02-14 17:27:57, INFO: Layerwise_graph: False -2024-02-14 17:27:57, INFO: Skip_connection: True -2024-02-14 17:27:57, INFO: Number of layers: 1 -2024-02-14 17:27:57, INFO: Similarity_func: concatenation -2024-02-14 17:27:57, INFO: Layerwise_graph: False -2024-02-14 17:27:57, INFO: Skip_connection: True -2024-02-14 17:27:57, INFO: Number of layers: 1 -2024-02-14 17:27:57, INFO: Planning depth: 1 -2024-02-14 17:27:57, INFO: Planning width: 10 -2024-02-14 17:27:57, INFO: Sparse search: None -2024-02-14 17:28:00, INFO: human number: 10 -2024-02-14 17:28:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:04, INFO: Using device: cpu -2024-02-14 17:28:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:04, INFO: Similarity_func: concatenation -2024-02-14 17:28:04, INFO: Layerwise_graph: False -2024-02-14 17:28:04, INFO: Skip_connection: True -2024-02-14 17:28:04, INFO: Number of layers: 1 -2024-02-14 17:28:04, INFO: Similarity_func: concatenation -2024-02-14 17:28:04, INFO: Layerwise_graph: False -2024-02-14 17:28:04, INFO: Skip_connection: True -2024-02-14 17:28:04, INFO: Number of layers: 1 -2024-02-14 17:28:04, INFO: Planning depth: 1 -2024-02-14 17:28:04, INFO: Planning width: 10 -2024-02-14 17:28:04, INFO: Sparse search: None -2024-02-14 17:28:07, INFO: human number: 10 -2024-02-14 17:28:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:11, INFO: Using device: cpu -2024-02-14 17:28:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:11, INFO: Similarity_func: concatenation -2024-02-14 17:28:11, INFO: Layerwise_graph: False -2024-02-14 17:28:11, INFO: Skip_connection: True -2024-02-14 17:28:11, INFO: Number of layers: 1 -2024-02-14 17:28:11, INFO: Similarity_func: concatenation -2024-02-14 17:28:11, INFO: Layerwise_graph: False -2024-02-14 17:28:11, INFO: Skip_connection: True -2024-02-14 17:28:11, INFO: Number of layers: 1 -2024-02-14 17:28:11, INFO: Planning depth: 1 -2024-02-14 17:28:11, INFO: Planning width: 10 -2024-02-14 17:28:11, INFO: Sparse search: None -2024-02-14 17:28:14, INFO: human number: 10 -2024-02-14 17:28:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:18, INFO: Using device: cpu -2024-02-14 17:28:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:18, INFO: Similarity_func: concatenation -2024-02-14 17:28:18, INFO: Layerwise_graph: False -2024-02-14 17:28:18, INFO: Skip_connection: True -2024-02-14 17:28:18, INFO: Number of layers: 1 -2024-02-14 17:28:18, INFO: Similarity_func: concatenation -2024-02-14 17:28:18, INFO: Layerwise_graph: False -2024-02-14 17:28:18, INFO: Skip_connection: True -2024-02-14 17:28:18, INFO: Number of layers: 1 -2024-02-14 17:28:18, INFO: Planning depth: 1 -2024-02-14 17:28:18, INFO: Planning width: 10 -2024-02-14 17:28:18, INFO: Sparse search: None -2024-02-14 17:28:21, INFO: human number: 10 -2024-02-14 17:28:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:26, INFO: Using device: cpu -2024-02-14 17:28:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:26, INFO: Similarity_func: concatenation -2024-02-14 17:28:26, INFO: Layerwise_graph: False -2024-02-14 17:28:26, INFO: Skip_connection: True -2024-02-14 17:28:26, INFO: Number of layers: 1 -2024-02-14 17:28:26, INFO: Similarity_func: concatenation -2024-02-14 17:28:26, INFO: Layerwise_graph: False -2024-02-14 17:28:26, INFO: Skip_connection: True -2024-02-14 17:28:26, INFO: Number of layers: 1 -2024-02-14 17:28:26, INFO: Planning depth: 1 -2024-02-14 17:28:26, INFO: Planning width: 10 -2024-02-14 17:28:26, INFO: Sparse search: None -2024-02-14 17:28:28, INFO: human number: 10 -2024-02-14 17:28:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:33, INFO: Using device: cpu -2024-02-14 17:28:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:33, INFO: Similarity_func: concatenation -2024-02-14 17:28:33, INFO: Layerwise_graph: False -2024-02-14 17:28:33, INFO: Skip_connection: True -2024-02-14 17:28:33, INFO: Number of layers: 1 -2024-02-14 17:28:33, INFO: Similarity_func: concatenation -2024-02-14 17:28:33, INFO: Layerwise_graph: False -2024-02-14 17:28:33, INFO: Skip_connection: True -2024-02-14 17:28:33, INFO: Number of layers: 1 -2024-02-14 17:28:33, INFO: Planning depth: 1 -2024-02-14 17:28:33, INFO: Planning width: 10 -2024-02-14 17:28:33, INFO: Sparse search: None -2024-02-14 17:28:36, INFO: human number: 10 -2024-02-14 17:28:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:40, INFO: Using device: cpu -2024-02-14 17:28:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:40, INFO: Similarity_func: concatenation -2024-02-14 17:28:40, INFO: Layerwise_graph: False -2024-02-14 17:28:40, INFO: Skip_connection: True -2024-02-14 17:28:40, INFO: Number of layers: 1 -2024-02-14 17:28:40, INFO: Similarity_func: concatenation -2024-02-14 17:28:40, INFO: Layerwise_graph: False -2024-02-14 17:28:40, INFO: Skip_connection: True -2024-02-14 17:28:40, INFO: Number of layers: 1 -2024-02-14 17:28:40, INFO: Planning depth: 1 -2024-02-14 17:28:40, INFO: Planning width: 10 -2024-02-14 17:28:40, INFO: Sparse search: None -2024-02-14 17:28:43, INFO: human number: 10 -2024-02-14 17:28:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:48, INFO: Using device: cpu -2024-02-14 17:28:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:48, INFO: Similarity_func: concatenation -2024-02-14 17:28:48, INFO: Layerwise_graph: False -2024-02-14 17:28:48, INFO: Skip_connection: True -2024-02-14 17:28:48, INFO: Number of layers: 1 -2024-02-14 17:28:48, INFO: Similarity_func: concatenation -2024-02-14 17:28:48, INFO: Layerwise_graph: False -2024-02-14 17:28:48, INFO: Skip_connection: True -2024-02-14 17:28:48, INFO: Number of layers: 1 -2024-02-14 17:28:48, INFO: Planning depth: 1 -2024-02-14 17:28:48, INFO: Planning width: 10 -2024-02-14 17:28:48, INFO: Sparse search: None -2024-02-14 17:28:50, INFO: human number: 10 -2024-02-14 17:28:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:28:55, INFO: Using device: cpu -2024-02-14 17:28:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:28:55, INFO: Similarity_func: concatenation -2024-02-14 17:28:55, INFO: Layerwise_graph: False -2024-02-14 17:28:55, INFO: Skip_connection: True -2024-02-14 17:28:55, INFO: Number of layers: 1 -2024-02-14 17:28:55, INFO: Similarity_func: concatenation -2024-02-14 17:28:55, INFO: Layerwise_graph: False -2024-02-14 17:28:55, INFO: Skip_connection: True -2024-02-14 17:28:55, INFO: Number of layers: 1 -2024-02-14 17:28:55, INFO: Planning depth: 1 -2024-02-14 17:28:55, INFO: Planning width: 10 -2024-02-14 17:28:55, INFO: Sparse search: None -2024-02-14 17:28:58, INFO: human number: 10 -2024-02-14 17:28:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:28:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:28:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:28:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:28:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:02, INFO: Using device: cpu -2024-02-14 17:29:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:02, INFO: Similarity_func: concatenation -2024-02-14 17:29:02, INFO: Layerwise_graph: False -2024-02-14 17:29:02, INFO: Skip_connection: True -2024-02-14 17:29:02, INFO: Number of layers: 1 -2024-02-14 17:29:02, INFO: Similarity_func: concatenation -2024-02-14 17:29:02, INFO: Layerwise_graph: False -2024-02-14 17:29:02, INFO: Skip_connection: True -2024-02-14 17:29:02, INFO: Number of layers: 1 -2024-02-14 17:29:02, INFO: Planning depth: 1 -2024-02-14 17:29:02, INFO: Planning width: 10 -2024-02-14 17:29:02, INFO: Sparse search: None -2024-02-14 17:29:04, INFO: human number: 10 -2024-02-14 17:29:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:09, INFO: Using device: cpu -2024-02-14 17:29:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:09, INFO: Similarity_func: concatenation -2024-02-14 17:29:09, INFO: Layerwise_graph: False -2024-02-14 17:29:09, INFO: Skip_connection: True -2024-02-14 17:29:09, INFO: Number of layers: 1 -2024-02-14 17:29:09, INFO: Similarity_func: concatenation -2024-02-14 17:29:09, INFO: Layerwise_graph: False -2024-02-14 17:29:09, INFO: Skip_connection: True -2024-02-14 17:29:09, INFO: Number of layers: 1 -2024-02-14 17:29:09, INFO: Planning depth: 1 -2024-02-14 17:29:09, INFO: Planning width: 10 -2024-02-14 17:29:09, INFO: Sparse search: None -2024-02-14 17:29:12, INFO: human number: 10 -2024-02-14 17:29:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:16, INFO: Using device: cpu -2024-02-14 17:29:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:16, INFO: Similarity_func: concatenation -2024-02-14 17:29:16, INFO: Layerwise_graph: False -2024-02-14 17:29:16, INFO: Skip_connection: True -2024-02-14 17:29:16, INFO: Number of layers: 1 -2024-02-14 17:29:16, INFO: Similarity_func: concatenation -2024-02-14 17:29:16, INFO: Layerwise_graph: False -2024-02-14 17:29:16, INFO: Skip_connection: True -2024-02-14 17:29:16, INFO: Number of layers: 1 -2024-02-14 17:29:16, INFO: Planning depth: 1 -2024-02-14 17:29:16, INFO: Planning width: 10 -2024-02-14 17:29:16, INFO: Sparse search: None -2024-02-14 17:29:19, INFO: human number: 10 -2024-02-14 17:29:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:23, INFO: Using device: cpu -2024-02-14 17:29:24, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:24, INFO: Similarity_func: concatenation -2024-02-14 17:29:24, INFO: Layerwise_graph: False -2024-02-14 17:29:24, INFO: Skip_connection: True -2024-02-14 17:29:24, INFO: Number of layers: 1 -2024-02-14 17:29:24, INFO: Similarity_func: concatenation -2024-02-14 17:29:24, INFO: Layerwise_graph: False -2024-02-14 17:29:24, INFO: Skip_connection: True -2024-02-14 17:29:24, INFO: Number of layers: 1 -2024-02-14 17:29:24, INFO: Planning depth: 1 -2024-02-14 17:29:24, INFO: Planning width: 10 -2024-02-14 17:29:24, INFO: Sparse search: None -2024-02-14 17:29:26, INFO: human number: 10 -2024-02-14 17:29:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:31, INFO: Using device: cpu -2024-02-14 17:29:31, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:31, INFO: Similarity_func: concatenation -2024-02-14 17:29:31, INFO: Layerwise_graph: False -2024-02-14 17:29:31, INFO: Skip_connection: True -2024-02-14 17:29:31, INFO: Number of layers: 1 -2024-02-14 17:29:31, INFO: Similarity_func: concatenation -2024-02-14 17:29:31, INFO: Layerwise_graph: False -2024-02-14 17:29:31, INFO: Skip_connection: True -2024-02-14 17:29:31, INFO: Number of layers: 1 -2024-02-14 17:29:31, INFO: Planning depth: 1 -2024-02-14 17:29:31, INFO: Planning width: 10 -2024-02-14 17:29:31, INFO: Sparse search: None -2024-02-14 17:29:33, INFO: human number: 10 -2024-02-14 17:29:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:33, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:37, INFO: Using device: cpu -2024-02-14 17:29:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:37, INFO: Similarity_func: concatenation -2024-02-14 17:29:37, INFO: Layerwise_graph: False -2024-02-14 17:29:37, INFO: Skip_connection: True -2024-02-14 17:29:37, INFO: Number of layers: 1 -2024-02-14 17:29:37, INFO: Similarity_func: concatenation -2024-02-14 17:29:37, INFO: Layerwise_graph: False -2024-02-14 17:29:37, INFO: Skip_connection: True -2024-02-14 17:29:37, INFO: Number of layers: 1 -2024-02-14 17:29:37, INFO: Planning depth: 1 -2024-02-14 17:29:37, INFO: Planning width: 10 -2024-02-14 17:29:37, INFO: Sparse search: None -2024-02-14 17:29:40, INFO: human number: 10 -2024-02-14 17:29:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:40, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:44, INFO: Using device: cpu -2024-02-14 17:29:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:44, INFO: Similarity_func: concatenation -2024-02-14 17:29:44, INFO: Layerwise_graph: False -2024-02-14 17:29:44, INFO: Skip_connection: True -2024-02-14 17:29:44, INFO: Number of layers: 1 -2024-02-14 17:29:44, INFO: Similarity_func: concatenation -2024-02-14 17:29:44, INFO: Layerwise_graph: False -2024-02-14 17:29:44, INFO: Skip_connection: True -2024-02-14 17:29:44, INFO: Number of layers: 1 -2024-02-14 17:29:44, INFO: Planning depth: 1 -2024-02-14 17:29:44, INFO: Planning width: 10 -2024-02-14 17:29:44, INFO: Sparse search: None -2024-02-14 17:29:47, INFO: human number: 10 -2024-02-14 17:29:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:51, INFO: Using device: cpu -2024-02-14 17:29:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:51, INFO: Similarity_func: concatenation -2024-02-14 17:29:51, INFO: Layerwise_graph: False -2024-02-14 17:29:51, INFO: Skip_connection: True -2024-02-14 17:29:51, INFO: Number of layers: 1 -2024-02-14 17:29:51, INFO: Similarity_func: concatenation -2024-02-14 17:29:51, INFO: Layerwise_graph: False -2024-02-14 17:29:51, INFO: Skip_connection: True -2024-02-14 17:29:51, INFO: Number of layers: 1 -2024-02-14 17:29:51, INFO: Planning depth: 1 -2024-02-14 17:29:51, INFO: Planning width: 10 -2024-02-14 17:29:51, INFO: Sparse search: None -2024-02-14 17:29:54, INFO: human number: 10 -2024-02-14 17:29:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:29:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:29:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:29:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:29:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:29:58, INFO: Using device: cpu -2024-02-14 17:29:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:29:58, INFO: Similarity_func: concatenation -2024-02-14 17:29:58, INFO: Layerwise_graph: False -2024-02-14 17:29:58, INFO: Skip_connection: True -2024-02-14 17:29:58, INFO: Number of layers: 1 -2024-02-14 17:29:58, INFO: Similarity_func: concatenation -2024-02-14 17:29:58, INFO: Layerwise_graph: False -2024-02-14 17:29:58, INFO: Skip_connection: True -2024-02-14 17:29:58, INFO: Number of layers: 1 -2024-02-14 17:29:58, INFO: Planning depth: 1 -2024-02-14 17:29:58, INFO: Planning width: 10 -2024-02-14 17:29:58, INFO: Sparse search: None -2024-02-14 17:30:01, INFO: human number: 10 -2024-02-14 17:30:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:06, INFO: Using device: cpu -2024-02-14 17:30:06, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:06, INFO: Similarity_func: concatenation -2024-02-14 17:30:06, INFO: Layerwise_graph: False -2024-02-14 17:30:06, INFO: Skip_connection: True -2024-02-14 17:30:06, INFO: Number of layers: 1 -2024-02-14 17:30:06, INFO: Similarity_func: concatenation -2024-02-14 17:30:06, INFO: Layerwise_graph: False -2024-02-14 17:30:06, INFO: Skip_connection: True -2024-02-14 17:30:06, INFO: Number of layers: 1 -2024-02-14 17:30:06, INFO: Planning depth: 1 -2024-02-14 17:30:06, INFO: Planning width: 10 -2024-02-14 17:30:06, INFO: Sparse search: None -2024-02-14 17:30:09, INFO: human number: 10 -2024-02-14 17:30:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:13, INFO: Using device: cpu -2024-02-14 17:30:13, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:13, INFO: Similarity_func: concatenation -2024-02-14 17:30:13, INFO: Layerwise_graph: False -2024-02-14 17:30:13, INFO: Skip_connection: True -2024-02-14 17:30:13, INFO: Number of layers: 1 -2024-02-14 17:30:13, INFO: Similarity_func: concatenation -2024-02-14 17:30:13, INFO: Layerwise_graph: False -2024-02-14 17:30:13, INFO: Skip_connection: True -2024-02-14 17:30:13, INFO: Number of layers: 1 -2024-02-14 17:30:13, INFO: Planning depth: 1 -2024-02-14 17:30:13, INFO: Planning width: 10 -2024-02-14 17:30:13, INFO: Sparse search: None -2024-02-14 17:30:16, INFO: human number: 10 -2024-02-14 17:30:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:16, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:20, INFO: Using device: cpu -2024-02-14 17:30:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:20, INFO: Similarity_func: concatenation -2024-02-14 17:30:20, INFO: Layerwise_graph: False -2024-02-14 17:30:20, INFO: Skip_connection: True -2024-02-14 17:30:20, INFO: Number of layers: 1 -2024-02-14 17:30:20, INFO: Similarity_func: concatenation -2024-02-14 17:30:20, INFO: Layerwise_graph: False -2024-02-14 17:30:20, INFO: Skip_connection: True -2024-02-14 17:30:20, INFO: Number of layers: 1 -2024-02-14 17:30:20, INFO: Planning depth: 1 -2024-02-14 17:30:20, INFO: Planning width: 10 -2024-02-14 17:30:20, INFO: Sparse search: None -2024-02-14 17:30:22, INFO: human number: 10 -2024-02-14 17:30:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:27, INFO: Using device: cpu -2024-02-14 17:30:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:27, INFO: Similarity_func: concatenation -2024-02-14 17:30:27, INFO: Layerwise_graph: False -2024-02-14 17:30:27, INFO: Skip_connection: True -2024-02-14 17:30:27, INFO: Number of layers: 1 -2024-02-14 17:30:27, INFO: Similarity_func: concatenation -2024-02-14 17:30:27, INFO: Layerwise_graph: False -2024-02-14 17:30:27, INFO: Skip_connection: True -2024-02-14 17:30:27, INFO: Number of layers: 1 -2024-02-14 17:30:27, INFO: Planning depth: 1 -2024-02-14 17:30:27, INFO: Planning width: 10 -2024-02-14 17:30:27, INFO: Sparse search: None -2024-02-14 17:30:30, INFO: human number: 10 -2024-02-14 17:30:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:34, INFO: Using device: cpu -2024-02-14 17:30:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:34, INFO: Similarity_func: concatenation -2024-02-14 17:30:34, INFO: Layerwise_graph: False -2024-02-14 17:30:34, INFO: Skip_connection: True -2024-02-14 17:30:34, INFO: Number of layers: 1 -2024-02-14 17:30:34, INFO: Similarity_func: concatenation -2024-02-14 17:30:34, INFO: Layerwise_graph: False -2024-02-14 17:30:34, INFO: Skip_connection: True -2024-02-14 17:30:34, INFO: Number of layers: 1 -2024-02-14 17:30:34, INFO: Planning depth: 1 -2024-02-14 17:30:34, INFO: Planning width: 10 -2024-02-14 17:30:34, INFO: Sparse search: None -2024-02-14 17:30:37, INFO: human number: 10 -2024-02-14 17:30:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:41, INFO: Using device: cpu -2024-02-14 17:30:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:41, INFO: Similarity_func: concatenation -2024-02-14 17:30:41, INFO: Layerwise_graph: False -2024-02-14 17:30:41, INFO: Skip_connection: True -2024-02-14 17:30:41, INFO: Number of layers: 1 -2024-02-14 17:30:41, INFO: Similarity_func: concatenation -2024-02-14 17:30:41, INFO: Layerwise_graph: False -2024-02-14 17:30:41, INFO: Skip_connection: True -2024-02-14 17:30:41, INFO: Number of layers: 1 -2024-02-14 17:30:41, INFO: Planning depth: 1 -2024-02-14 17:30:41, INFO: Planning width: 10 -2024-02-14 17:30:41, INFO: Sparse search: None -2024-02-14 17:30:44, INFO: human number: 10 -2024-02-14 17:30:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:48, INFO: Using device: cpu -2024-02-14 17:30:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:48, INFO: Similarity_func: concatenation -2024-02-14 17:30:48, INFO: Layerwise_graph: False -2024-02-14 17:30:48, INFO: Skip_connection: True -2024-02-14 17:30:48, INFO: Number of layers: 1 -2024-02-14 17:30:48, INFO: Similarity_func: concatenation -2024-02-14 17:30:48, INFO: Layerwise_graph: False -2024-02-14 17:30:48, INFO: Skip_connection: True -2024-02-14 17:30:48, INFO: Number of layers: 1 -2024-02-14 17:30:48, INFO: Planning depth: 1 -2024-02-14 17:30:48, INFO: Planning width: 10 -2024-02-14 17:30:48, INFO: Sparse search: None -2024-02-14 17:30:51, INFO: human number: 10 -2024-02-14 17:30:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:30:55, INFO: Using device: cpu -2024-02-14 17:30:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:30:55, INFO: Similarity_func: concatenation -2024-02-14 17:30:55, INFO: Layerwise_graph: False -2024-02-14 17:30:55, INFO: Skip_connection: True -2024-02-14 17:30:55, INFO: Number of layers: 1 -2024-02-14 17:30:55, INFO: Similarity_func: concatenation -2024-02-14 17:30:55, INFO: Layerwise_graph: False -2024-02-14 17:30:55, INFO: Skip_connection: True -2024-02-14 17:30:55, INFO: Number of layers: 1 -2024-02-14 17:30:55, INFO: Planning depth: 1 -2024-02-14 17:30:55, INFO: Planning width: 10 -2024-02-14 17:30:55, INFO: Sparse search: None -2024-02-14 17:30:58, INFO: human number: 10 -2024-02-14 17:30:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:30:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:30:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:30:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:30:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:02, INFO: Using device: cpu -2024-02-14 17:31:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:02, INFO: Similarity_func: concatenation -2024-02-14 17:31:02, INFO: Layerwise_graph: False -2024-02-14 17:31:02, INFO: Skip_connection: True -2024-02-14 17:31:02, INFO: Number of layers: 1 -2024-02-14 17:31:02, INFO: Similarity_func: concatenation -2024-02-14 17:31:02, INFO: Layerwise_graph: False -2024-02-14 17:31:02, INFO: Skip_connection: True -2024-02-14 17:31:02, INFO: Number of layers: 1 -2024-02-14 17:31:02, INFO: Planning depth: 1 -2024-02-14 17:31:02, INFO: Planning width: 10 -2024-02-14 17:31:02, INFO: Sparse search: None -2024-02-14 17:31:05, INFO: human number: 10 -2024-02-14 17:31:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:09, INFO: Using device: cpu -2024-02-14 17:31:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:09, INFO: Similarity_func: concatenation -2024-02-14 17:31:09, INFO: Layerwise_graph: False -2024-02-14 17:31:09, INFO: Skip_connection: True -2024-02-14 17:31:09, INFO: Number of layers: 1 -2024-02-14 17:31:09, INFO: Similarity_func: concatenation -2024-02-14 17:31:09, INFO: Layerwise_graph: False -2024-02-14 17:31:09, INFO: Skip_connection: True -2024-02-14 17:31:09, INFO: Number of layers: 1 -2024-02-14 17:31:09, INFO: Planning depth: 1 -2024-02-14 17:31:09, INFO: Planning width: 10 -2024-02-14 17:31:09, INFO: Sparse search: None -2024-02-14 17:31:12, INFO: human number: 10 -2024-02-14 17:31:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:16, INFO: Using device: cpu -2024-02-14 17:31:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:16, INFO: Similarity_func: concatenation -2024-02-14 17:31:16, INFO: Layerwise_graph: False -2024-02-14 17:31:16, INFO: Skip_connection: True -2024-02-14 17:31:16, INFO: Number of layers: 1 -2024-02-14 17:31:16, INFO: Similarity_func: concatenation -2024-02-14 17:31:16, INFO: Layerwise_graph: False -2024-02-14 17:31:16, INFO: Skip_connection: True -2024-02-14 17:31:16, INFO: Number of layers: 1 -2024-02-14 17:31:16, INFO: Planning depth: 1 -2024-02-14 17:31:16, INFO: Planning width: 10 -2024-02-14 17:31:16, INFO: Sparse search: None -2024-02-14 17:31:19, INFO: human number: 10 -2024-02-14 17:31:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:23, INFO: Using device: cpu -2024-02-14 17:31:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:23, INFO: Similarity_func: concatenation -2024-02-14 17:31:23, INFO: Layerwise_graph: False -2024-02-14 17:31:23, INFO: Skip_connection: True -2024-02-14 17:31:23, INFO: Number of layers: 1 -2024-02-14 17:31:23, INFO: Similarity_func: concatenation -2024-02-14 17:31:23, INFO: Layerwise_graph: False -2024-02-14 17:31:23, INFO: Skip_connection: True -2024-02-14 17:31:23, INFO: Number of layers: 1 -2024-02-14 17:31:23, INFO: Planning depth: 1 -2024-02-14 17:31:23, INFO: Planning width: 10 -2024-02-14 17:31:23, INFO: Sparse search: None -2024-02-14 17:31:26, INFO: human number: 10 -2024-02-14 17:31:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:29, INFO: Using device: cpu -2024-02-14 17:31:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:29, INFO: Similarity_func: concatenation -2024-02-14 17:31:29, INFO: Layerwise_graph: False -2024-02-14 17:31:29, INFO: Skip_connection: True -2024-02-14 17:31:29, INFO: Number of layers: 1 -2024-02-14 17:31:29, INFO: Similarity_func: concatenation -2024-02-14 17:31:29, INFO: Layerwise_graph: False -2024-02-14 17:31:29, INFO: Skip_connection: True -2024-02-14 17:31:29, INFO: Number of layers: 1 -2024-02-14 17:31:29, INFO: Planning depth: 1 -2024-02-14 17:31:29, INFO: Planning width: 10 -2024-02-14 17:31:29, INFO: Sparse search: None -2024-02-14 17:31:32, INFO: human number: 10 -2024-02-14 17:31:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:37, INFO: Using device: cpu -2024-02-14 17:31:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:37, INFO: Similarity_func: concatenation -2024-02-14 17:31:37, INFO: Layerwise_graph: False -2024-02-14 17:31:37, INFO: Skip_connection: True -2024-02-14 17:31:37, INFO: Number of layers: 1 -2024-02-14 17:31:37, INFO: Similarity_func: concatenation -2024-02-14 17:31:37, INFO: Layerwise_graph: False -2024-02-14 17:31:37, INFO: Skip_connection: True -2024-02-14 17:31:37, INFO: Number of layers: 1 -2024-02-14 17:31:37, INFO: Planning depth: 1 -2024-02-14 17:31:37, INFO: Planning width: 10 -2024-02-14 17:31:37, INFO: Sparse search: None -2024-02-14 17:31:39, INFO: human number: 10 -2024-02-14 17:31:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:43, INFO: Using device: cpu -2024-02-14 17:31:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:43, INFO: Similarity_func: concatenation -2024-02-14 17:31:43, INFO: Layerwise_graph: False -2024-02-14 17:31:43, INFO: Skip_connection: True -2024-02-14 17:31:43, INFO: Number of layers: 1 -2024-02-14 17:31:43, INFO: Similarity_func: concatenation -2024-02-14 17:31:43, INFO: Layerwise_graph: False -2024-02-14 17:31:43, INFO: Skip_connection: True -2024-02-14 17:31:43, INFO: Number of layers: 1 -2024-02-14 17:31:43, INFO: Planning depth: 1 -2024-02-14 17:31:43, INFO: Planning width: 10 -2024-02-14 17:31:43, INFO: Sparse search: None -2024-02-14 17:31:46, INFO: human number: 10 -2024-02-14 17:31:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:51, INFO: Using device: cpu -2024-02-14 17:31:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:51, INFO: Similarity_func: concatenation -2024-02-14 17:31:51, INFO: Layerwise_graph: False -2024-02-14 17:31:51, INFO: Skip_connection: True -2024-02-14 17:31:51, INFO: Number of layers: 1 -2024-02-14 17:31:51, INFO: Similarity_func: concatenation -2024-02-14 17:31:51, INFO: Layerwise_graph: False -2024-02-14 17:31:51, INFO: Skip_connection: True -2024-02-14 17:31:51, INFO: Number of layers: 1 -2024-02-14 17:31:51, INFO: Planning depth: 1 -2024-02-14 17:31:51, INFO: Planning width: 10 -2024-02-14 17:31:51, INFO: Sparse search: None -2024-02-14 17:31:53, INFO: human number: 10 -2024-02-14 17:31:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:31:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:31:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:31:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:31:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:31:58, INFO: Using device: cpu -2024-02-14 17:31:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:31:58, INFO: Similarity_func: concatenation -2024-02-14 17:31:58, INFO: Layerwise_graph: False -2024-02-14 17:31:58, INFO: Skip_connection: True -2024-02-14 17:31:58, INFO: Number of layers: 1 -2024-02-14 17:31:58, INFO: Similarity_func: concatenation -2024-02-14 17:31:58, INFO: Layerwise_graph: False -2024-02-14 17:31:58, INFO: Skip_connection: True -2024-02-14 17:31:58, INFO: Number of layers: 1 -2024-02-14 17:31:58, INFO: Planning depth: 1 -2024-02-14 17:31:58, INFO: Planning width: 10 -2024-02-14 17:31:58, INFO: Sparse search: None -2024-02-14 17:32:01, INFO: human number: 10 -2024-02-14 17:32:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:05, INFO: Using device: cpu -2024-02-14 17:32:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:05, INFO: Similarity_func: concatenation -2024-02-14 17:32:05, INFO: Layerwise_graph: False -2024-02-14 17:32:05, INFO: Skip_connection: True -2024-02-14 17:32:05, INFO: Number of layers: 1 -2024-02-14 17:32:05, INFO: Similarity_func: concatenation -2024-02-14 17:32:05, INFO: Layerwise_graph: False -2024-02-14 17:32:05, INFO: Skip_connection: True -2024-02-14 17:32:05, INFO: Number of layers: 1 -2024-02-14 17:32:05, INFO: Planning depth: 1 -2024-02-14 17:32:05, INFO: Planning width: 10 -2024-02-14 17:32:05, INFO: Sparse search: None -2024-02-14 17:32:08, INFO: human number: 10 -2024-02-14 17:32:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:12, INFO: Using device: cpu -2024-02-14 17:32:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:12, INFO: Similarity_func: concatenation -2024-02-14 17:32:12, INFO: Layerwise_graph: False -2024-02-14 17:32:12, INFO: Skip_connection: True -2024-02-14 17:32:12, INFO: Number of layers: 1 -2024-02-14 17:32:12, INFO: Similarity_func: concatenation -2024-02-14 17:32:12, INFO: Layerwise_graph: False -2024-02-14 17:32:12, INFO: Skip_connection: True -2024-02-14 17:32:12, INFO: Number of layers: 1 -2024-02-14 17:32:12, INFO: Planning depth: 1 -2024-02-14 17:32:12, INFO: Planning width: 10 -2024-02-14 17:32:12, INFO: Sparse search: None -2024-02-14 17:32:15, INFO: human number: 10 -2024-02-14 17:32:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:20, INFO: Using device: cpu -2024-02-14 17:32:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:20, INFO: Similarity_func: concatenation -2024-02-14 17:32:20, INFO: Layerwise_graph: False -2024-02-14 17:32:20, INFO: Skip_connection: True -2024-02-14 17:32:20, INFO: Number of layers: 1 -2024-02-14 17:32:20, INFO: Similarity_func: concatenation -2024-02-14 17:32:20, INFO: Layerwise_graph: False -2024-02-14 17:32:20, INFO: Skip_connection: True -2024-02-14 17:32:20, INFO: Number of layers: 1 -2024-02-14 17:32:20, INFO: Planning depth: 1 -2024-02-14 17:32:20, INFO: Planning width: 10 -2024-02-14 17:32:20, INFO: Sparse search: None -2024-02-14 17:32:22, INFO: human number: 10 -2024-02-14 17:32:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:26, INFO: Using device: cpu -2024-02-14 17:32:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:26, INFO: Similarity_func: concatenation -2024-02-14 17:32:26, INFO: Layerwise_graph: False -2024-02-14 17:32:26, INFO: Skip_connection: True -2024-02-14 17:32:26, INFO: Number of layers: 1 -2024-02-14 17:32:26, INFO: Similarity_func: concatenation -2024-02-14 17:32:26, INFO: Layerwise_graph: False -2024-02-14 17:32:26, INFO: Skip_connection: True -2024-02-14 17:32:26, INFO: Number of layers: 1 -2024-02-14 17:32:26, INFO: Planning depth: 1 -2024-02-14 17:32:26, INFO: Planning width: 10 -2024-02-14 17:32:26, INFO: Sparse search: None -2024-02-14 17:32:29, INFO: human number: 10 -2024-02-14 17:32:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:34, INFO: Using device: cpu -2024-02-14 17:32:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:34, INFO: Similarity_func: concatenation -2024-02-14 17:32:34, INFO: Layerwise_graph: False -2024-02-14 17:32:34, INFO: Skip_connection: True -2024-02-14 17:32:34, INFO: Number of layers: 1 -2024-02-14 17:32:34, INFO: Similarity_func: concatenation -2024-02-14 17:32:34, INFO: Layerwise_graph: False -2024-02-14 17:32:34, INFO: Skip_connection: True -2024-02-14 17:32:34, INFO: Number of layers: 1 -2024-02-14 17:32:34, INFO: Planning depth: 1 -2024-02-14 17:32:34, INFO: Planning width: 10 -2024-02-14 17:32:34, INFO: Sparse search: None -2024-02-14 17:32:36, INFO: human number: 10 -2024-02-14 17:32:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:41, INFO: Using device: cpu -2024-02-14 17:32:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:41, INFO: Similarity_func: concatenation -2024-02-14 17:32:41, INFO: Layerwise_graph: False -2024-02-14 17:32:41, INFO: Skip_connection: True -2024-02-14 17:32:41, INFO: Number of layers: 1 -2024-02-14 17:32:41, INFO: Similarity_func: concatenation -2024-02-14 17:32:41, INFO: Layerwise_graph: False -2024-02-14 17:32:41, INFO: Skip_connection: True -2024-02-14 17:32:41, INFO: Number of layers: 1 -2024-02-14 17:32:41, INFO: Planning depth: 1 -2024-02-14 17:32:41, INFO: Planning width: 10 -2024-02-14 17:32:41, INFO: Sparse search: None -2024-02-14 17:32:43, INFO: human number: 10 -2024-02-14 17:32:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:48, INFO: Using device: cpu -2024-02-14 17:32:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:48, INFO: Similarity_func: concatenation -2024-02-14 17:32:48, INFO: Layerwise_graph: False -2024-02-14 17:32:48, INFO: Skip_connection: True -2024-02-14 17:32:48, INFO: Number of layers: 1 -2024-02-14 17:32:48, INFO: Similarity_func: concatenation -2024-02-14 17:32:48, INFO: Layerwise_graph: False -2024-02-14 17:32:48, INFO: Skip_connection: True -2024-02-14 17:32:48, INFO: Number of layers: 1 -2024-02-14 17:32:48, INFO: Planning depth: 1 -2024-02-14 17:32:48, INFO: Planning width: 10 -2024-02-14 17:32:48, INFO: Sparse search: None -2024-02-14 17:32:51, INFO: human number: 10 -2024-02-14 17:32:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:32:55, INFO: Using device: cpu -2024-02-14 17:32:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:32:55, INFO: Similarity_func: concatenation -2024-02-14 17:32:55, INFO: Layerwise_graph: False -2024-02-14 17:32:55, INFO: Skip_connection: True -2024-02-14 17:32:55, INFO: Number of layers: 1 -2024-02-14 17:32:55, INFO: Similarity_func: concatenation -2024-02-14 17:32:55, INFO: Layerwise_graph: False -2024-02-14 17:32:55, INFO: Skip_connection: True -2024-02-14 17:32:55, INFO: Number of layers: 1 -2024-02-14 17:32:55, INFO: Planning depth: 1 -2024-02-14 17:32:55, INFO: Planning width: 10 -2024-02-14 17:32:55, INFO: Sparse search: None -2024-02-14 17:32:58, INFO: human number: 10 -2024-02-14 17:32:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:32:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:32:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:32:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:32:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:02, INFO: Using device: cpu -2024-02-14 17:33:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:02, INFO: Similarity_func: concatenation -2024-02-14 17:33:02, INFO: Layerwise_graph: False -2024-02-14 17:33:02, INFO: Skip_connection: True -2024-02-14 17:33:02, INFO: Number of layers: 1 -2024-02-14 17:33:02, INFO: Similarity_func: concatenation -2024-02-14 17:33:02, INFO: Layerwise_graph: False -2024-02-14 17:33:02, INFO: Skip_connection: True -2024-02-14 17:33:02, INFO: Number of layers: 1 -2024-02-14 17:33:02, INFO: Planning depth: 1 -2024-02-14 17:33:02, INFO: Planning width: 10 -2024-02-14 17:33:02, INFO: Sparse search: None -2024-02-14 17:33:05, INFO: human number: 10 -2024-02-14 17:33:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:09, INFO: Using device: cpu -2024-02-14 17:33:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:09, INFO: Similarity_func: concatenation -2024-02-14 17:33:09, INFO: Layerwise_graph: False -2024-02-14 17:33:09, INFO: Skip_connection: True -2024-02-14 17:33:09, INFO: Number of layers: 1 -2024-02-14 17:33:09, INFO: Similarity_func: concatenation -2024-02-14 17:33:09, INFO: Layerwise_graph: False -2024-02-14 17:33:09, INFO: Skip_connection: True -2024-02-14 17:33:09, INFO: Number of layers: 1 -2024-02-14 17:33:09, INFO: Planning depth: 1 -2024-02-14 17:33:09, INFO: Planning width: 10 -2024-02-14 17:33:09, INFO: Sparse search: None -2024-02-14 17:33:12, INFO: human number: 10 -2024-02-14 17:33:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:16, INFO: Using device: cpu -2024-02-14 17:33:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:16, INFO: Similarity_func: concatenation -2024-02-14 17:33:16, INFO: Layerwise_graph: False -2024-02-14 17:33:16, INFO: Skip_connection: True -2024-02-14 17:33:16, INFO: Number of layers: 1 -2024-02-14 17:33:16, INFO: Similarity_func: concatenation -2024-02-14 17:33:16, INFO: Layerwise_graph: False -2024-02-14 17:33:16, INFO: Skip_connection: True -2024-02-14 17:33:16, INFO: Number of layers: 1 -2024-02-14 17:33:16, INFO: Planning depth: 1 -2024-02-14 17:33:16, INFO: Planning width: 10 -2024-02-14 17:33:16, INFO: Sparse search: None -2024-02-14 17:33:19, INFO: human number: 10 -2024-02-14 17:33:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:23, INFO: Using device: cpu -2024-02-14 17:33:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:23, INFO: Similarity_func: concatenation -2024-02-14 17:33:23, INFO: Layerwise_graph: False -2024-02-14 17:33:23, INFO: Skip_connection: True -2024-02-14 17:33:23, INFO: Number of layers: 1 -2024-02-14 17:33:23, INFO: Similarity_func: concatenation -2024-02-14 17:33:23, INFO: Layerwise_graph: False -2024-02-14 17:33:23, INFO: Skip_connection: True -2024-02-14 17:33:23, INFO: Number of layers: 1 -2024-02-14 17:33:23, INFO: Planning depth: 1 -2024-02-14 17:33:23, INFO: Planning width: 10 -2024-02-14 17:33:23, INFO: Sparse search: None -2024-02-14 17:33:26, INFO: human number: 10 -2024-02-14 17:33:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:30, INFO: Using device: cpu -2024-02-14 17:33:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:30, INFO: Similarity_func: concatenation -2024-02-14 17:33:30, INFO: Layerwise_graph: False -2024-02-14 17:33:30, INFO: Skip_connection: True -2024-02-14 17:33:30, INFO: Number of layers: 1 -2024-02-14 17:33:30, INFO: Similarity_func: concatenation -2024-02-14 17:33:30, INFO: Layerwise_graph: False -2024-02-14 17:33:30, INFO: Skip_connection: True -2024-02-14 17:33:30, INFO: Number of layers: 1 -2024-02-14 17:33:30, INFO: Planning depth: 1 -2024-02-14 17:33:30, INFO: Planning width: 10 -2024-02-14 17:33:30, INFO: Sparse search: None -2024-02-14 17:33:33, INFO: human number: 10 -2024-02-14 17:33:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:33, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:37, INFO: Using device: cpu -2024-02-14 17:33:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:37, INFO: Similarity_func: concatenation -2024-02-14 17:33:37, INFO: Layerwise_graph: False -2024-02-14 17:33:37, INFO: Skip_connection: True -2024-02-14 17:33:37, INFO: Number of layers: 1 -2024-02-14 17:33:37, INFO: Similarity_func: concatenation -2024-02-14 17:33:37, INFO: Layerwise_graph: False -2024-02-14 17:33:37, INFO: Skip_connection: True -2024-02-14 17:33:37, INFO: Number of layers: 1 -2024-02-14 17:33:37, INFO: Planning depth: 1 -2024-02-14 17:33:37, INFO: Planning width: 10 -2024-02-14 17:33:37, INFO: Sparse search: None -2024-02-14 17:33:40, INFO: human number: 10 -2024-02-14 17:33:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:40, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:44, INFO: Using device: cpu -2024-02-14 17:33:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:44, INFO: Similarity_func: concatenation -2024-02-14 17:33:44, INFO: Layerwise_graph: False -2024-02-14 17:33:44, INFO: Skip_connection: True -2024-02-14 17:33:44, INFO: Number of layers: 1 -2024-02-14 17:33:44, INFO: Similarity_func: concatenation -2024-02-14 17:33:44, INFO: Layerwise_graph: False -2024-02-14 17:33:44, INFO: Skip_connection: True -2024-02-14 17:33:44, INFO: Number of layers: 1 -2024-02-14 17:33:44, INFO: Planning depth: 1 -2024-02-14 17:33:44, INFO: Planning width: 10 -2024-02-14 17:33:44, INFO: Sparse search: None -2024-02-14 17:33:47, INFO: human number: 10 -2024-02-14 17:33:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:51, INFO: Using device: cpu -2024-02-14 17:33:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:51, INFO: Similarity_func: concatenation -2024-02-14 17:33:51, INFO: Layerwise_graph: False -2024-02-14 17:33:51, INFO: Skip_connection: True -2024-02-14 17:33:51, INFO: Number of layers: 1 -2024-02-14 17:33:51, INFO: Similarity_func: concatenation -2024-02-14 17:33:51, INFO: Layerwise_graph: False -2024-02-14 17:33:51, INFO: Skip_connection: True -2024-02-14 17:33:51, INFO: Number of layers: 1 -2024-02-14 17:33:51, INFO: Planning depth: 1 -2024-02-14 17:33:51, INFO: Planning width: 10 -2024-02-14 17:33:51, INFO: Sparse search: None -2024-02-14 17:33:54, INFO: human number: 10 -2024-02-14 17:33:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:33:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:33:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:33:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:33:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:33:58, INFO: Using device: cpu -2024-02-14 17:33:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:33:58, INFO: Similarity_func: concatenation -2024-02-14 17:33:58, INFO: Layerwise_graph: False -2024-02-14 17:33:58, INFO: Skip_connection: True -2024-02-14 17:33:58, INFO: Number of layers: 1 -2024-02-14 17:33:58, INFO: Similarity_func: concatenation -2024-02-14 17:33:58, INFO: Layerwise_graph: False -2024-02-14 17:33:58, INFO: Skip_connection: True -2024-02-14 17:33:58, INFO: Number of layers: 1 -2024-02-14 17:33:58, INFO: Planning depth: 1 -2024-02-14 17:33:58, INFO: Planning width: 10 -2024-02-14 17:33:58, INFO: Sparse search: None -2024-02-14 17:34:00, INFO: human number: 10 -2024-02-14 17:34:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:05, INFO: Using device: cpu -2024-02-14 17:34:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:05, INFO: Similarity_func: concatenation -2024-02-14 17:34:05, INFO: Layerwise_graph: False -2024-02-14 17:34:05, INFO: Skip_connection: True -2024-02-14 17:34:05, INFO: Number of layers: 1 -2024-02-14 17:34:05, INFO: Similarity_func: concatenation -2024-02-14 17:34:05, INFO: Layerwise_graph: False -2024-02-14 17:34:05, INFO: Skip_connection: True -2024-02-14 17:34:05, INFO: Number of layers: 1 -2024-02-14 17:34:05, INFO: Planning depth: 1 -2024-02-14 17:34:05, INFO: Planning width: 10 -2024-02-14 17:34:05, INFO: Sparse search: None -2024-02-14 17:34:08, INFO: human number: 10 -2024-02-14 17:34:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:12, INFO: Using device: cpu -2024-02-14 17:34:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:12, INFO: Similarity_func: concatenation -2024-02-14 17:34:12, INFO: Layerwise_graph: False -2024-02-14 17:34:12, INFO: Skip_connection: True -2024-02-14 17:34:12, INFO: Number of layers: 1 -2024-02-14 17:34:12, INFO: Similarity_func: concatenation -2024-02-14 17:34:12, INFO: Layerwise_graph: False -2024-02-14 17:34:12, INFO: Skip_connection: True -2024-02-14 17:34:12, INFO: Number of layers: 1 -2024-02-14 17:34:12, INFO: Planning depth: 1 -2024-02-14 17:34:12, INFO: Planning width: 10 -2024-02-14 17:34:12, INFO: Sparse search: None -2024-02-14 17:34:15, INFO: human number: 10 -2024-02-14 17:34:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:19, INFO: Using device: cpu -2024-02-14 17:34:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:19, INFO: Similarity_func: concatenation -2024-02-14 17:34:19, INFO: Layerwise_graph: False -2024-02-14 17:34:19, INFO: Skip_connection: True -2024-02-14 17:34:19, INFO: Number of layers: 1 -2024-02-14 17:34:19, INFO: Similarity_func: concatenation -2024-02-14 17:34:19, INFO: Layerwise_graph: False -2024-02-14 17:34:19, INFO: Skip_connection: True -2024-02-14 17:34:19, INFO: Number of layers: 1 -2024-02-14 17:34:19, INFO: Planning depth: 1 -2024-02-14 17:34:19, INFO: Planning width: 10 -2024-02-14 17:34:19, INFO: Sparse search: None -2024-02-14 17:34:22, INFO: human number: 10 -2024-02-14 17:34:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:27, INFO: Using device: cpu -2024-02-14 17:34:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:27, INFO: Similarity_func: concatenation -2024-02-14 17:34:27, INFO: Layerwise_graph: False -2024-02-14 17:34:27, INFO: Skip_connection: True -2024-02-14 17:34:27, INFO: Number of layers: 1 -2024-02-14 17:34:27, INFO: Similarity_func: concatenation -2024-02-14 17:34:27, INFO: Layerwise_graph: False -2024-02-14 17:34:27, INFO: Skip_connection: True -2024-02-14 17:34:27, INFO: Number of layers: 1 -2024-02-14 17:34:27, INFO: Planning depth: 1 -2024-02-14 17:34:27, INFO: Planning width: 10 -2024-02-14 17:34:27, INFO: Sparse search: None -2024-02-14 17:34:29, INFO: human number: 10 -2024-02-14 17:34:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:34, INFO: Using device: cpu -2024-02-14 17:34:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:34, INFO: Similarity_func: concatenation -2024-02-14 17:34:34, INFO: Layerwise_graph: False -2024-02-14 17:34:34, INFO: Skip_connection: True -2024-02-14 17:34:34, INFO: Number of layers: 1 -2024-02-14 17:34:34, INFO: Similarity_func: concatenation -2024-02-14 17:34:34, INFO: Layerwise_graph: False -2024-02-14 17:34:34, INFO: Skip_connection: True -2024-02-14 17:34:34, INFO: Number of layers: 1 -2024-02-14 17:34:34, INFO: Planning depth: 1 -2024-02-14 17:34:34, INFO: Planning width: 10 -2024-02-14 17:34:34, INFO: Sparse search: None -2024-02-14 17:34:37, INFO: human number: 10 -2024-02-14 17:34:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:41, INFO: Using device: cpu -2024-02-14 17:34:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:41, INFO: Similarity_func: concatenation -2024-02-14 17:34:41, INFO: Layerwise_graph: False -2024-02-14 17:34:41, INFO: Skip_connection: True -2024-02-14 17:34:41, INFO: Number of layers: 1 -2024-02-14 17:34:41, INFO: Similarity_func: concatenation -2024-02-14 17:34:41, INFO: Layerwise_graph: False -2024-02-14 17:34:41, INFO: Skip_connection: True -2024-02-14 17:34:41, INFO: Number of layers: 1 -2024-02-14 17:34:41, INFO: Planning depth: 1 -2024-02-14 17:34:41, INFO: Planning width: 10 -2024-02-14 17:34:41, INFO: Sparse search: None -2024-02-14 17:34:44, INFO: human number: 10 -2024-02-14 17:34:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:48, INFO: Using device: cpu -2024-02-14 17:34:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:48, INFO: Similarity_func: concatenation -2024-02-14 17:34:48, INFO: Layerwise_graph: False -2024-02-14 17:34:48, INFO: Skip_connection: True -2024-02-14 17:34:48, INFO: Number of layers: 1 -2024-02-14 17:34:48, INFO: Similarity_func: concatenation -2024-02-14 17:34:48, INFO: Layerwise_graph: False -2024-02-14 17:34:48, INFO: Skip_connection: True -2024-02-14 17:34:48, INFO: Number of layers: 1 -2024-02-14 17:34:48, INFO: Planning depth: 1 -2024-02-14 17:34:48, INFO: Planning width: 10 -2024-02-14 17:34:48, INFO: Sparse search: None -2024-02-14 17:34:51, INFO: human number: 10 -2024-02-14 17:34:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:34:55, INFO: Using device: cpu -2024-02-14 17:34:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:34:55, INFO: Similarity_func: concatenation -2024-02-14 17:34:55, INFO: Layerwise_graph: False -2024-02-14 17:34:55, INFO: Skip_connection: True -2024-02-14 17:34:55, INFO: Number of layers: 1 -2024-02-14 17:34:55, INFO: Similarity_func: concatenation -2024-02-14 17:34:55, INFO: Layerwise_graph: False -2024-02-14 17:34:55, INFO: Skip_connection: True -2024-02-14 17:34:55, INFO: Number of layers: 1 -2024-02-14 17:34:55, INFO: Planning depth: 1 -2024-02-14 17:34:55, INFO: Planning width: 10 -2024-02-14 17:34:55, INFO: Sparse search: None -2024-02-14 17:34:58, INFO: human number: 10 -2024-02-14 17:34:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:34:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:34:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:34:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:34:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:02, INFO: Using device: cpu -2024-02-14 17:35:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:02, INFO: Similarity_func: concatenation -2024-02-14 17:35:02, INFO: Layerwise_graph: False -2024-02-14 17:35:02, INFO: Skip_connection: True -2024-02-14 17:35:02, INFO: Number of layers: 1 -2024-02-14 17:35:02, INFO: Similarity_func: concatenation -2024-02-14 17:35:02, INFO: Layerwise_graph: False -2024-02-14 17:35:02, INFO: Skip_connection: True -2024-02-14 17:35:02, INFO: Number of layers: 1 -2024-02-14 17:35:02, INFO: Planning depth: 1 -2024-02-14 17:35:02, INFO: Planning width: 10 -2024-02-14 17:35:02, INFO: Sparse search: None -2024-02-14 17:35:05, INFO: human number: 10 -2024-02-14 17:35:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:09, INFO: Using device: cpu -2024-02-14 17:35:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:09, INFO: Similarity_func: concatenation -2024-02-14 17:35:09, INFO: Layerwise_graph: False -2024-02-14 17:35:09, INFO: Skip_connection: True -2024-02-14 17:35:09, INFO: Number of layers: 1 -2024-02-14 17:35:09, INFO: Similarity_func: concatenation -2024-02-14 17:35:09, INFO: Layerwise_graph: False -2024-02-14 17:35:09, INFO: Skip_connection: True -2024-02-14 17:35:09, INFO: Number of layers: 1 -2024-02-14 17:35:09, INFO: Planning depth: 1 -2024-02-14 17:35:09, INFO: Planning width: 10 -2024-02-14 17:35:09, INFO: Sparse search: None -2024-02-14 17:35:12, INFO: human number: 10 -2024-02-14 17:35:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:16, INFO: Using device: cpu -2024-02-14 17:35:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:16, INFO: Similarity_func: concatenation -2024-02-14 17:35:16, INFO: Layerwise_graph: False -2024-02-14 17:35:16, INFO: Skip_connection: True -2024-02-14 17:35:16, INFO: Number of layers: 1 -2024-02-14 17:35:16, INFO: Similarity_func: concatenation -2024-02-14 17:35:16, INFO: Layerwise_graph: False -2024-02-14 17:35:16, INFO: Skip_connection: True -2024-02-14 17:35:16, INFO: Number of layers: 1 -2024-02-14 17:35:16, INFO: Planning depth: 1 -2024-02-14 17:35:16, INFO: Planning width: 10 -2024-02-14 17:35:16, INFO: Sparse search: None -2024-02-14 17:35:19, INFO: human number: 10 -2024-02-14 17:35:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:23, INFO: Using device: cpu -2024-02-14 17:35:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:23, INFO: Similarity_func: concatenation -2024-02-14 17:35:23, INFO: Layerwise_graph: False -2024-02-14 17:35:23, INFO: Skip_connection: True -2024-02-14 17:35:23, INFO: Number of layers: 1 -2024-02-14 17:35:23, INFO: Similarity_func: concatenation -2024-02-14 17:35:23, INFO: Layerwise_graph: False -2024-02-14 17:35:23, INFO: Skip_connection: True -2024-02-14 17:35:23, INFO: Number of layers: 1 -2024-02-14 17:35:23, INFO: Planning depth: 1 -2024-02-14 17:35:23, INFO: Planning width: 10 -2024-02-14 17:35:23, INFO: Sparse search: None -2024-02-14 17:35:26, INFO: human number: 10 -2024-02-14 17:35:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:32, INFO: Using device: cpu -2024-02-14 17:35:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:32, INFO: Similarity_func: concatenation -2024-02-14 17:35:32, INFO: Layerwise_graph: False -2024-02-14 17:35:32, INFO: Skip_connection: True -2024-02-14 17:35:32, INFO: Number of layers: 1 -2024-02-14 17:35:32, INFO: Similarity_func: concatenation -2024-02-14 17:35:32, INFO: Layerwise_graph: False -2024-02-14 17:35:32, INFO: Skip_connection: True -2024-02-14 17:35:32, INFO: Number of layers: 1 -2024-02-14 17:35:32, INFO: Planning depth: 1 -2024-02-14 17:35:32, INFO: Planning width: 10 -2024-02-14 17:35:32, INFO: Sparse search: None -2024-02-14 17:35:34, INFO: human number: 10 -2024-02-14 17:35:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:39, INFO: Using device: cpu -2024-02-14 17:35:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:39, INFO: Similarity_func: concatenation -2024-02-14 17:35:39, INFO: Layerwise_graph: False -2024-02-14 17:35:39, INFO: Skip_connection: True -2024-02-14 17:35:39, INFO: Number of layers: 1 -2024-02-14 17:35:39, INFO: Similarity_func: concatenation -2024-02-14 17:35:39, INFO: Layerwise_graph: False -2024-02-14 17:35:39, INFO: Skip_connection: True -2024-02-14 17:35:39, INFO: Number of layers: 1 -2024-02-14 17:35:39, INFO: Planning depth: 1 -2024-02-14 17:35:39, INFO: Planning width: 10 -2024-02-14 17:35:39, INFO: Sparse search: None -2024-02-14 17:35:42, INFO: human number: 10 -2024-02-14 17:35:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:46, INFO: Using device: cpu -2024-02-14 17:35:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:46, INFO: Similarity_func: concatenation -2024-02-14 17:35:46, INFO: Layerwise_graph: False -2024-02-14 17:35:46, INFO: Skip_connection: True -2024-02-14 17:35:46, INFO: Number of layers: 1 -2024-02-14 17:35:46, INFO: Similarity_func: concatenation -2024-02-14 17:35:46, INFO: Layerwise_graph: False -2024-02-14 17:35:46, INFO: Skip_connection: True -2024-02-14 17:35:46, INFO: Number of layers: 1 -2024-02-14 17:35:46, INFO: Planning depth: 1 -2024-02-14 17:35:46, INFO: Planning width: 10 -2024-02-14 17:35:46, INFO: Sparse search: None -2024-02-14 17:35:49, INFO: human number: 10 -2024-02-14 17:35:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:35:52, INFO: Using device: cpu -2024-02-14 17:35:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:35:52, INFO: Similarity_func: concatenation -2024-02-14 17:35:52, INFO: Layerwise_graph: False -2024-02-14 17:35:52, INFO: Skip_connection: True -2024-02-14 17:35:52, INFO: Number of layers: 1 -2024-02-14 17:35:52, INFO: Similarity_func: concatenation -2024-02-14 17:35:52, INFO: Layerwise_graph: False -2024-02-14 17:35:52, INFO: Skip_connection: True -2024-02-14 17:35:52, INFO: Number of layers: 1 -2024-02-14 17:35:52, INFO: Planning depth: 1 -2024-02-14 17:35:52, INFO: Planning width: 10 -2024-02-14 17:35:52, INFO: Sparse search: None -2024-02-14 17:35:55, INFO: human number: 10 -2024-02-14 17:35:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:35:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:35:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:35:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:35:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:00, INFO: Using device: cpu -2024-02-14 17:36:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:00, INFO: Similarity_func: concatenation -2024-02-14 17:36:00, INFO: Layerwise_graph: False -2024-02-14 17:36:00, INFO: Skip_connection: True -2024-02-14 17:36:00, INFO: Number of layers: 1 -2024-02-14 17:36:00, INFO: Similarity_func: concatenation -2024-02-14 17:36:00, INFO: Layerwise_graph: False -2024-02-14 17:36:00, INFO: Skip_connection: True -2024-02-14 17:36:00, INFO: Number of layers: 1 -2024-02-14 17:36:00, INFO: Planning depth: 1 -2024-02-14 17:36:00, INFO: Planning width: 10 -2024-02-14 17:36:00, INFO: Sparse search: None -2024-02-14 17:36:03, INFO: human number: 10 -2024-02-14 17:36:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:07, INFO: Using device: cpu -2024-02-14 17:36:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:07, INFO: Similarity_func: concatenation -2024-02-14 17:36:07, INFO: Layerwise_graph: False -2024-02-14 17:36:07, INFO: Skip_connection: True -2024-02-14 17:36:07, INFO: Number of layers: 1 -2024-02-14 17:36:07, INFO: Similarity_func: concatenation -2024-02-14 17:36:07, INFO: Layerwise_graph: False -2024-02-14 17:36:07, INFO: Skip_connection: True -2024-02-14 17:36:07, INFO: Number of layers: 1 -2024-02-14 17:36:07, INFO: Planning depth: 1 -2024-02-14 17:36:07, INFO: Planning width: 10 -2024-02-14 17:36:07, INFO: Sparse search: None -2024-02-14 17:36:10, INFO: human number: 10 -2024-02-14 17:36:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:14, INFO: Using device: cpu -2024-02-14 17:36:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:14, INFO: Similarity_func: concatenation -2024-02-14 17:36:14, INFO: Layerwise_graph: False -2024-02-14 17:36:14, INFO: Skip_connection: True -2024-02-14 17:36:14, INFO: Number of layers: 1 -2024-02-14 17:36:14, INFO: Similarity_func: concatenation -2024-02-14 17:36:14, INFO: Layerwise_graph: False -2024-02-14 17:36:14, INFO: Skip_connection: True -2024-02-14 17:36:14, INFO: Number of layers: 1 -2024-02-14 17:36:14, INFO: Planning depth: 1 -2024-02-14 17:36:14, INFO: Planning width: 10 -2024-02-14 17:36:14, INFO: Sparse search: None -2024-02-14 17:36:17, INFO: human number: 10 -2024-02-14 17:36:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:21, INFO: Using device: cpu -2024-02-14 17:36:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:21, INFO: Similarity_func: concatenation -2024-02-14 17:36:21, INFO: Layerwise_graph: False -2024-02-14 17:36:21, INFO: Skip_connection: True -2024-02-14 17:36:21, INFO: Number of layers: 1 -2024-02-14 17:36:21, INFO: Similarity_func: concatenation -2024-02-14 17:36:21, INFO: Layerwise_graph: False -2024-02-14 17:36:21, INFO: Skip_connection: True -2024-02-14 17:36:21, INFO: Number of layers: 1 -2024-02-14 17:36:21, INFO: Planning depth: 1 -2024-02-14 17:36:21, INFO: Planning width: 10 -2024-02-14 17:36:21, INFO: Sparse search: None -2024-02-14 17:36:24, INFO: human number: 10 -2024-02-14 17:36:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:28, INFO: Using device: cpu -2024-02-14 17:36:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:28, INFO: Similarity_func: concatenation -2024-02-14 17:36:28, INFO: Layerwise_graph: False -2024-02-14 17:36:28, INFO: Skip_connection: True -2024-02-14 17:36:28, INFO: Number of layers: 1 -2024-02-14 17:36:28, INFO: Similarity_func: concatenation -2024-02-14 17:36:28, INFO: Layerwise_graph: False -2024-02-14 17:36:28, INFO: Skip_connection: True -2024-02-14 17:36:28, INFO: Number of layers: 1 -2024-02-14 17:36:28, INFO: Planning depth: 1 -2024-02-14 17:36:28, INFO: Planning width: 10 -2024-02-14 17:36:28, INFO: Sparse search: None -2024-02-14 17:36:30, INFO: human number: 10 -2024-02-14 17:36:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:35, INFO: Using device: cpu -2024-02-14 17:36:35, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:35, INFO: Similarity_func: concatenation -2024-02-14 17:36:35, INFO: Layerwise_graph: False -2024-02-14 17:36:35, INFO: Skip_connection: True -2024-02-14 17:36:35, INFO: Number of layers: 1 -2024-02-14 17:36:35, INFO: Similarity_func: concatenation -2024-02-14 17:36:35, INFO: Layerwise_graph: False -2024-02-14 17:36:35, INFO: Skip_connection: True -2024-02-14 17:36:35, INFO: Number of layers: 1 -2024-02-14 17:36:35, INFO: Planning depth: 1 -2024-02-14 17:36:35, INFO: Planning width: 10 -2024-02-14 17:36:35, INFO: Sparse search: None -2024-02-14 17:36:38, INFO: human number: 10 -2024-02-14 17:36:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:42, INFO: Using device: cpu -2024-02-14 17:36:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:42, INFO: Similarity_func: concatenation -2024-02-14 17:36:42, INFO: Layerwise_graph: False -2024-02-14 17:36:42, INFO: Skip_connection: True -2024-02-14 17:36:42, INFO: Number of layers: 1 -2024-02-14 17:36:42, INFO: Similarity_func: concatenation -2024-02-14 17:36:42, INFO: Layerwise_graph: False -2024-02-14 17:36:42, INFO: Skip_connection: True -2024-02-14 17:36:42, INFO: Number of layers: 1 -2024-02-14 17:36:42, INFO: Planning depth: 1 -2024-02-14 17:36:42, INFO: Planning width: 10 -2024-02-14 17:36:42, INFO: Sparse search: None -2024-02-14 17:36:45, INFO: human number: 10 -2024-02-14 17:36:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:49, INFO: Using device: cpu -2024-02-14 17:36:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:49, INFO: Similarity_func: concatenation -2024-02-14 17:36:49, INFO: Layerwise_graph: False -2024-02-14 17:36:49, INFO: Skip_connection: True -2024-02-14 17:36:49, INFO: Number of layers: 1 -2024-02-14 17:36:49, INFO: Similarity_func: concatenation -2024-02-14 17:36:49, INFO: Layerwise_graph: False -2024-02-14 17:36:49, INFO: Skip_connection: True -2024-02-14 17:36:49, INFO: Number of layers: 1 -2024-02-14 17:36:49, INFO: Planning depth: 1 -2024-02-14 17:36:49, INFO: Planning width: 10 -2024-02-14 17:36:49, INFO: Sparse search: None -2024-02-14 17:36:51, INFO: human number: 10 -2024-02-14 17:36:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:36:56, INFO: Using device: cpu -2024-02-14 17:36:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:36:56, INFO: Similarity_func: concatenation -2024-02-14 17:36:56, INFO: Layerwise_graph: False -2024-02-14 17:36:56, INFO: Skip_connection: True -2024-02-14 17:36:56, INFO: Number of layers: 1 -2024-02-14 17:36:56, INFO: Similarity_func: concatenation -2024-02-14 17:36:56, INFO: Layerwise_graph: False -2024-02-14 17:36:56, INFO: Skip_connection: True -2024-02-14 17:36:56, INFO: Number of layers: 1 -2024-02-14 17:36:56, INFO: Planning depth: 1 -2024-02-14 17:36:56, INFO: Planning width: 10 -2024-02-14 17:36:56, INFO: Sparse search: None -2024-02-14 17:36:58, INFO: human number: 10 -2024-02-14 17:36:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:36:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:36:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:36:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:36:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:03, INFO: Using device: cpu -2024-02-14 17:37:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:03, INFO: Similarity_func: concatenation -2024-02-14 17:37:03, INFO: Layerwise_graph: False -2024-02-14 17:37:03, INFO: Skip_connection: True -2024-02-14 17:37:03, INFO: Number of layers: 1 -2024-02-14 17:37:03, INFO: Similarity_func: concatenation -2024-02-14 17:37:03, INFO: Layerwise_graph: False -2024-02-14 17:37:03, INFO: Skip_connection: True -2024-02-14 17:37:03, INFO: Number of layers: 1 -2024-02-14 17:37:03, INFO: Planning depth: 1 -2024-02-14 17:37:03, INFO: Planning width: 10 -2024-02-14 17:37:03, INFO: Sparse search: None -2024-02-14 17:37:06, INFO: human number: 10 -2024-02-14 17:37:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:10, INFO: Using device: cpu -2024-02-14 17:37:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:10, INFO: Similarity_func: concatenation -2024-02-14 17:37:10, INFO: Layerwise_graph: False -2024-02-14 17:37:10, INFO: Skip_connection: True -2024-02-14 17:37:10, INFO: Number of layers: 1 -2024-02-14 17:37:10, INFO: Similarity_func: concatenation -2024-02-14 17:37:10, INFO: Layerwise_graph: False -2024-02-14 17:37:10, INFO: Skip_connection: True -2024-02-14 17:37:10, INFO: Number of layers: 1 -2024-02-14 17:37:10, INFO: Planning depth: 1 -2024-02-14 17:37:10, INFO: Planning width: 10 -2024-02-14 17:37:10, INFO: Sparse search: None -2024-02-14 17:37:12, INFO: human number: 10 -2024-02-14 17:37:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:17, INFO: Using device: cpu -2024-02-14 17:37:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:17, INFO: Similarity_func: concatenation -2024-02-14 17:37:17, INFO: Layerwise_graph: False -2024-02-14 17:37:17, INFO: Skip_connection: True -2024-02-14 17:37:17, INFO: Number of layers: 1 -2024-02-14 17:37:17, INFO: Similarity_func: concatenation -2024-02-14 17:37:17, INFO: Layerwise_graph: False -2024-02-14 17:37:17, INFO: Skip_connection: True -2024-02-14 17:37:17, INFO: Number of layers: 1 -2024-02-14 17:37:17, INFO: Planning depth: 1 -2024-02-14 17:37:17, INFO: Planning width: 10 -2024-02-14 17:37:17, INFO: Sparse search: None -2024-02-14 17:37:19, INFO: human number: 10 -2024-02-14 17:37:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:23, INFO: Using device: cpu -2024-02-14 17:37:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:23, INFO: Similarity_func: concatenation -2024-02-14 17:37:23, INFO: Layerwise_graph: False -2024-02-14 17:37:23, INFO: Skip_connection: True -2024-02-14 17:37:23, INFO: Number of layers: 1 -2024-02-14 17:37:23, INFO: Similarity_func: concatenation -2024-02-14 17:37:23, INFO: Layerwise_graph: False -2024-02-14 17:37:23, INFO: Skip_connection: True -2024-02-14 17:37:23, INFO: Number of layers: 1 -2024-02-14 17:37:23, INFO: Planning depth: 1 -2024-02-14 17:37:23, INFO: Planning width: 10 -2024-02-14 17:37:23, INFO: Sparse search: None -2024-02-14 17:37:26, INFO: human number: 10 -2024-02-14 17:37:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:26, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:30, INFO: Using device: cpu -2024-02-14 17:37:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:30, INFO: Similarity_func: concatenation -2024-02-14 17:37:30, INFO: Layerwise_graph: False -2024-02-14 17:37:30, INFO: Skip_connection: True -2024-02-14 17:37:30, INFO: Number of layers: 1 -2024-02-14 17:37:30, INFO: Similarity_func: concatenation -2024-02-14 17:37:30, INFO: Layerwise_graph: False -2024-02-14 17:37:30, INFO: Skip_connection: True -2024-02-14 17:37:30, INFO: Number of layers: 1 -2024-02-14 17:37:30, INFO: Planning depth: 1 -2024-02-14 17:37:30, INFO: Planning width: 10 -2024-02-14 17:37:30, INFO: Sparse search: None -2024-02-14 17:37:33, INFO: human number: 10 -2024-02-14 17:37:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:33, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:37, INFO: Using device: cpu -2024-02-14 17:37:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:37, INFO: Similarity_func: concatenation -2024-02-14 17:37:37, INFO: Layerwise_graph: False -2024-02-14 17:37:37, INFO: Skip_connection: True -2024-02-14 17:37:37, INFO: Number of layers: 1 -2024-02-14 17:37:37, INFO: Similarity_func: concatenation -2024-02-14 17:37:37, INFO: Layerwise_graph: False -2024-02-14 17:37:37, INFO: Skip_connection: True -2024-02-14 17:37:37, INFO: Number of layers: 1 -2024-02-14 17:37:37, INFO: Planning depth: 1 -2024-02-14 17:37:37, INFO: Planning width: 10 -2024-02-14 17:37:37, INFO: Sparse search: None -2024-02-14 17:37:40, INFO: human number: 10 -2024-02-14 17:37:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:40, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:45, INFO: Using device: cpu -2024-02-14 17:37:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:45, INFO: Similarity_func: concatenation -2024-02-14 17:37:45, INFO: Layerwise_graph: False -2024-02-14 17:37:45, INFO: Skip_connection: True -2024-02-14 17:37:45, INFO: Number of layers: 1 -2024-02-14 17:37:45, INFO: Similarity_func: concatenation -2024-02-14 17:37:45, INFO: Layerwise_graph: False -2024-02-14 17:37:45, INFO: Skip_connection: True -2024-02-14 17:37:45, INFO: Number of layers: 1 -2024-02-14 17:37:45, INFO: Planning depth: 1 -2024-02-14 17:37:45, INFO: Planning width: 10 -2024-02-14 17:37:45, INFO: Sparse search: None -2024-02-14 17:37:47, INFO: human number: 10 -2024-02-14 17:37:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:52, INFO: Using device: cpu -2024-02-14 17:37:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:52, INFO: Similarity_func: concatenation -2024-02-14 17:37:52, INFO: Layerwise_graph: False -2024-02-14 17:37:52, INFO: Skip_connection: True -2024-02-14 17:37:52, INFO: Number of layers: 1 -2024-02-14 17:37:52, INFO: Similarity_func: concatenation -2024-02-14 17:37:52, INFO: Layerwise_graph: False -2024-02-14 17:37:52, INFO: Skip_connection: True -2024-02-14 17:37:52, INFO: Number of layers: 1 -2024-02-14 17:37:52, INFO: Planning depth: 1 -2024-02-14 17:37:52, INFO: Planning width: 10 -2024-02-14 17:37:52, INFO: Sparse search: None -2024-02-14 17:37:54, INFO: human number: 10 -2024-02-14 17:37:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:37:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:37:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:37:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:37:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:37:58, INFO: Using device: cpu -2024-02-14 17:37:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:37:58, INFO: Similarity_func: concatenation -2024-02-14 17:37:58, INFO: Layerwise_graph: False -2024-02-14 17:37:58, INFO: Skip_connection: True -2024-02-14 17:37:58, INFO: Number of layers: 1 -2024-02-14 17:37:58, INFO: Similarity_func: concatenation -2024-02-14 17:37:58, INFO: Layerwise_graph: False -2024-02-14 17:37:58, INFO: Skip_connection: True -2024-02-14 17:37:58, INFO: Number of layers: 1 -2024-02-14 17:37:58, INFO: Planning depth: 1 -2024-02-14 17:37:58, INFO: Planning width: 10 -2024-02-14 17:37:58, INFO: Sparse search: None -2024-02-14 17:38:01, INFO: human number: 10 -2024-02-14 17:38:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:05, INFO: Using device: cpu -2024-02-14 17:38:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:05, INFO: Similarity_func: concatenation -2024-02-14 17:38:05, INFO: Layerwise_graph: False -2024-02-14 17:38:05, INFO: Skip_connection: True -2024-02-14 17:38:05, INFO: Number of layers: 1 -2024-02-14 17:38:05, INFO: Similarity_func: concatenation -2024-02-14 17:38:05, INFO: Layerwise_graph: False -2024-02-14 17:38:05, INFO: Skip_connection: True -2024-02-14 17:38:05, INFO: Number of layers: 1 -2024-02-14 17:38:05, INFO: Planning depth: 1 -2024-02-14 17:38:05, INFO: Planning width: 10 -2024-02-14 17:38:05, INFO: Sparse search: None -2024-02-14 17:38:08, INFO: human number: 10 -2024-02-14 17:38:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:12, INFO: Using device: cpu -2024-02-14 17:38:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:12, INFO: Similarity_func: concatenation -2024-02-14 17:38:12, INFO: Layerwise_graph: False -2024-02-14 17:38:12, INFO: Skip_connection: True -2024-02-14 17:38:12, INFO: Number of layers: 1 -2024-02-14 17:38:12, INFO: Similarity_func: concatenation -2024-02-14 17:38:12, INFO: Layerwise_graph: False -2024-02-14 17:38:12, INFO: Skip_connection: True -2024-02-14 17:38:12, INFO: Number of layers: 1 -2024-02-14 17:38:12, INFO: Planning depth: 1 -2024-02-14 17:38:12, INFO: Planning width: 10 -2024-02-14 17:38:12, INFO: Sparse search: None -2024-02-14 17:38:15, INFO: human number: 10 -2024-02-14 17:38:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:19, INFO: Using device: cpu -2024-02-14 17:38:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:19, INFO: Similarity_func: concatenation -2024-02-14 17:38:19, INFO: Layerwise_graph: False -2024-02-14 17:38:19, INFO: Skip_connection: True -2024-02-14 17:38:19, INFO: Number of layers: 1 -2024-02-14 17:38:19, INFO: Similarity_func: concatenation -2024-02-14 17:38:19, INFO: Layerwise_graph: False -2024-02-14 17:38:19, INFO: Skip_connection: True -2024-02-14 17:38:19, INFO: Number of layers: 1 -2024-02-14 17:38:19, INFO: Planning depth: 1 -2024-02-14 17:38:19, INFO: Planning width: 10 -2024-02-14 17:38:19, INFO: Sparse search: None -2024-02-14 17:38:22, INFO: human number: 10 -2024-02-14 17:38:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:27, INFO: Using device: cpu -2024-02-14 17:38:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:27, INFO: Similarity_func: concatenation -2024-02-14 17:38:27, INFO: Layerwise_graph: False -2024-02-14 17:38:27, INFO: Skip_connection: True -2024-02-14 17:38:27, INFO: Number of layers: 1 -2024-02-14 17:38:27, INFO: Similarity_func: concatenation -2024-02-14 17:38:27, INFO: Layerwise_graph: False -2024-02-14 17:38:27, INFO: Skip_connection: True -2024-02-14 17:38:27, INFO: Number of layers: 1 -2024-02-14 17:38:27, INFO: Planning depth: 1 -2024-02-14 17:38:27, INFO: Planning width: 10 -2024-02-14 17:38:27, INFO: Sparse search: None -2024-02-14 17:38:29, INFO: human number: 10 -2024-02-14 17:38:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:34, INFO: Using device: cpu -2024-02-14 17:38:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:34, INFO: Similarity_func: concatenation -2024-02-14 17:38:34, INFO: Layerwise_graph: False -2024-02-14 17:38:34, INFO: Skip_connection: True -2024-02-14 17:38:34, INFO: Number of layers: 1 -2024-02-14 17:38:34, INFO: Similarity_func: concatenation -2024-02-14 17:38:34, INFO: Layerwise_graph: False -2024-02-14 17:38:34, INFO: Skip_connection: True -2024-02-14 17:38:34, INFO: Number of layers: 1 -2024-02-14 17:38:34, INFO: Planning depth: 1 -2024-02-14 17:38:34, INFO: Planning width: 10 -2024-02-14 17:38:34, INFO: Sparse search: None -2024-02-14 17:38:36, INFO: human number: 10 -2024-02-14 17:38:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:41, INFO: Using device: cpu -2024-02-14 17:38:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:41, INFO: Similarity_func: concatenation -2024-02-14 17:38:41, INFO: Layerwise_graph: False -2024-02-14 17:38:41, INFO: Skip_connection: True -2024-02-14 17:38:41, INFO: Number of layers: 1 -2024-02-14 17:38:41, INFO: Similarity_func: concatenation -2024-02-14 17:38:41, INFO: Layerwise_graph: False -2024-02-14 17:38:41, INFO: Skip_connection: True -2024-02-14 17:38:41, INFO: Number of layers: 1 -2024-02-14 17:38:41, INFO: Planning depth: 1 -2024-02-14 17:38:41, INFO: Planning width: 10 -2024-02-14 17:38:41, INFO: Sparse search: None -2024-02-14 17:38:44, INFO: human number: 10 -2024-02-14 17:38:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:48, INFO: Using device: cpu -2024-02-14 17:38:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:48, INFO: Similarity_func: concatenation -2024-02-14 17:38:48, INFO: Layerwise_graph: False -2024-02-14 17:38:48, INFO: Skip_connection: True -2024-02-14 17:38:48, INFO: Number of layers: 1 -2024-02-14 17:38:48, INFO: Similarity_func: concatenation -2024-02-14 17:38:48, INFO: Layerwise_graph: False -2024-02-14 17:38:48, INFO: Skip_connection: True -2024-02-14 17:38:48, INFO: Number of layers: 1 -2024-02-14 17:38:48, INFO: Planning depth: 1 -2024-02-14 17:38:48, INFO: Planning width: 10 -2024-02-14 17:38:48, INFO: Sparse search: None -2024-02-14 17:38:51, INFO: human number: 10 -2024-02-14 17:38:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:38:55, INFO: Using device: cpu -2024-02-14 17:38:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:38:55, INFO: Similarity_func: concatenation -2024-02-14 17:38:55, INFO: Layerwise_graph: False -2024-02-14 17:38:55, INFO: Skip_connection: True -2024-02-14 17:38:55, INFO: Number of layers: 1 -2024-02-14 17:38:55, INFO: Similarity_func: concatenation -2024-02-14 17:38:55, INFO: Layerwise_graph: False -2024-02-14 17:38:55, INFO: Skip_connection: True -2024-02-14 17:38:55, INFO: Number of layers: 1 -2024-02-14 17:38:55, INFO: Planning depth: 1 -2024-02-14 17:38:55, INFO: Planning width: 10 -2024-02-14 17:38:55, INFO: Sparse search: None -2024-02-14 17:38:58, INFO: human number: 10 -2024-02-14 17:38:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:38:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:38:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:38:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:38:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:02, INFO: Using device: cpu -2024-02-14 17:39:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:02, INFO: Similarity_func: concatenation -2024-02-14 17:39:02, INFO: Layerwise_graph: False -2024-02-14 17:39:02, INFO: Skip_connection: True -2024-02-14 17:39:02, INFO: Number of layers: 1 -2024-02-14 17:39:02, INFO: Similarity_func: concatenation -2024-02-14 17:39:02, INFO: Layerwise_graph: False -2024-02-14 17:39:02, INFO: Skip_connection: True -2024-02-14 17:39:02, INFO: Number of layers: 1 -2024-02-14 17:39:02, INFO: Planning depth: 1 -2024-02-14 17:39:02, INFO: Planning width: 10 -2024-02-14 17:39:02, INFO: Sparse search: None -2024-02-14 17:39:05, INFO: human number: 10 -2024-02-14 17:39:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:09, INFO: Using device: cpu -2024-02-14 17:39:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:09, INFO: Similarity_func: concatenation -2024-02-14 17:39:09, INFO: Layerwise_graph: False -2024-02-14 17:39:09, INFO: Skip_connection: True -2024-02-14 17:39:09, INFO: Number of layers: 1 -2024-02-14 17:39:09, INFO: Similarity_func: concatenation -2024-02-14 17:39:09, INFO: Layerwise_graph: False -2024-02-14 17:39:09, INFO: Skip_connection: True -2024-02-14 17:39:09, INFO: Number of layers: 1 -2024-02-14 17:39:09, INFO: Planning depth: 1 -2024-02-14 17:39:09, INFO: Planning width: 10 -2024-02-14 17:39:09, INFO: Sparse search: None -2024-02-14 17:39:12, INFO: human number: 10 -2024-02-14 17:39:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:16, INFO: Using device: cpu -2024-02-14 17:39:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:16, INFO: Similarity_func: concatenation -2024-02-14 17:39:16, INFO: Layerwise_graph: False -2024-02-14 17:39:16, INFO: Skip_connection: True -2024-02-14 17:39:16, INFO: Number of layers: 1 -2024-02-14 17:39:16, INFO: Similarity_func: concatenation -2024-02-14 17:39:16, INFO: Layerwise_graph: False -2024-02-14 17:39:16, INFO: Skip_connection: True -2024-02-14 17:39:16, INFO: Number of layers: 1 -2024-02-14 17:39:16, INFO: Planning depth: 1 -2024-02-14 17:39:16, INFO: Planning width: 10 -2024-02-14 17:39:16, INFO: Sparse search: None -2024-02-14 17:39:19, INFO: human number: 10 -2024-02-14 17:39:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:23, INFO: Using device: cpu -2024-02-14 17:39:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:23, INFO: Similarity_func: concatenation -2024-02-14 17:39:23, INFO: Layerwise_graph: False -2024-02-14 17:39:23, INFO: Skip_connection: True -2024-02-14 17:39:23, INFO: Number of layers: 1 -2024-02-14 17:39:23, INFO: Similarity_func: concatenation -2024-02-14 17:39:23, INFO: Layerwise_graph: False -2024-02-14 17:39:23, INFO: Skip_connection: True -2024-02-14 17:39:23, INFO: Number of layers: 1 -2024-02-14 17:39:23, INFO: Planning depth: 1 -2024-02-14 17:39:23, INFO: Planning width: 10 -2024-02-14 17:39:23, INFO: Sparse search: None -2024-02-14 17:39:25, INFO: human number: 10 -2024-02-14 17:39:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:30, INFO: Using device: cpu -2024-02-14 17:39:30, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:30, INFO: Similarity_func: concatenation -2024-02-14 17:39:30, INFO: Layerwise_graph: False -2024-02-14 17:39:30, INFO: Skip_connection: True -2024-02-14 17:39:30, INFO: Number of layers: 1 -2024-02-14 17:39:30, INFO: Similarity_func: concatenation -2024-02-14 17:39:30, INFO: Layerwise_graph: False -2024-02-14 17:39:30, INFO: Skip_connection: True -2024-02-14 17:39:30, INFO: Number of layers: 1 -2024-02-14 17:39:30, INFO: Planning depth: 1 -2024-02-14 17:39:30, INFO: Planning width: 10 -2024-02-14 17:39:30, INFO: Sparse search: None -2024-02-14 17:39:32, INFO: human number: 10 -2024-02-14 17:39:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:37, INFO: Using device: cpu -2024-02-14 17:39:37, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:37, INFO: Similarity_func: concatenation -2024-02-14 17:39:37, INFO: Layerwise_graph: False -2024-02-14 17:39:37, INFO: Skip_connection: True -2024-02-14 17:39:37, INFO: Number of layers: 1 -2024-02-14 17:39:37, INFO: Similarity_func: concatenation -2024-02-14 17:39:37, INFO: Layerwise_graph: False -2024-02-14 17:39:37, INFO: Skip_connection: True -2024-02-14 17:39:37, INFO: Number of layers: 1 -2024-02-14 17:39:37, INFO: Planning depth: 1 -2024-02-14 17:39:37, INFO: Planning width: 10 -2024-02-14 17:39:37, INFO: Sparse search: None -2024-02-14 17:39:39, INFO: human number: 10 -2024-02-14 17:39:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:44, INFO: Using device: cpu -2024-02-14 17:39:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:44, INFO: Similarity_func: concatenation -2024-02-14 17:39:44, INFO: Layerwise_graph: False -2024-02-14 17:39:44, INFO: Skip_connection: True -2024-02-14 17:39:44, INFO: Number of layers: 1 -2024-02-14 17:39:44, INFO: Similarity_func: concatenation -2024-02-14 17:39:44, INFO: Layerwise_graph: False -2024-02-14 17:39:44, INFO: Skip_connection: True -2024-02-14 17:39:44, INFO: Number of layers: 1 -2024-02-14 17:39:44, INFO: Planning depth: 1 -2024-02-14 17:39:44, INFO: Planning width: 10 -2024-02-14 17:39:44, INFO: Sparse search: None -2024-02-14 17:39:47, INFO: human number: 10 -2024-02-14 17:39:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:51, INFO: Using device: cpu -2024-02-14 17:39:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:51, INFO: Similarity_func: concatenation -2024-02-14 17:39:51, INFO: Layerwise_graph: False -2024-02-14 17:39:51, INFO: Skip_connection: True -2024-02-14 17:39:51, INFO: Number of layers: 1 -2024-02-14 17:39:51, INFO: Similarity_func: concatenation -2024-02-14 17:39:51, INFO: Layerwise_graph: False -2024-02-14 17:39:51, INFO: Skip_connection: True -2024-02-14 17:39:51, INFO: Number of layers: 1 -2024-02-14 17:39:51, INFO: Planning depth: 1 -2024-02-14 17:39:51, INFO: Planning width: 10 -2024-02-14 17:39:51, INFO: Sparse search: None -2024-02-14 17:39:54, INFO: human number: 10 -2024-02-14 17:39:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:39:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:39:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:39:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:39:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:39:59, INFO: Using device: cpu -2024-02-14 17:39:59, INFO: Loaded RL weights with best VAL -2024-02-14 17:39:59, INFO: Similarity_func: concatenation -2024-02-14 17:39:59, INFO: Layerwise_graph: False -2024-02-14 17:39:59, INFO: Skip_connection: True -2024-02-14 17:39:59, INFO: Number of layers: 1 -2024-02-14 17:39:59, INFO: Similarity_func: concatenation -2024-02-14 17:39:59, INFO: Layerwise_graph: False -2024-02-14 17:39:59, INFO: Skip_connection: True -2024-02-14 17:39:59, INFO: Number of layers: 1 -2024-02-14 17:39:59, INFO: Planning depth: 1 -2024-02-14 17:39:59, INFO: Planning width: 10 -2024-02-14 17:39:59, INFO: Sparse search: None -2024-02-14 17:40:01, INFO: human number: 10 -2024-02-14 17:40:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:01, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:05, INFO: Using device: cpu -2024-02-14 17:40:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:05, INFO: Similarity_func: concatenation -2024-02-14 17:40:05, INFO: Layerwise_graph: False -2024-02-14 17:40:05, INFO: Skip_connection: True -2024-02-14 17:40:05, INFO: Number of layers: 1 -2024-02-14 17:40:05, INFO: Similarity_func: concatenation -2024-02-14 17:40:05, INFO: Layerwise_graph: False -2024-02-14 17:40:05, INFO: Skip_connection: True -2024-02-14 17:40:05, INFO: Number of layers: 1 -2024-02-14 17:40:05, INFO: Planning depth: 1 -2024-02-14 17:40:05, INFO: Planning width: 10 -2024-02-14 17:40:05, INFO: Sparse search: None -2024-02-14 17:40:08, INFO: human number: 10 -2024-02-14 17:40:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:12, INFO: Using device: cpu -2024-02-14 17:40:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:12, INFO: Similarity_func: concatenation -2024-02-14 17:40:12, INFO: Layerwise_graph: False -2024-02-14 17:40:12, INFO: Skip_connection: True -2024-02-14 17:40:12, INFO: Number of layers: 1 -2024-02-14 17:40:12, INFO: Similarity_func: concatenation -2024-02-14 17:40:12, INFO: Layerwise_graph: False -2024-02-14 17:40:12, INFO: Skip_connection: True -2024-02-14 17:40:12, INFO: Number of layers: 1 -2024-02-14 17:40:12, INFO: Planning depth: 1 -2024-02-14 17:40:12, INFO: Planning width: 10 -2024-02-14 17:40:12, INFO: Sparse search: None -2024-02-14 17:40:15, INFO: human number: 10 -2024-02-14 17:40:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:19, INFO: Using device: cpu -2024-02-14 17:40:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:19, INFO: Similarity_func: concatenation -2024-02-14 17:40:19, INFO: Layerwise_graph: False -2024-02-14 17:40:19, INFO: Skip_connection: True -2024-02-14 17:40:19, INFO: Number of layers: 1 -2024-02-14 17:40:19, INFO: Similarity_func: concatenation -2024-02-14 17:40:19, INFO: Layerwise_graph: False -2024-02-14 17:40:19, INFO: Skip_connection: True -2024-02-14 17:40:19, INFO: Number of layers: 1 -2024-02-14 17:40:19, INFO: Planning depth: 1 -2024-02-14 17:40:19, INFO: Planning width: 10 -2024-02-14 17:40:19, INFO: Sparse search: None -2024-02-14 17:40:22, INFO: human number: 10 -2024-02-14 17:40:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:26, INFO: Using device: cpu -2024-02-14 17:40:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:26, INFO: Similarity_func: concatenation -2024-02-14 17:40:26, INFO: Layerwise_graph: False -2024-02-14 17:40:26, INFO: Skip_connection: True -2024-02-14 17:40:26, INFO: Number of layers: 1 -2024-02-14 17:40:26, INFO: Similarity_func: concatenation -2024-02-14 17:40:26, INFO: Layerwise_graph: False -2024-02-14 17:40:26, INFO: Skip_connection: True -2024-02-14 17:40:26, INFO: Number of layers: 1 -2024-02-14 17:40:26, INFO: Planning depth: 1 -2024-02-14 17:40:26, INFO: Planning width: 10 -2024-02-14 17:40:26, INFO: Sparse search: None -2024-02-14 17:40:29, INFO: human number: 10 -2024-02-14 17:40:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:34, INFO: Using device: cpu -2024-02-14 17:40:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:34, INFO: Similarity_func: concatenation -2024-02-14 17:40:34, INFO: Layerwise_graph: False -2024-02-14 17:40:34, INFO: Skip_connection: True -2024-02-14 17:40:34, INFO: Number of layers: 1 -2024-02-14 17:40:34, INFO: Similarity_func: concatenation -2024-02-14 17:40:34, INFO: Layerwise_graph: False -2024-02-14 17:40:34, INFO: Skip_connection: True -2024-02-14 17:40:34, INFO: Number of layers: 1 -2024-02-14 17:40:34, INFO: Planning depth: 1 -2024-02-14 17:40:34, INFO: Planning width: 10 -2024-02-14 17:40:34, INFO: Sparse search: None -2024-02-14 17:40:36, INFO: human number: 10 -2024-02-14 17:40:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:41, INFO: Using device: cpu -2024-02-14 17:40:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:41, INFO: Similarity_func: concatenation -2024-02-14 17:40:41, INFO: Layerwise_graph: False -2024-02-14 17:40:41, INFO: Skip_connection: True -2024-02-14 17:40:41, INFO: Number of layers: 1 -2024-02-14 17:40:41, INFO: Similarity_func: concatenation -2024-02-14 17:40:41, INFO: Layerwise_graph: False -2024-02-14 17:40:41, INFO: Skip_connection: True -2024-02-14 17:40:41, INFO: Number of layers: 1 -2024-02-14 17:40:41, INFO: Planning depth: 1 -2024-02-14 17:40:41, INFO: Planning width: 10 -2024-02-14 17:40:41, INFO: Sparse search: None -2024-02-14 17:40:44, INFO: human number: 10 -2024-02-14 17:40:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:49, INFO: Using device: cpu -2024-02-14 17:40:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:49, INFO: Similarity_func: concatenation -2024-02-14 17:40:49, INFO: Layerwise_graph: False -2024-02-14 17:40:49, INFO: Skip_connection: True -2024-02-14 17:40:49, INFO: Number of layers: 1 -2024-02-14 17:40:49, INFO: Similarity_func: concatenation -2024-02-14 17:40:49, INFO: Layerwise_graph: False -2024-02-14 17:40:49, INFO: Skip_connection: True -2024-02-14 17:40:49, INFO: Number of layers: 1 -2024-02-14 17:40:49, INFO: Planning depth: 1 -2024-02-14 17:40:49, INFO: Planning width: 10 -2024-02-14 17:40:49, INFO: Sparse search: None -2024-02-14 17:40:52, INFO: human number: 10 -2024-02-14 17:40:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:40:56, INFO: Using device: cpu -2024-02-14 17:40:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:40:56, INFO: Similarity_func: concatenation -2024-02-14 17:40:56, INFO: Layerwise_graph: False -2024-02-14 17:40:56, INFO: Skip_connection: True -2024-02-14 17:40:56, INFO: Number of layers: 1 -2024-02-14 17:40:56, INFO: Similarity_func: concatenation -2024-02-14 17:40:56, INFO: Layerwise_graph: False -2024-02-14 17:40:56, INFO: Skip_connection: True -2024-02-14 17:40:56, INFO: Number of layers: 1 -2024-02-14 17:40:56, INFO: Planning depth: 1 -2024-02-14 17:40:56, INFO: Planning width: 10 -2024-02-14 17:40:56, INFO: Sparse search: None -2024-02-14 17:40:59, INFO: human number: 10 -2024-02-14 17:40:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:40:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:40:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:40:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:40:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:03, INFO: Using device: cpu -2024-02-14 17:41:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:03, INFO: Similarity_func: concatenation -2024-02-14 17:41:03, INFO: Layerwise_graph: False -2024-02-14 17:41:03, INFO: Skip_connection: True -2024-02-14 17:41:03, INFO: Number of layers: 1 -2024-02-14 17:41:03, INFO: Similarity_func: concatenation -2024-02-14 17:41:03, INFO: Layerwise_graph: False -2024-02-14 17:41:03, INFO: Skip_connection: True -2024-02-14 17:41:03, INFO: Number of layers: 1 -2024-02-14 17:41:03, INFO: Planning depth: 1 -2024-02-14 17:41:03, INFO: Planning width: 10 -2024-02-14 17:41:03, INFO: Sparse search: None -2024-02-14 17:41:06, INFO: human number: 10 -2024-02-14 17:41:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:10, INFO: Using device: cpu -2024-02-14 17:41:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:10, INFO: Similarity_func: concatenation -2024-02-14 17:41:10, INFO: Layerwise_graph: False -2024-02-14 17:41:10, INFO: Skip_connection: True -2024-02-14 17:41:10, INFO: Number of layers: 1 -2024-02-14 17:41:10, INFO: Similarity_func: concatenation -2024-02-14 17:41:10, INFO: Layerwise_graph: False -2024-02-14 17:41:10, INFO: Skip_connection: True -2024-02-14 17:41:10, INFO: Number of layers: 1 -2024-02-14 17:41:10, INFO: Planning depth: 1 -2024-02-14 17:41:10, INFO: Planning width: 10 -2024-02-14 17:41:10, INFO: Sparse search: None -2024-02-14 17:41:13, INFO: human number: 10 -2024-02-14 17:41:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:17, INFO: Using device: cpu -2024-02-14 17:41:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:17, INFO: Similarity_func: concatenation -2024-02-14 17:41:17, INFO: Layerwise_graph: False -2024-02-14 17:41:17, INFO: Skip_connection: True -2024-02-14 17:41:17, INFO: Number of layers: 1 -2024-02-14 17:41:17, INFO: Similarity_func: concatenation -2024-02-14 17:41:17, INFO: Layerwise_graph: False -2024-02-14 17:41:17, INFO: Skip_connection: True -2024-02-14 17:41:17, INFO: Number of layers: 1 -2024-02-14 17:41:17, INFO: Planning depth: 1 -2024-02-14 17:41:17, INFO: Planning width: 10 -2024-02-14 17:41:17, INFO: Sparse search: None -2024-02-14 17:41:20, INFO: human number: 10 -2024-02-14 17:41:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:20, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:24, INFO: Using device: cpu -2024-02-14 17:41:24, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:24, INFO: Similarity_func: concatenation -2024-02-14 17:41:24, INFO: Layerwise_graph: False -2024-02-14 17:41:24, INFO: Skip_connection: True -2024-02-14 17:41:24, INFO: Number of layers: 1 -2024-02-14 17:41:24, INFO: Similarity_func: concatenation -2024-02-14 17:41:24, INFO: Layerwise_graph: False -2024-02-14 17:41:24, INFO: Skip_connection: True -2024-02-14 17:41:24, INFO: Number of layers: 1 -2024-02-14 17:41:24, INFO: Planning depth: 1 -2024-02-14 17:41:24, INFO: Planning width: 10 -2024-02-14 17:41:24, INFO: Sparse search: None -2024-02-14 17:41:27, INFO: human number: 10 -2024-02-14 17:41:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:32, INFO: Using device: cpu -2024-02-14 17:41:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:32, INFO: Similarity_func: concatenation -2024-02-14 17:41:32, INFO: Layerwise_graph: False -2024-02-14 17:41:32, INFO: Skip_connection: True -2024-02-14 17:41:32, INFO: Number of layers: 1 -2024-02-14 17:41:32, INFO: Similarity_func: concatenation -2024-02-14 17:41:32, INFO: Layerwise_graph: False -2024-02-14 17:41:32, INFO: Skip_connection: True -2024-02-14 17:41:32, INFO: Number of layers: 1 -2024-02-14 17:41:32, INFO: Planning depth: 1 -2024-02-14 17:41:32, INFO: Planning width: 10 -2024-02-14 17:41:32, INFO: Sparse search: None -2024-02-14 17:41:34, INFO: human number: 10 -2024-02-14 17:41:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:39, INFO: Using device: cpu -2024-02-14 17:41:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:39, INFO: Similarity_func: concatenation -2024-02-14 17:41:39, INFO: Layerwise_graph: False -2024-02-14 17:41:39, INFO: Skip_connection: True -2024-02-14 17:41:39, INFO: Number of layers: 1 -2024-02-14 17:41:39, INFO: Similarity_func: concatenation -2024-02-14 17:41:39, INFO: Layerwise_graph: False -2024-02-14 17:41:39, INFO: Skip_connection: True -2024-02-14 17:41:39, INFO: Number of layers: 1 -2024-02-14 17:41:39, INFO: Planning depth: 1 -2024-02-14 17:41:39, INFO: Planning width: 10 -2024-02-14 17:41:39, INFO: Sparse search: None -2024-02-14 17:41:42, INFO: human number: 10 -2024-02-14 17:41:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:46, INFO: Using device: cpu -2024-02-14 17:41:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:46, INFO: Similarity_func: concatenation -2024-02-14 17:41:46, INFO: Layerwise_graph: False -2024-02-14 17:41:46, INFO: Skip_connection: True -2024-02-14 17:41:46, INFO: Number of layers: 1 -2024-02-14 17:41:46, INFO: Similarity_func: concatenation -2024-02-14 17:41:46, INFO: Layerwise_graph: False -2024-02-14 17:41:46, INFO: Skip_connection: True -2024-02-14 17:41:46, INFO: Number of layers: 1 -2024-02-14 17:41:46, INFO: Planning depth: 1 -2024-02-14 17:41:46, INFO: Planning width: 10 -2024-02-14 17:41:46, INFO: Sparse search: None -2024-02-14 17:41:48, INFO: human number: 10 -2024-02-14 17:41:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:41:53, INFO: Using device: cpu -2024-02-14 17:41:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:41:53, INFO: Similarity_func: concatenation -2024-02-14 17:41:53, INFO: Layerwise_graph: False -2024-02-14 17:41:53, INFO: Skip_connection: True -2024-02-14 17:41:53, INFO: Number of layers: 1 -2024-02-14 17:41:53, INFO: Similarity_func: concatenation -2024-02-14 17:41:53, INFO: Layerwise_graph: False -2024-02-14 17:41:53, INFO: Skip_connection: True -2024-02-14 17:41:53, INFO: Number of layers: 1 -2024-02-14 17:41:53, INFO: Planning depth: 1 -2024-02-14 17:41:53, INFO: Planning width: 10 -2024-02-14 17:41:53, INFO: Sparse search: None -2024-02-14 17:41:56, INFO: human number: 10 -2024-02-14 17:41:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:41:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:41:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:41:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:41:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:00, INFO: Using device: cpu -2024-02-14 17:42:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:00, INFO: Similarity_func: concatenation -2024-02-14 17:42:00, INFO: Layerwise_graph: False -2024-02-14 17:42:00, INFO: Skip_connection: True -2024-02-14 17:42:00, INFO: Number of layers: 1 -2024-02-14 17:42:00, INFO: Similarity_func: concatenation -2024-02-14 17:42:00, INFO: Layerwise_graph: False -2024-02-14 17:42:00, INFO: Skip_connection: True -2024-02-14 17:42:00, INFO: Number of layers: 1 -2024-02-14 17:42:00, INFO: Planning depth: 1 -2024-02-14 17:42:00, INFO: Planning width: 10 -2024-02-14 17:42:00, INFO: Sparse search: None -2024-02-14 17:42:03, INFO: human number: 10 -2024-02-14 17:42:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:08, INFO: Using device: cpu -2024-02-14 17:42:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:08, INFO: Similarity_func: concatenation -2024-02-14 17:42:08, INFO: Layerwise_graph: False -2024-02-14 17:42:08, INFO: Skip_connection: True -2024-02-14 17:42:08, INFO: Number of layers: 1 -2024-02-14 17:42:08, INFO: Similarity_func: concatenation -2024-02-14 17:42:08, INFO: Layerwise_graph: False -2024-02-14 17:42:08, INFO: Skip_connection: True -2024-02-14 17:42:08, INFO: Number of layers: 1 -2024-02-14 17:42:08, INFO: Planning depth: 1 -2024-02-14 17:42:08, INFO: Planning width: 10 -2024-02-14 17:42:08, INFO: Sparse search: None -2024-02-14 17:42:10, INFO: human number: 10 -2024-02-14 17:42:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:15, INFO: Using device: cpu -2024-02-14 17:42:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:15, INFO: Similarity_func: concatenation -2024-02-14 17:42:15, INFO: Layerwise_graph: False -2024-02-14 17:42:15, INFO: Skip_connection: True -2024-02-14 17:42:15, INFO: Number of layers: 1 -2024-02-14 17:42:15, INFO: Similarity_func: concatenation -2024-02-14 17:42:15, INFO: Layerwise_graph: False -2024-02-14 17:42:15, INFO: Skip_connection: True -2024-02-14 17:42:15, INFO: Number of layers: 1 -2024-02-14 17:42:15, INFO: Planning depth: 1 -2024-02-14 17:42:15, INFO: Planning width: 10 -2024-02-14 17:42:15, INFO: Sparse search: None -2024-02-14 17:42:18, INFO: human number: 10 -2024-02-14 17:42:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:23, INFO: Using device: cpu -2024-02-14 17:42:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:23, INFO: Similarity_func: concatenation -2024-02-14 17:42:23, INFO: Layerwise_graph: False -2024-02-14 17:42:23, INFO: Skip_connection: True -2024-02-14 17:42:23, INFO: Number of layers: 1 -2024-02-14 17:42:23, INFO: Similarity_func: concatenation -2024-02-14 17:42:23, INFO: Layerwise_graph: False -2024-02-14 17:42:23, INFO: Skip_connection: True -2024-02-14 17:42:23, INFO: Number of layers: 1 -2024-02-14 17:42:23, INFO: Planning depth: 1 -2024-02-14 17:42:23, INFO: Planning width: 10 -2024-02-14 17:42:23, INFO: Sparse search: None -2024-02-14 17:42:25, INFO: human number: 10 -2024-02-14 17:42:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:29, INFO: Using device: cpu -2024-02-14 17:42:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:29, INFO: Similarity_func: concatenation -2024-02-14 17:42:29, INFO: Layerwise_graph: False -2024-02-14 17:42:29, INFO: Skip_connection: True -2024-02-14 17:42:29, INFO: Number of layers: 1 -2024-02-14 17:42:29, INFO: Similarity_func: concatenation -2024-02-14 17:42:29, INFO: Layerwise_graph: False -2024-02-14 17:42:29, INFO: Skip_connection: True -2024-02-14 17:42:29, INFO: Number of layers: 1 -2024-02-14 17:42:29, INFO: Planning depth: 1 -2024-02-14 17:42:29, INFO: Planning width: 10 -2024-02-14 17:42:29, INFO: Sparse search: None -2024-02-14 17:42:32, INFO: human number: 10 -2024-02-14 17:42:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:36, INFO: Using device: cpu -2024-02-14 17:42:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:36, INFO: Similarity_func: concatenation -2024-02-14 17:42:36, INFO: Layerwise_graph: False -2024-02-14 17:42:36, INFO: Skip_connection: True -2024-02-14 17:42:36, INFO: Number of layers: 1 -2024-02-14 17:42:36, INFO: Similarity_func: concatenation -2024-02-14 17:42:36, INFO: Layerwise_graph: False -2024-02-14 17:42:36, INFO: Skip_connection: True -2024-02-14 17:42:36, INFO: Number of layers: 1 -2024-02-14 17:42:36, INFO: Planning depth: 1 -2024-02-14 17:42:36, INFO: Planning width: 10 -2024-02-14 17:42:36, INFO: Sparse search: None -2024-02-14 17:42:39, INFO: human number: 10 -2024-02-14 17:42:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:43, INFO: Using device: cpu -2024-02-14 17:42:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:43, INFO: Similarity_func: concatenation -2024-02-14 17:42:43, INFO: Layerwise_graph: False -2024-02-14 17:42:43, INFO: Skip_connection: True -2024-02-14 17:42:43, INFO: Number of layers: 1 -2024-02-14 17:42:43, INFO: Similarity_func: concatenation -2024-02-14 17:42:43, INFO: Layerwise_graph: False -2024-02-14 17:42:43, INFO: Skip_connection: True -2024-02-14 17:42:43, INFO: Number of layers: 1 -2024-02-14 17:42:43, INFO: Planning depth: 1 -2024-02-14 17:42:43, INFO: Planning width: 10 -2024-02-14 17:42:43, INFO: Sparse search: None -2024-02-14 17:42:46, INFO: human number: 10 -2024-02-14 17:42:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:50, INFO: Using device: cpu -2024-02-14 17:42:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:50, INFO: Similarity_func: concatenation -2024-02-14 17:42:50, INFO: Layerwise_graph: False -2024-02-14 17:42:50, INFO: Skip_connection: True -2024-02-14 17:42:50, INFO: Number of layers: 1 -2024-02-14 17:42:50, INFO: Similarity_func: concatenation -2024-02-14 17:42:50, INFO: Layerwise_graph: False -2024-02-14 17:42:50, INFO: Skip_connection: True -2024-02-14 17:42:50, INFO: Number of layers: 1 -2024-02-14 17:42:50, INFO: Planning depth: 1 -2024-02-14 17:42:50, INFO: Planning width: 10 -2024-02-14 17:42:50, INFO: Sparse search: None -2024-02-14 17:42:53, INFO: human number: 10 -2024-02-14 17:42:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:42:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:42:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:42:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:42:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:42:57, INFO: Using device: cpu -2024-02-14 17:42:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:42:57, INFO: Similarity_func: concatenation -2024-02-14 17:42:57, INFO: Layerwise_graph: False -2024-02-14 17:42:57, INFO: Skip_connection: True -2024-02-14 17:42:57, INFO: Number of layers: 1 -2024-02-14 17:42:57, INFO: Similarity_func: concatenation -2024-02-14 17:42:57, INFO: Layerwise_graph: False -2024-02-14 17:42:57, INFO: Skip_connection: True -2024-02-14 17:42:57, INFO: Number of layers: 1 -2024-02-14 17:42:57, INFO: Planning depth: 1 -2024-02-14 17:42:57, INFO: Planning width: 10 -2024-02-14 17:42:57, INFO: Sparse search: None -2024-02-14 17:43:00, INFO: human number: 10 -2024-02-14 17:43:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:04, INFO: Using device: cpu -2024-02-14 17:43:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:04, INFO: Similarity_func: concatenation -2024-02-14 17:43:04, INFO: Layerwise_graph: False -2024-02-14 17:43:04, INFO: Skip_connection: True -2024-02-14 17:43:04, INFO: Number of layers: 1 -2024-02-14 17:43:04, INFO: Similarity_func: concatenation -2024-02-14 17:43:04, INFO: Layerwise_graph: False -2024-02-14 17:43:04, INFO: Skip_connection: True -2024-02-14 17:43:04, INFO: Number of layers: 1 -2024-02-14 17:43:04, INFO: Planning depth: 1 -2024-02-14 17:43:04, INFO: Planning width: 10 -2024-02-14 17:43:04, INFO: Sparse search: None -2024-02-14 17:43:07, INFO: human number: 10 -2024-02-14 17:43:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:11, INFO: Using device: cpu -2024-02-14 17:43:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:11, INFO: Similarity_func: concatenation -2024-02-14 17:43:11, INFO: Layerwise_graph: False -2024-02-14 17:43:11, INFO: Skip_connection: True -2024-02-14 17:43:11, INFO: Number of layers: 1 -2024-02-14 17:43:11, INFO: Similarity_func: concatenation -2024-02-14 17:43:11, INFO: Layerwise_graph: False -2024-02-14 17:43:11, INFO: Skip_connection: True -2024-02-14 17:43:11, INFO: Number of layers: 1 -2024-02-14 17:43:11, INFO: Planning depth: 1 -2024-02-14 17:43:11, INFO: Planning width: 10 -2024-02-14 17:43:11, INFO: Sparse search: None -2024-02-14 17:43:14, INFO: human number: 10 -2024-02-14 17:43:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:18, INFO: Using device: cpu -2024-02-14 17:43:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:18, INFO: Similarity_func: concatenation -2024-02-14 17:43:18, INFO: Layerwise_graph: False -2024-02-14 17:43:18, INFO: Skip_connection: True -2024-02-14 17:43:18, INFO: Number of layers: 1 -2024-02-14 17:43:18, INFO: Similarity_func: concatenation -2024-02-14 17:43:18, INFO: Layerwise_graph: False -2024-02-14 17:43:18, INFO: Skip_connection: True -2024-02-14 17:43:18, INFO: Number of layers: 1 -2024-02-14 17:43:18, INFO: Planning depth: 1 -2024-02-14 17:43:18, INFO: Planning width: 10 -2024-02-14 17:43:18, INFO: Sparse search: None -2024-02-14 17:43:21, INFO: human number: 10 -2024-02-14 17:43:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:25, INFO: Using device: cpu -2024-02-14 17:43:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:25, INFO: Similarity_func: concatenation -2024-02-14 17:43:25, INFO: Layerwise_graph: False -2024-02-14 17:43:25, INFO: Skip_connection: True -2024-02-14 17:43:25, INFO: Number of layers: 1 -2024-02-14 17:43:25, INFO: Similarity_func: concatenation -2024-02-14 17:43:25, INFO: Layerwise_graph: False -2024-02-14 17:43:25, INFO: Skip_connection: True -2024-02-14 17:43:25, INFO: Number of layers: 1 -2024-02-14 17:43:25, INFO: Planning depth: 1 -2024-02-14 17:43:25, INFO: Planning width: 10 -2024-02-14 17:43:25, INFO: Sparse search: None -2024-02-14 17:43:28, INFO: human number: 10 -2024-02-14 17:43:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:32, INFO: Using device: cpu -2024-02-14 17:43:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:32, INFO: Similarity_func: concatenation -2024-02-14 17:43:32, INFO: Layerwise_graph: False -2024-02-14 17:43:32, INFO: Skip_connection: True -2024-02-14 17:43:32, INFO: Number of layers: 1 -2024-02-14 17:43:32, INFO: Similarity_func: concatenation -2024-02-14 17:43:32, INFO: Layerwise_graph: False -2024-02-14 17:43:32, INFO: Skip_connection: True -2024-02-14 17:43:32, INFO: Number of layers: 1 -2024-02-14 17:43:32, INFO: Planning depth: 1 -2024-02-14 17:43:32, INFO: Planning width: 10 -2024-02-14 17:43:32, INFO: Sparse search: None -2024-02-14 17:43:35, INFO: human number: 10 -2024-02-14 17:43:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:39, INFO: Using device: cpu -2024-02-14 17:43:39, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:39, INFO: Similarity_func: concatenation -2024-02-14 17:43:39, INFO: Layerwise_graph: False -2024-02-14 17:43:39, INFO: Skip_connection: True -2024-02-14 17:43:39, INFO: Number of layers: 1 -2024-02-14 17:43:39, INFO: Similarity_func: concatenation -2024-02-14 17:43:39, INFO: Layerwise_graph: False -2024-02-14 17:43:39, INFO: Skip_connection: True -2024-02-14 17:43:39, INFO: Number of layers: 1 -2024-02-14 17:43:39, INFO: Planning depth: 1 -2024-02-14 17:43:39, INFO: Planning width: 10 -2024-02-14 17:43:39, INFO: Sparse search: None -2024-02-14 17:43:42, INFO: human number: 10 -2024-02-14 17:43:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:46, INFO: Using device: cpu -2024-02-14 17:43:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:46, INFO: Similarity_func: concatenation -2024-02-14 17:43:46, INFO: Layerwise_graph: False -2024-02-14 17:43:46, INFO: Skip_connection: True -2024-02-14 17:43:46, INFO: Number of layers: 1 -2024-02-14 17:43:46, INFO: Similarity_func: concatenation -2024-02-14 17:43:46, INFO: Layerwise_graph: False -2024-02-14 17:43:46, INFO: Skip_connection: True -2024-02-14 17:43:46, INFO: Number of layers: 1 -2024-02-14 17:43:46, INFO: Planning depth: 1 -2024-02-14 17:43:46, INFO: Planning width: 10 -2024-02-14 17:43:46, INFO: Sparse search: None -2024-02-14 17:43:49, INFO: human number: 10 -2024-02-14 17:43:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:43:54, INFO: Using device: cpu -2024-02-14 17:43:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:43:54, INFO: Similarity_func: concatenation -2024-02-14 17:43:54, INFO: Layerwise_graph: False -2024-02-14 17:43:54, INFO: Skip_connection: True -2024-02-14 17:43:54, INFO: Number of layers: 1 -2024-02-14 17:43:54, INFO: Similarity_func: concatenation -2024-02-14 17:43:54, INFO: Layerwise_graph: False -2024-02-14 17:43:54, INFO: Skip_connection: True -2024-02-14 17:43:54, INFO: Number of layers: 1 -2024-02-14 17:43:54, INFO: Planning depth: 1 -2024-02-14 17:43:54, INFO: Planning width: 10 -2024-02-14 17:43:54, INFO: Sparse search: None -2024-02-14 17:43:56, INFO: human number: 10 -2024-02-14 17:43:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:43:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:43:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:43:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:43:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:01, INFO: Using device: cpu -2024-02-14 17:44:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:01, INFO: Similarity_func: concatenation -2024-02-14 17:44:01, INFO: Layerwise_graph: False -2024-02-14 17:44:01, INFO: Skip_connection: True -2024-02-14 17:44:01, INFO: Number of layers: 1 -2024-02-14 17:44:01, INFO: Similarity_func: concatenation -2024-02-14 17:44:01, INFO: Layerwise_graph: False -2024-02-14 17:44:01, INFO: Skip_connection: True -2024-02-14 17:44:01, INFO: Number of layers: 1 -2024-02-14 17:44:01, INFO: Planning depth: 1 -2024-02-14 17:44:01, INFO: Planning width: 10 -2024-02-14 17:44:01, INFO: Sparse search: None -2024-02-14 17:44:03, INFO: human number: 10 -2024-02-14 17:44:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:08, INFO: Using device: cpu -2024-02-14 17:44:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:08, INFO: Similarity_func: concatenation -2024-02-14 17:44:08, INFO: Layerwise_graph: False -2024-02-14 17:44:08, INFO: Skip_connection: True -2024-02-14 17:44:08, INFO: Number of layers: 1 -2024-02-14 17:44:08, INFO: Similarity_func: concatenation -2024-02-14 17:44:08, INFO: Layerwise_graph: False -2024-02-14 17:44:08, INFO: Skip_connection: True -2024-02-14 17:44:08, INFO: Number of layers: 1 -2024-02-14 17:44:08, INFO: Planning depth: 1 -2024-02-14 17:44:08, INFO: Planning width: 10 -2024-02-14 17:44:08, INFO: Sparse search: None -2024-02-14 17:44:10, INFO: human number: 10 -2024-02-14 17:44:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:15, INFO: Using device: cpu -2024-02-14 17:44:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:15, INFO: Similarity_func: concatenation -2024-02-14 17:44:15, INFO: Layerwise_graph: False -2024-02-14 17:44:15, INFO: Skip_connection: True -2024-02-14 17:44:15, INFO: Number of layers: 1 -2024-02-14 17:44:15, INFO: Similarity_func: concatenation -2024-02-14 17:44:15, INFO: Layerwise_graph: False -2024-02-14 17:44:15, INFO: Skip_connection: True -2024-02-14 17:44:15, INFO: Number of layers: 1 -2024-02-14 17:44:15, INFO: Planning depth: 1 -2024-02-14 17:44:15, INFO: Planning width: 10 -2024-02-14 17:44:15, INFO: Sparse search: None -2024-02-14 17:44:17, INFO: human number: 10 -2024-02-14 17:44:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:22, INFO: Using device: cpu -2024-02-14 17:44:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:22, INFO: Similarity_func: concatenation -2024-02-14 17:44:22, INFO: Layerwise_graph: False -2024-02-14 17:44:22, INFO: Skip_connection: True -2024-02-14 17:44:22, INFO: Number of layers: 1 -2024-02-14 17:44:22, INFO: Similarity_func: concatenation -2024-02-14 17:44:22, INFO: Layerwise_graph: False -2024-02-14 17:44:22, INFO: Skip_connection: True -2024-02-14 17:44:22, INFO: Number of layers: 1 -2024-02-14 17:44:22, INFO: Planning depth: 1 -2024-02-14 17:44:22, INFO: Planning width: 10 -2024-02-14 17:44:22, INFO: Sparse search: None -2024-02-14 17:44:24, INFO: human number: 10 -2024-02-14 17:44:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:28, INFO: Using device: cpu -2024-02-14 17:44:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:28, INFO: Similarity_func: concatenation -2024-02-14 17:44:28, INFO: Layerwise_graph: False -2024-02-14 17:44:28, INFO: Skip_connection: True -2024-02-14 17:44:28, INFO: Number of layers: 1 -2024-02-14 17:44:28, INFO: Similarity_func: concatenation -2024-02-14 17:44:28, INFO: Layerwise_graph: False -2024-02-14 17:44:28, INFO: Skip_connection: True -2024-02-14 17:44:28, INFO: Number of layers: 1 -2024-02-14 17:44:28, INFO: Planning depth: 1 -2024-02-14 17:44:28, INFO: Planning width: 10 -2024-02-14 17:44:28, INFO: Sparse search: None -2024-02-14 17:44:31, INFO: human number: 10 -2024-02-14 17:44:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:36, INFO: Using device: cpu -2024-02-14 17:44:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:36, INFO: Similarity_func: concatenation -2024-02-14 17:44:36, INFO: Layerwise_graph: False -2024-02-14 17:44:36, INFO: Skip_connection: True -2024-02-14 17:44:36, INFO: Number of layers: 1 -2024-02-14 17:44:36, INFO: Similarity_func: concatenation -2024-02-14 17:44:36, INFO: Layerwise_graph: False -2024-02-14 17:44:36, INFO: Skip_connection: True -2024-02-14 17:44:36, INFO: Number of layers: 1 -2024-02-14 17:44:36, INFO: Planning depth: 1 -2024-02-14 17:44:36, INFO: Planning width: 10 -2024-02-14 17:44:36, INFO: Sparse search: None -2024-02-14 17:44:39, INFO: human number: 10 -2024-02-14 17:44:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:43, INFO: Using device: cpu -2024-02-14 17:44:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:43, INFO: Similarity_func: concatenation -2024-02-14 17:44:43, INFO: Layerwise_graph: False -2024-02-14 17:44:43, INFO: Skip_connection: True -2024-02-14 17:44:43, INFO: Number of layers: 1 -2024-02-14 17:44:43, INFO: Similarity_func: concatenation -2024-02-14 17:44:43, INFO: Layerwise_graph: False -2024-02-14 17:44:43, INFO: Skip_connection: True -2024-02-14 17:44:43, INFO: Number of layers: 1 -2024-02-14 17:44:43, INFO: Planning depth: 1 -2024-02-14 17:44:43, INFO: Planning width: 10 -2024-02-14 17:44:43, INFO: Sparse search: None -2024-02-14 17:44:46, INFO: human number: 10 -2024-02-14 17:44:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:51, INFO: Using device: cpu -2024-02-14 17:44:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:51, INFO: Similarity_func: concatenation -2024-02-14 17:44:51, INFO: Layerwise_graph: False -2024-02-14 17:44:51, INFO: Skip_connection: True -2024-02-14 17:44:51, INFO: Number of layers: 1 -2024-02-14 17:44:51, INFO: Similarity_func: concatenation -2024-02-14 17:44:51, INFO: Layerwise_graph: False -2024-02-14 17:44:51, INFO: Skip_connection: True -2024-02-14 17:44:51, INFO: Number of layers: 1 -2024-02-14 17:44:51, INFO: Planning depth: 1 -2024-02-14 17:44:51, INFO: Planning width: 10 -2024-02-14 17:44:51, INFO: Sparse search: None -2024-02-14 17:44:53, INFO: human number: 10 -2024-02-14 17:44:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:44:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:44:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:44:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:44:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:44:58, INFO: Using device: cpu -2024-02-14 17:44:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:44:58, INFO: Similarity_func: concatenation -2024-02-14 17:44:58, INFO: Layerwise_graph: False -2024-02-14 17:44:58, INFO: Skip_connection: True -2024-02-14 17:44:58, INFO: Number of layers: 1 -2024-02-14 17:44:58, INFO: Similarity_func: concatenation -2024-02-14 17:44:58, INFO: Layerwise_graph: False -2024-02-14 17:44:58, INFO: Skip_connection: True -2024-02-14 17:44:58, INFO: Number of layers: 1 -2024-02-14 17:44:58, INFO: Planning depth: 1 -2024-02-14 17:44:58, INFO: Planning width: 10 -2024-02-14 17:44:58, INFO: Sparse search: None -2024-02-14 17:45:00, INFO: human number: 10 -2024-02-14 17:45:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:05, INFO: Using device: cpu -2024-02-14 17:45:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:05, INFO: Similarity_func: concatenation -2024-02-14 17:45:05, INFO: Layerwise_graph: False -2024-02-14 17:45:05, INFO: Skip_connection: True -2024-02-14 17:45:05, INFO: Number of layers: 1 -2024-02-14 17:45:05, INFO: Similarity_func: concatenation -2024-02-14 17:45:05, INFO: Layerwise_graph: False -2024-02-14 17:45:05, INFO: Skip_connection: True -2024-02-14 17:45:05, INFO: Number of layers: 1 -2024-02-14 17:45:05, INFO: Planning depth: 1 -2024-02-14 17:45:05, INFO: Planning width: 10 -2024-02-14 17:45:05, INFO: Sparse search: None -2024-02-14 17:45:08, INFO: human number: 10 -2024-02-14 17:45:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:08, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:12, INFO: Using device: cpu -2024-02-14 17:45:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:12, INFO: Similarity_func: concatenation -2024-02-14 17:45:12, INFO: Layerwise_graph: False -2024-02-14 17:45:12, INFO: Skip_connection: True -2024-02-14 17:45:12, INFO: Number of layers: 1 -2024-02-14 17:45:12, INFO: Similarity_func: concatenation -2024-02-14 17:45:12, INFO: Layerwise_graph: False -2024-02-14 17:45:12, INFO: Skip_connection: True -2024-02-14 17:45:12, INFO: Number of layers: 1 -2024-02-14 17:45:12, INFO: Planning depth: 1 -2024-02-14 17:45:12, INFO: Planning width: 10 -2024-02-14 17:45:12, INFO: Sparse search: None -2024-02-14 17:45:14, INFO: human number: 10 -2024-02-14 17:45:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:19, INFO: Using device: cpu -2024-02-14 17:45:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:19, INFO: Similarity_func: concatenation -2024-02-14 17:45:19, INFO: Layerwise_graph: False -2024-02-14 17:45:19, INFO: Skip_connection: True -2024-02-14 17:45:19, INFO: Number of layers: 1 -2024-02-14 17:45:19, INFO: Similarity_func: concatenation -2024-02-14 17:45:19, INFO: Layerwise_graph: False -2024-02-14 17:45:19, INFO: Skip_connection: True -2024-02-14 17:45:19, INFO: Number of layers: 1 -2024-02-14 17:45:19, INFO: Planning depth: 1 -2024-02-14 17:45:19, INFO: Planning width: 10 -2024-02-14 17:45:19, INFO: Sparse search: None -2024-02-14 17:45:21, INFO: human number: 10 -2024-02-14 17:45:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:26, INFO: Using device: cpu -2024-02-14 17:45:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:26, INFO: Similarity_func: concatenation -2024-02-14 17:45:26, INFO: Layerwise_graph: False -2024-02-14 17:45:26, INFO: Skip_connection: True -2024-02-14 17:45:26, INFO: Number of layers: 1 -2024-02-14 17:45:26, INFO: Similarity_func: concatenation -2024-02-14 17:45:26, INFO: Layerwise_graph: False -2024-02-14 17:45:26, INFO: Skip_connection: True -2024-02-14 17:45:26, INFO: Number of layers: 1 -2024-02-14 17:45:26, INFO: Planning depth: 1 -2024-02-14 17:45:26, INFO: Planning width: 10 -2024-02-14 17:45:26, INFO: Sparse search: None -2024-02-14 17:45:29, INFO: human number: 10 -2024-02-14 17:45:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:33, INFO: Using device: cpu -2024-02-14 17:45:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:33, INFO: Similarity_func: concatenation -2024-02-14 17:45:33, INFO: Layerwise_graph: False -2024-02-14 17:45:33, INFO: Skip_connection: True -2024-02-14 17:45:33, INFO: Number of layers: 1 -2024-02-14 17:45:33, INFO: Similarity_func: concatenation -2024-02-14 17:45:33, INFO: Layerwise_graph: False -2024-02-14 17:45:33, INFO: Skip_connection: True -2024-02-14 17:45:33, INFO: Number of layers: 1 -2024-02-14 17:45:33, INFO: Planning depth: 1 -2024-02-14 17:45:33, INFO: Planning width: 10 -2024-02-14 17:45:33, INFO: Sparse search: None -2024-02-14 17:45:35, INFO: human number: 10 -2024-02-14 17:45:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:35, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:40, INFO: Using device: cpu -2024-02-14 17:45:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:40, INFO: Similarity_func: concatenation -2024-02-14 17:45:40, INFO: Layerwise_graph: False -2024-02-14 17:45:40, INFO: Skip_connection: True -2024-02-14 17:45:40, INFO: Number of layers: 1 -2024-02-14 17:45:40, INFO: Similarity_func: concatenation -2024-02-14 17:45:40, INFO: Layerwise_graph: False -2024-02-14 17:45:40, INFO: Skip_connection: True -2024-02-14 17:45:40, INFO: Number of layers: 1 -2024-02-14 17:45:40, INFO: Planning depth: 1 -2024-02-14 17:45:40, INFO: Planning width: 10 -2024-02-14 17:45:40, INFO: Sparse search: None -2024-02-14 17:45:42, INFO: human number: 10 -2024-02-14 17:45:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:42, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:46, INFO: Using device: cpu -2024-02-14 17:45:46, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:46, INFO: Similarity_func: concatenation -2024-02-14 17:45:46, INFO: Layerwise_graph: False -2024-02-14 17:45:46, INFO: Skip_connection: True -2024-02-14 17:45:46, INFO: Number of layers: 1 -2024-02-14 17:45:46, INFO: Similarity_func: concatenation -2024-02-14 17:45:46, INFO: Layerwise_graph: False -2024-02-14 17:45:46, INFO: Skip_connection: True -2024-02-14 17:45:46, INFO: Number of layers: 1 -2024-02-14 17:45:46, INFO: Planning depth: 1 -2024-02-14 17:45:46, INFO: Planning width: 10 -2024-02-14 17:45:46, INFO: Sparse search: None -2024-02-14 17:45:49, INFO: human number: 10 -2024-02-14 17:45:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:49, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:45:53, INFO: Using device: cpu -2024-02-14 17:45:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:45:53, INFO: Similarity_func: concatenation -2024-02-14 17:45:53, INFO: Layerwise_graph: False -2024-02-14 17:45:53, INFO: Skip_connection: True -2024-02-14 17:45:53, INFO: Number of layers: 1 -2024-02-14 17:45:53, INFO: Similarity_func: concatenation -2024-02-14 17:45:53, INFO: Layerwise_graph: False -2024-02-14 17:45:53, INFO: Skip_connection: True -2024-02-14 17:45:53, INFO: Number of layers: 1 -2024-02-14 17:45:53, INFO: Planning depth: 1 -2024-02-14 17:45:53, INFO: Planning width: 10 -2024-02-14 17:45:53, INFO: Sparse search: None -2024-02-14 17:45:56, INFO: human number: 10 -2024-02-14 17:45:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:45:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:45:56, INFO: Square width: 10, circle width: 4 -2024-02-14 17:45:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:45:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:00, INFO: Using device: cpu -2024-02-14 17:46:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:00, INFO: Similarity_func: concatenation -2024-02-14 17:46:00, INFO: Layerwise_graph: False -2024-02-14 17:46:00, INFO: Skip_connection: True -2024-02-14 17:46:00, INFO: Number of layers: 1 -2024-02-14 17:46:00, INFO: Similarity_func: concatenation -2024-02-14 17:46:00, INFO: Layerwise_graph: False -2024-02-14 17:46:00, INFO: Skip_connection: True -2024-02-14 17:46:00, INFO: Number of layers: 1 -2024-02-14 17:46:00, INFO: Planning depth: 1 -2024-02-14 17:46:00, INFO: Planning width: 10 -2024-02-14 17:46:00, INFO: Sparse search: None -2024-02-14 17:46:03, INFO: human number: 10 -2024-02-14 17:46:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:08, INFO: Using device: cpu -2024-02-14 17:46:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:08, INFO: Similarity_func: concatenation -2024-02-14 17:46:08, INFO: Layerwise_graph: False -2024-02-14 17:46:08, INFO: Skip_connection: True -2024-02-14 17:46:08, INFO: Number of layers: 1 -2024-02-14 17:46:08, INFO: Similarity_func: concatenation -2024-02-14 17:46:08, INFO: Layerwise_graph: False -2024-02-14 17:46:08, INFO: Skip_connection: True -2024-02-14 17:46:08, INFO: Number of layers: 1 -2024-02-14 17:46:08, INFO: Planning depth: 1 -2024-02-14 17:46:08, INFO: Planning width: 10 -2024-02-14 17:46:08, INFO: Sparse search: None -2024-02-14 17:46:10, INFO: human number: 10 -2024-02-14 17:46:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:10, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:15, INFO: Using device: cpu -2024-02-14 17:46:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:15, INFO: Similarity_func: concatenation -2024-02-14 17:46:15, INFO: Layerwise_graph: False -2024-02-14 17:46:15, INFO: Skip_connection: True -2024-02-14 17:46:15, INFO: Number of layers: 1 -2024-02-14 17:46:15, INFO: Similarity_func: concatenation -2024-02-14 17:46:15, INFO: Layerwise_graph: False -2024-02-14 17:46:15, INFO: Skip_connection: True -2024-02-14 17:46:15, INFO: Number of layers: 1 -2024-02-14 17:46:15, INFO: Planning depth: 1 -2024-02-14 17:46:15, INFO: Planning width: 10 -2024-02-14 17:46:15, INFO: Sparse search: None -2024-02-14 17:46:18, INFO: human number: 10 -2024-02-14 17:46:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:22, INFO: Using device: cpu -2024-02-14 17:46:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:22, INFO: Similarity_func: concatenation -2024-02-14 17:46:22, INFO: Layerwise_graph: False -2024-02-14 17:46:22, INFO: Skip_connection: True -2024-02-14 17:46:22, INFO: Number of layers: 1 -2024-02-14 17:46:22, INFO: Similarity_func: concatenation -2024-02-14 17:46:22, INFO: Layerwise_graph: False -2024-02-14 17:46:22, INFO: Skip_connection: True -2024-02-14 17:46:22, INFO: Number of layers: 1 -2024-02-14 17:46:22, INFO: Planning depth: 1 -2024-02-14 17:46:22, INFO: Planning width: 10 -2024-02-14 17:46:22, INFO: Sparse search: None -2024-02-14 17:46:24, INFO: human number: 10 -2024-02-14 17:46:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:29, INFO: Using device: cpu -2024-02-14 17:46:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:29, INFO: Similarity_func: concatenation -2024-02-14 17:46:29, INFO: Layerwise_graph: False -2024-02-14 17:46:29, INFO: Skip_connection: True -2024-02-14 17:46:29, INFO: Number of layers: 1 -2024-02-14 17:46:29, INFO: Similarity_func: concatenation -2024-02-14 17:46:29, INFO: Layerwise_graph: False -2024-02-14 17:46:29, INFO: Skip_connection: True -2024-02-14 17:46:29, INFO: Number of layers: 1 -2024-02-14 17:46:29, INFO: Planning depth: 1 -2024-02-14 17:46:29, INFO: Planning width: 10 -2024-02-14 17:46:29, INFO: Sparse search: None -2024-02-14 17:46:31, INFO: human number: 10 -2024-02-14 17:46:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:36, INFO: Using device: cpu -2024-02-14 17:46:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:36, INFO: Similarity_func: concatenation -2024-02-14 17:46:36, INFO: Layerwise_graph: False -2024-02-14 17:46:36, INFO: Skip_connection: True -2024-02-14 17:46:36, INFO: Number of layers: 1 -2024-02-14 17:46:36, INFO: Similarity_func: concatenation -2024-02-14 17:46:36, INFO: Layerwise_graph: False -2024-02-14 17:46:36, INFO: Skip_connection: True -2024-02-14 17:46:36, INFO: Number of layers: 1 -2024-02-14 17:46:36, INFO: Planning depth: 1 -2024-02-14 17:46:36, INFO: Planning width: 10 -2024-02-14 17:46:36, INFO: Sparse search: None -2024-02-14 17:46:38, INFO: human number: 10 -2024-02-14 17:46:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:42, INFO: Using device: cpu -2024-02-14 17:46:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:42, INFO: Similarity_func: concatenation -2024-02-14 17:46:42, INFO: Layerwise_graph: False -2024-02-14 17:46:42, INFO: Skip_connection: True -2024-02-14 17:46:42, INFO: Number of layers: 1 -2024-02-14 17:46:42, INFO: Similarity_func: concatenation -2024-02-14 17:46:42, INFO: Layerwise_graph: False -2024-02-14 17:46:42, INFO: Skip_connection: True -2024-02-14 17:46:42, INFO: Number of layers: 1 -2024-02-14 17:46:42, INFO: Planning depth: 1 -2024-02-14 17:46:42, INFO: Planning width: 10 -2024-02-14 17:46:42, INFO: Sparse search: None -2024-02-14 17:46:45, INFO: human number: 10 -2024-02-14 17:46:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:50, INFO: Using device: cpu -2024-02-14 17:46:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:50, INFO: Similarity_func: concatenation -2024-02-14 17:46:50, INFO: Layerwise_graph: False -2024-02-14 17:46:50, INFO: Skip_connection: True -2024-02-14 17:46:50, INFO: Number of layers: 1 -2024-02-14 17:46:50, INFO: Similarity_func: concatenation -2024-02-14 17:46:50, INFO: Layerwise_graph: False -2024-02-14 17:46:50, INFO: Skip_connection: True -2024-02-14 17:46:50, INFO: Number of layers: 1 -2024-02-14 17:46:50, INFO: Planning depth: 1 -2024-02-14 17:46:50, INFO: Planning width: 10 -2024-02-14 17:46:50, INFO: Sparse search: None -2024-02-14 17:46:53, INFO: human number: 10 -2024-02-14 17:46:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:46:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:46:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:46:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:46:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:46:57, INFO: Using device: cpu -2024-02-14 17:46:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:46:57, INFO: Similarity_func: concatenation -2024-02-14 17:46:57, INFO: Layerwise_graph: False -2024-02-14 17:46:57, INFO: Skip_connection: True -2024-02-14 17:46:57, INFO: Number of layers: 1 -2024-02-14 17:46:57, INFO: Similarity_func: concatenation -2024-02-14 17:46:57, INFO: Layerwise_graph: False -2024-02-14 17:46:57, INFO: Skip_connection: True -2024-02-14 17:46:57, INFO: Number of layers: 1 -2024-02-14 17:46:57, INFO: Planning depth: 1 -2024-02-14 17:46:57, INFO: Planning width: 10 -2024-02-14 17:46:57, INFO: Sparse search: None -2024-02-14 17:47:00, INFO: human number: 10 -2024-02-14 17:47:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:04, INFO: Using device: cpu -2024-02-14 17:47:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:04, INFO: Similarity_func: concatenation -2024-02-14 17:47:04, INFO: Layerwise_graph: False -2024-02-14 17:47:04, INFO: Skip_connection: True -2024-02-14 17:47:04, INFO: Number of layers: 1 -2024-02-14 17:47:04, INFO: Similarity_func: concatenation -2024-02-14 17:47:04, INFO: Layerwise_graph: False -2024-02-14 17:47:04, INFO: Skip_connection: True -2024-02-14 17:47:04, INFO: Number of layers: 1 -2024-02-14 17:47:04, INFO: Planning depth: 1 -2024-02-14 17:47:04, INFO: Planning width: 10 -2024-02-14 17:47:04, INFO: Sparse search: None -2024-02-14 17:47:07, INFO: human number: 10 -2024-02-14 17:47:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:11, INFO: Using device: cpu -2024-02-14 17:47:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:11, INFO: Similarity_func: concatenation -2024-02-14 17:47:11, INFO: Layerwise_graph: False -2024-02-14 17:47:11, INFO: Skip_connection: True -2024-02-14 17:47:11, INFO: Number of layers: 1 -2024-02-14 17:47:11, INFO: Similarity_func: concatenation -2024-02-14 17:47:11, INFO: Layerwise_graph: False -2024-02-14 17:47:11, INFO: Skip_connection: True -2024-02-14 17:47:11, INFO: Number of layers: 1 -2024-02-14 17:47:11, INFO: Planning depth: 1 -2024-02-14 17:47:11, INFO: Planning width: 10 -2024-02-14 17:47:11, INFO: Sparse search: None -2024-02-14 17:47:14, INFO: human number: 10 -2024-02-14 17:47:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:18, INFO: Using device: cpu -2024-02-14 17:47:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:18, INFO: Similarity_func: concatenation -2024-02-14 17:47:18, INFO: Layerwise_graph: False -2024-02-14 17:47:18, INFO: Skip_connection: True -2024-02-14 17:47:18, INFO: Number of layers: 1 -2024-02-14 17:47:18, INFO: Similarity_func: concatenation -2024-02-14 17:47:18, INFO: Layerwise_graph: False -2024-02-14 17:47:18, INFO: Skip_connection: True -2024-02-14 17:47:18, INFO: Number of layers: 1 -2024-02-14 17:47:18, INFO: Planning depth: 1 -2024-02-14 17:47:18, INFO: Planning width: 10 -2024-02-14 17:47:18, INFO: Sparse search: None -2024-02-14 17:47:21, INFO: human number: 10 -2024-02-14 17:47:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:25, INFO: Using device: cpu -2024-02-14 17:47:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:25, INFO: Similarity_func: concatenation -2024-02-14 17:47:25, INFO: Layerwise_graph: False -2024-02-14 17:47:25, INFO: Skip_connection: True -2024-02-14 17:47:25, INFO: Number of layers: 1 -2024-02-14 17:47:25, INFO: Similarity_func: concatenation -2024-02-14 17:47:25, INFO: Layerwise_graph: False -2024-02-14 17:47:25, INFO: Skip_connection: True -2024-02-14 17:47:25, INFO: Number of layers: 1 -2024-02-14 17:47:25, INFO: Planning depth: 1 -2024-02-14 17:47:25, INFO: Planning width: 10 -2024-02-14 17:47:25, INFO: Sparse search: None -2024-02-14 17:47:27, INFO: human number: 10 -2024-02-14 17:47:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:32, INFO: Using device: cpu -2024-02-14 17:47:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:32, INFO: Similarity_func: concatenation -2024-02-14 17:47:32, INFO: Layerwise_graph: False -2024-02-14 17:47:32, INFO: Skip_connection: True -2024-02-14 17:47:32, INFO: Number of layers: 1 -2024-02-14 17:47:32, INFO: Similarity_func: concatenation -2024-02-14 17:47:32, INFO: Layerwise_graph: False -2024-02-14 17:47:32, INFO: Skip_connection: True -2024-02-14 17:47:32, INFO: Number of layers: 1 -2024-02-14 17:47:32, INFO: Planning depth: 1 -2024-02-14 17:47:32, INFO: Planning width: 10 -2024-02-14 17:47:32, INFO: Sparse search: None -2024-02-14 17:47:34, INFO: human number: 10 -2024-02-14 17:47:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:38, INFO: Using device: cpu -2024-02-14 17:47:38, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:38, INFO: Similarity_func: concatenation -2024-02-14 17:47:38, INFO: Layerwise_graph: False -2024-02-14 17:47:38, INFO: Skip_connection: True -2024-02-14 17:47:38, INFO: Number of layers: 1 -2024-02-14 17:47:38, INFO: Similarity_func: concatenation -2024-02-14 17:47:38, INFO: Layerwise_graph: False -2024-02-14 17:47:38, INFO: Skip_connection: True -2024-02-14 17:47:38, INFO: Number of layers: 1 -2024-02-14 17:47:38, INFO: Planning depth: 1 -2024-02-14 17:47:38, INFO: Planning width: 10 -2024-02-14 17:47:38, INFO: Sparse search: None -2024-02-14 17:47:41, INFO: human number: 10 -2024-02-14 17:47:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:45, INFO: Using device: cpu -2024-02-14 17:47:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:45, INFO: Similarity_func: concatenation -2024-02-14 17:47:45, INFO: Layerwise_graph: False -2024-02-14 17:47:45, INFO: Skip_connection: True -2024-02-14 17:47:45, INFO: Number of layers: 1 -2024-02-14 17:47:45, INFO: Similarity_func: concatenation -2024-02-14 17:47:45, INFO: Layerwise_graph: False -2024-02-14 17:47:45, INFO: Skip_connection: True -2024-02-14 17:47:45, INFO: Number of layers: 1 -2024-02-14 17:47:45, INFO: Planning depth: 1 -2024-02-14 17:47:45, INFO: Planning width: 10 -2024-02-14 17:47:45, INFO: Sparse search: None -2024-02-14 17:47:48, INFO: human number: 10 -2024-02-14 17:47:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:47:53, INFO: Using device: cpu -2024-02-14 17:47:53, INFO: Loaded RL weights with best VAL -2024-02-14 17:47:53, INFO: Similarity_func: concatenation -2024-02-14 17:47:53, INFO: Layerwise_graph: False -2024-02-14 17:47:53, INFO: Skip_connection: True -2024-02-14 17:47:53, INFO: Number of layers: 1 -2024-02-14 17:47:53, INFO: Similarity_func: concatenation -2024-02-14 17:47:53, INFO: Layerwise_graph: False -2024-02-14 17:47:53, INFO: Skip_connection: True -2024-02-14 17:47:53, INFO: Number of layers: 1 -2024-02-14 17:47:53, INFO: Planning depth: 1 -2024-02-14 17:47:53, INFO: Planning width: 10 -2024-02-14 17:47:53, INFO: Sparse search: None -2024-02-14 17:47:55, INFO: human number: 10 -2024-02-14 17:47:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:47:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:47:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:47:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:47:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:00, INFO: Using device: cpu -2024-02-14 17:48:00, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:00, INFO: Similarity_func: concatenation -2024-02-14 17:48:00, INFO: Layerwise_graph: False -2024-02-14 17:48:00, INFO: Skip_connection: True -2024-02-14 17:48:00, INFO: Number of layers: 1 -2024-02-14 17:48:00, INFO: Similarity_func: concatenation -2024-02-14 17:48:00, INFO: Layerwise_graph: False -2024-02-14 17:48:00, INFO: Skip_connection: True -2024-02-14 17:48:00, INFO: Number of layers: 1 -2024-02-14 17:48:00, INFO: Planning depth: 1 -2024-02-14 17:48:00, INFO: Planning width: 10 -2024-02-14 17:48:00, INFO: Sparse search: None -2024-02-14 17:48:03, INFO: human number: 10 -2024-02-14 17:48:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:03, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:07, INFO: Using device: cpu -2024-02-14 17:48:07, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:07, INFO: Similarity_func: concatenation -2024-02-14 17:48:07, INFO: Layerwise_graph: False -2024-02-14 17:48:07, INFO: Skip_connection: True -2024-02-14 17:48:07, INFO: Number of layers: 1 -2024-02-14 17:48:07, INFO: Similarity_func: concatenation -2024-02-14 17:48:07, INFO: Layerwise_graph: False -2024-02-14 17:48:07, INFO: Skip_connection: True -2024-02-14 17:48:07, INFO: Number of layers: 1 -2024-02-14 17:48:07, INFO: Planning depth: 1 -2024-02-14 17:48:07, INFO: Planning width: 10 -2024-02-14 17:48:07, INFO: Sparse search: None -2024-02-14 17:48:09, INFO: human number: 10 -2024-02-14 17:48:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:14, INFO: Using device: cpu -2024-02-14 17:48:14, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:14, INFO: Similarity_func: concatenation -2024-02-14 17:48:14, INFO: Layerwise_graph: False -2024-02-14 17:48:14, INFO: Skip_connection: True -2024-02-14 17:48:14, INFO: Number of layers: 1 -2024-02-14 17:48:14, INFO: Similarity_func: concatenation -2024-02-14 17:48:14, INFO: Layerwise_graph: False -2024-02-14 17:48:14, INFO: Skip_connection: True -2024-02-14 17:48:14, INFO: Number of layers: 1 -2024-02-14 17:48:14, INFO: Planning depth: 1 -2024-02-14 17:48:14, INFO: Planning width: 10 -2024-02-14 17:48:14, INFO: Sparse search: None -2024-02-14 17:48:17, INFO: human number: 10 -2024-02-14 17:48:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:17, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:21, INFO: Using device: cpu -2024-02-14 17:48:21, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:21, INFO: Similarity_func: concatenation -2024-02-14 17:48:21, INFO: Layerwise_graph: False -2024-02-14 17:48:21, INFO: Skip_connection: True -2024-02-14 17:48:21, INFO: Number of layers: 1 -2024-02-14 17:48:21, INFO: Similarity_func: concatenation -2024-02-14 17:48:21, INFO: Layerwise_graph: False -2024-02-14 17:48:21, INFO: Skip_connection: True -2024-02-14 17:48:21, INFO: Number of layers: 1 -2024-02-14 17:48:21, INFO: Planning depth: 1 -2024-02-14 17:48:21, INFO: Planning width: 10 -2024-02-14 17:48:21, INFO: Sparse search: None -2024-02-14 17:48:24, INFO: human number: 10 -2024-02-14 17:48:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:24, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:28, INFO: Using device: cpu -2024-02-14 17:48:28, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:28, INFO: Similarity_func: concatenation -2024-02-14 17:48:28, INFO: Layerwise_graph: False -2024-02-14 17:48:28, INFO: Skip_connection: True -2024-02-14 17:48:28, INFO: Number of layers: 1 -2024-02-14 17:48:28, INFO: Similarity_func: concatenation -2024-02-14 17:48:28, INFO: Layerwise_graph: False -2024-02-14 17:48:28, INFO: Skip_connection: True -2024-02-14 17:48:28, INFO: Number of layers: 1 -2024-02-14 17:48:28, INFO: Planning depth: 1 -2024-02-14 17:48:28, INFO: Planning width: 10 -2024-02-14 17:48:28, INFO: Sparse search: None -2024-02-14 17:48:31, INFO: human number: 10 -2024-02-14 17:48:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:31, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:35, INFO: Using device: cpu -2024-02-14 17:48:35, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:35, INFO: Similarity_func: concatenation -2024-02-14 17:48:35, INFO: Layerwise_graph: False -2024-02-14 17:48:35, INFO: Skip_connection: True -2024-02-14 17:48:35, INFO: Number of layers: 1 -2024-02-14 17:48:35, INFO: Similarity_func: concatenation -2024-02-14 17:48:35, INFO: Layerwise_graph: False -2024-02-14 17:48:35, INFO: Skip_connection: True -2024-02-14 17:48:35, INFO: Number of layers: 1 -2024-02-14 17:48:35, INFO: Planning depth: 1 -2024-02-14 17:48:35, INFO: Planning width: 10 -2024-02-14 17:48:35, INFO: Sparse search: None -2024-02-14 17:48:38, INFO: human number: 10 -2024-02-14 17:48:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:38, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:42, INFO: Using device: cpu -2024-02-14 17:48:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:42, INFO: Similarity_func: concatenation -2024-02-14 17:48:42, INFO: Layerwise_graph: False -2024-02-14 17:48:42, INFO: Skip_connection: True -2024-02-14 17:48:42, INFO: Number of layers: 1 -2024-02-14 17:48:42, INFO: Similarity_func: concatenation -2024-02-14 17:48:42, INFO: Layerwise_graph: False -2024-02-14 17:48:42, INFO: Skip_connection: True -2024-02-14 17:48:42, INFO: Number of layers: 1 -2024-02-14 17:48:42, INFO: Planning depth: 1 -2024-02-14 17:48:42, INFO: Planning width: 10 -2024-02-14 17:48:42, INFO: Sparse search: None -2024-02-14 17:48:45, INFO: human number: 10 -2024-02-14 17:48:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:49, INFO: Using device: cpu -2024-02-14 17:48:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:49, INFO: Similarity_func: concatenation -2024-02-14 17:48:49, INFO: Layerwise_graph: False -2024-02-14 17:48:49, INFO: Skip_connection: True -2024-02-14 17:48:49, INFO: Number of layers: 1 -2024-02-14 17:48:49, INFO: Similarity_func: concatenation -2024-02-14 17:48:49, INFO: Layerwise_graph: False -2024-02-14 17:48:49, INFO: Skip_connection: True -2024-02-14 17:48:49, INFO: Number of layers: 1 -2024-02-14 17:48:49, INFO: Planning depth: 1 -2024-02-14 17:48:49, INFO: Planning width: 10 -2024-02-14 17:48:49, INFO: Sparse search: None -2024-02-14 17:48:52, INFO: human number: 10 -2024-02-14 17:48:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:48:56, INFO: Using device: cpu -2024-02-14 17:48:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:48:56, INFO: Similarity_func: concatenation -2024-02-14 17:48:56, INFO: Layerwise_graph: False -2024-02-14 17:48:56, INFO: Skip_connection: True -2024-02-14 17:48:56, INFO: Number of layers: 1 -2024-02-14 17:48:56, INFO: Similarity_func: concatenation -2024-02-14 17:48:56, INFO: Layerwise_graph: False -2024-02-14 17:48:56, INFO: Skip_connection: True -2024-02-14 17:48:56, INFO: Number of layers: 1 -2024-02-14 17:48:56, INFO: Planning depth: 1 -2024-02-14 17:48:56, INFO: Planning width: 10 -2024-02-14 17:48:56, INFO: Sparse search: None -2024-02-14 17:48:59, INFO: human number: 10 -2024-02-14 17:48:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:48:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:48:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:48:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:48:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:03, INFO: Using device: cpu -2024-02-14 17:49:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:03, INFO: Similarity_func: concatenation -2024-02-14 17:49:03, INFO: Layerwise_graph: False -2024-02-14 17:49:03, INFO: Skip_connection: True -2024-02-14 17:49:03, INFO: Number of layers: 1 -2024-02-14 17:49:03, INFO: Similarity_func: concatenation -2024-02-14 17:49:03, INFO: Layerwise_graph: False -2024-02-14 17:49:03, INFO: Skip_connection: True -2024-02-14 17:49:03, INFO: Number of layers: 1 -2024-02-14 17:49:03, INFO: Planning depth: 1 -2024-02-14 17:49:03, INFO: Planning width: 10 -2024-02-14 17:49:03, INFO: Sparse search: None -2024-02-14 17:49:05, INFO: human number: 10 -2024-02-14 17:49:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:05, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:10, INFO: Using device: cpu -2024-02-14 17:49:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:10, INFO: Similarity_func: concatenation -2024-02-14 17:49:10, INFO: Layerwise_graph: False -2024-02-14 17:49:10, INFO: Skip_connection: True -2024-02-14 17:49:10, INFO: Number of layers: 1 -2024-02-14 17:49:10, INFO: Similarity_func: concatenation -2024-02-14 17:49:10, INFO: Layerwise_graph: False -2024-02-14 17:49:10, INFO: Skip_connection: True -2024-02-14 17:49:10, INFO: Number of layers: 1 -2024-02-14 17:49:10, INFO: Planning depth: 1 -2024-02-14 17:49:10, INFO: Planning width: 10 -2024-02-14 17:49:10, INFO: Sparse search: None -2024-02-14 17:49:13, INFO: human number: 10 -2024-02-14 17:49:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:17, INFO: Using device: cpu -2024-02-14 17:49:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:17, INFO: Similarity_func: concatenation -2024-02-14 17:49:17, INFO: Layerwise_graph: False -2024-02-14 17:49:17, INFO: Skip_connection: True -2024-02-14 17:49:17, INFO: Number of layers: 1 -2024-02-14 17:49:17, INFO: Similarity_func: concatenation -2024-02-14 17:49:17, INFO: Layerwise_graph: False -2024-02-14 17:49:17, INFO: Skip_connection: True -2024-02-14 17:49:17, INFO: Number of layers: 1 -2024-02-14 17:49:17, INFO: Planning depth: 1 -2024-02-14 17:49:17, INFO: Planning width: 10 -2024-02-14 17:49:17, INFO: Sparse search: None -2024-02-14 17:49:20, INFO: human number: 10 -2024-02-14 17:49:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:20, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:24, INFO: Using device: cpu -2024-02-14 17:49:24, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:24, INFO: Similarity_func: concatenation -2024-02-14 17:49:24, INFO: Layerwise_graph: False -2024-02-14 17:49:24, INFO: Skip_connection: True -2024-02-14 17:49:24, INFO: Number of layers: 1 -2024-02-14 17:49:24, INFO: Similarity_func: concatenation -2024-02-14 17:49:24, INFO: Layerwise_graph: False -2024-02-14 17:49:24, INFO: Skip_connection: True -2024-02-14 17:49:24, INFO: Number of layers: 1 -2024-02-14 17:49:24, INFO: Planning depth: 1 -2024-02-14 17:49:24, INFO: Planning width: 10 -2024-02-14 17:49:24, INFO: Sparse search: None -2024-02-14 17:49:27, INFO: human number: 10 -2024-02-14 17:49:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:31, INFO: Using device: cpu -2024-02-14 17:49:31, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:31, INFO: Similarity_func: concatenation -2024-02-14 17:49:31, INFO: Layerwise_graph: False -2024-02-14 17:49:31, INFO: Skip_connection: True -2024-02-14 17:49:31, INFO: Number of layers: 1 -2024-02-14 17:49:31, INFO: Similarity_func: concatenation -2024-02-14 17:49:31, INFO: Layerwise_graph: False -2024-02-14 17:49:31, INFO: Skip_connection: True -2024-02-14 17:49:31, INFO: Number of layers: 1 -2024-02-14 17:49:31, INFO: Planning depth: 1 -2024-02-14 17:49:31, INFO: Planning width: 10 -2024-02-14 17:49:31, INFO: Sparse search: None -2024-02-14 17:49:34, INFO: human number: 10 -2024-02-14 17:49:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:38, INFO: Using device: cpu -2024-02-14 17:49:38, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:38, INFO: Similarity_func: concatenation -2024-02-14 17:49:38, INFO: Layerwise_graph: False -2024-02-14 17:49:38, INFO: Skip_connection: True -2024-02-14 17:49:38, INFO: Number of layers: 1 -2024-02-14 17:49:38, INFO: Similarity_func: concatenation -2024-02-14 17:49:38, INFO: Layerwise_graph: False -2024-02-14 17:49:38, INFO: Skip_connection: True -2024-02-14 17:49:38, INFO: Number of layers: 1 -2024-02-14 17:49:38, INFO: Planning depth: 1 -2024-02-14 17:49:38, INFO: Planning width: 10 -2024-02-14 17:49:38, INFO: Sparse search: None -2024-02-14 17:49:41, INFO: human number: 10 -2024-02-14 17:49:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:45, INFO: Using device: cpu -2024-02-14 17:49:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:45, INFO: Similarity_func: concatenation -2024-02-14 17:49:45, INFO: Layerwise_graph: False -2024-02-14 17:49:45, INFO: Skip_connection: True -2024-02-14 17:49:45, INFO: Number of layers: 1 -2024-02-14 17:49:45, INFO: Similarity_func: concatenation -2024-02-14 17:49:45, INFO: Layerwise_graph: False -2024-02-14 17:49:45, INFO: Skip_connection: True -2024-02-14 17:49:45, INFO: Number of layers: 1 -2024-02-14 17:49:45, INFO: Planning depth: 1 -2024-02-14 17:49:45, INFO: Planning width: 10 -2024-02-14 17:49:45, INFO: Sparse search: None -2024-02-14 17:49:48, INFO: human number: 10 -2024-02-14 17:49:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:52, INFO: Using device: cpu -2024-02-14 17:49:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:52, INFO: Similarity_func: concatenation -2024-02-14 17:49:52, INFO: Layerwise_graph: False -2024-02-14 17:49:52, INFO: Skip_connection: True -2024-02-14 17:49:52, INFO: Number of layers: 1 -2024-02-14 17:49:52, INFO: Similarity_func: concatenation -2024-02-14 17:49:52, INFO: Layerwise_graph: False -2024-02-14 17:49:52, INFO: Skip_connection: True -2024-02-14 17:49:52, INFO: Number of layers: 1 -2024-02-14 17:49:52, INFO: Planning depth: 1 -2024-02-14 17:49:52, INFO: Planning width: 10 -2024-02-14 17:49:52, INFO: Sparse search: None -2024-02-14 17:49:55, INFO: human number: 10 -2024-02-14 17:49:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:49:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:49:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:49:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:49:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:49:59, INFO: Using device: cpu -2024-02-14 17:49:59, INFO: Loaded RL weights with best VAL -2024-02-14 17:49:59, INFO: Similarity_func: concatenation -2024-02-14 17:49:59, INFO: Layerwise_graph: False -2024-02-14 17:49:59, INFO: Skip_connection: True -2024-02-14 17:49:59, INFO: Number of layers: 1 -2024-02-14 17:49:59, INFO: Similarity_func: concatenation -2024-02-14 17:49:59, INFO: Layerwise_graph: False -2024-02-14 17:49:59, INFO: Skip_connection: True -2024-02-14 17:49:59, INFO: Number of layers: 1 -2024-02-14 17:49:59, INFO: Planning depth: 1 -2024-02-14 17:49:59, INFO: Planning width: 10 -2024-02-14 17:49:59, INFO: Sparse search: None -2024-02-14 17:50:02, INFO: human number: 10 -2024-02-14 17:50:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:02, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:06, INFO: Using device: cpu -2024-02-14 17:50:06, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:06, INFO: Similarity_func: concatenation -2024-02-14 17:50:06, INFO: Layerwise_graph: False -2024-02-14 17:50:06, INFO: Skip_connection: True -2024-02-14 17:50:06, INFO: Number of layers: 1 -2024-02-14 17:50:06, INFO: Similarity_func: concatenation -2024-02-14 17:50:06, INFO: Layerwise_graph: False -2024-02-14 17:50:06, INFO: Skip_connection: True -2024-02-14 17:50:06, INFO: Number of layers: 1 -2024-02-14 17:50:06, INFO: Planning depth: 1 -2024-02-14 17:50:06, INFO: Planning width: 10 -2024-02-14 17:50:06, INFO: Sparse search: None -2024-02-14 17:50:09, INFO: human number: 10 -2024-02-14 17:50:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:13, INFO: Using device: cpu -2024-02-14 17:50:13, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:13, INFO: Similarity_func: concatenation -2024-02-14 17:50:13, INFO: Layerwise_graph: False -2024-02-14 17:50:13, INFO: Skip_connection: True -2024-02-14 17:50:13, INFO: Number of layers: 1 -2024-02-14 17:50:13, INFO: Similarity_func: concatenation -2024-02-14 17:50:13, INFO: Layerwise_graph: False -2024-02-14 17:50:13, INFO: Skip_connection: True -2024-02-14 17:50:13, INFO: Number of layers: 1 -2024-02-14 17:50:13, INFO: Planning depth: 1 -2024-02-14 17:50:13, INFO: Planning width: 10 -2024-02-14 17:50:13, INFO: Sparse search: None -2024-02-14 17:50:16, INFO: human number: 10 -2024-02-14 17:50:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:16, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:20, INFO: Using device: cpu -2024-02-14 17:50:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:20, INFO: Similarity_func: concatenation -2024-02-14 17:50:20, INFO: Layerwise_graph: False -2024-02-14 17:50:20, INFO: Skip_connection: True -2024-02-14 17:50:20, INFO: Number of layers: 1 -2024-02-14 17:50:20, INFO: Similarity_func: concatenation -2024-02-14 17:50:20, INFO: Layerwise_graph: False -2024-02-14 17:50:20, INFO: Skip_connection: True -2024-02-14 17:50:20, INFO: Number of layers: 1 -2024-02-14 17:50:20, INFO: Planning depth: 1 -2024-02-14 17:50:20, INFO: Planning width: 10 -2024-02-14 17:50:20, INFO: Sparse search: None -2024-02-14 17:50:23, INFO: human number: 10 -2024-02-14 17:50:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:23, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:27, INFO: Using device: cpu -2024-02-14 17:50:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:27, INFO: Similarity_func: concatenation -2024-02-14 17:50:27, INFO: Layerwise_graph: False -2024-02-14 17:50:27, INFO: Skip_connection: True -2024-02-14 17:50:27, INFO: Number of layers: 1 -2024-02-14 17:50:27, INFO: Similarity_func: concatenation -2024-02-14 17:50:27, INFO: Layerwise_graph: False -2024-02-14 17:50:27, INFO: Skip_connection: True -2024-02-14 17:50:27, INFO: Number of layers: 1 -2024-02-14 17:50:27, INFO: Planning depth: 1 -2024-02-14 17:50:27, INFO: Planning width: 10 -2024-02-14 17:50:27, INFO: Sparse search: None -2024-02-14 17:50:30, INFO: human number: 10 -2024-02-14 17:50:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:34, INFO: Using device: cpu -2024-02-14 17:50:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:34, INFO: Similarity_func: concatenation -2024-02-14 17:50:34, INFO: Layerwise_graph: False -2024-02-14 17:50:34, INFO: Skip_connection: True -2024-02-14 17:50:34, INFO: Number of layers: 1 -2024-02-14 17:50:34, INFO: Similarity_func: concatenation -2024-02-14 17:50:34, INFO: Layerwise_graph: False -2024-02-14 17:50:34, INFO: Skip_connection: True -2024-02-14 17:50:34, INFO: Number of layers: 1 -2024-02-14 17:50:34, INFO: Planning depth: 1 -2024-02-14 17:50:34, INFO: Planning width: 10 -2024-02-14 17:50:34, INFO: Sparse search: None -2024-02-14 17:50:37, INFO: human number: 10 -2024-02-14 17:50:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:42, INFO: Using device: cpu -2024-02-14 17:50:42, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:42, INFO: Similarity_func: concatenation -2024-02-14 17:50:42, INFO: Layerwise_graph: False -2024-02-14 17:50:42, INFO: Skip_connection: True -2024-02-14 17:50:42, INFO: Number of layers: 1 -2024-02-14 17:50:42, INFO: Similarity_func: concatenation -2024-02-14 17:50:42, INFO: Layerwise_graph: False -2024-02-14 17:50:42, INFO: Skip_connection: True -2024-02-14 17:50:42, INFO: Number of layers: 1 -2024-02-14 17:50:42, INFO: Planning depth: 1 -2024-02-14 17:50:42, INFO: Planning width: 10 -2024-02-14 17:50:42, INFO: Sparse search: None -2024-02-14 17:50:45, INFO: human number: 10 -2024-02-14 17:50:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:45, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:49, INFO: Using device: cpu -2024-02-14 17:50:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:49, INFO: Similarity_func: concatenation -2024-02-14 17:50:49, INFO: Layerwise_graph: False -2024-02-14 17:50:49, INFO: Skip_connection: True -2024-02-14 17:50:49, INFO: Number of layers: 1 -2024-02-14 17:50:49, INFO: Similarity_func: concatenation -2024-02-14 17:50:49, INFO: Layerwise_graph: False -2024-02-14 17:50:49, INFO: Skip_connection: True -2024-02-14 17:50:49, INFO: Number of layers: 1 -2024-02-14 17:50:49, INFO: Planning depth: 1 -2024-02-14 17:50:49, INFO: Planning width: 10 -2024-02-14 17:50:49, INFO: Sparse search: None -2024-02-14 17:50:52, INFO: human number: 10 -2024-02-14 17:50:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:52, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:50:56, INFO: Using device: cpu -2024-02-14 17:50:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:50:56, INFO: Similarity_func: concatenation -2024-02-14 17:50:56, INFO: Layerwise_graph: False -2024-02-14 17:50:56, INFO: Skip_connection: True -2024-02-14 17:50:56, INFO: Number of layers: 1 -2024-02-14 17:50:56, INFO: Similarity_func: concatenation -2024-02-14 17:50:56, INFO: Layerwise_graph: False -2024-02-14 17:50:56, INFO: Skip_connection: True -2024-02-14 17:50:56, INFO: Number of layers: 1 -2024-02-14 17:50:56, INFO: Planning depth: 1 -2024-02-14 17:50:56, INFO: Planning width: 10 -2024-02-14 17:50:56, INFO: Sparse search: None -2024-02-14 17:50:58, INFO: human number: 10 -2024-02-14 17:50:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:50:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:50:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:50:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:50:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:03, INFO: Using device: cpu -2024-02-14 17:51:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:03, INFO: Similarity_func: concatenation -2024-02-14 17:51:03, INFO: Layerwise_graph: False -2024-02-14 17:51:03, INFO: Skip_connection: True -2024-02-14 17:51:03, INFO: Number of layers: 1 -2024-02-14 17:51:03, INFO: Similarity_func: concatenation -2024-02-14 17:51:03, INFO: Layerwise_graph: False -2024-02-14 17:51:03, INFO: Skip_connection: True -2024-02-14 17:51:03, INFO: Number of layers: 1 -2024-02-14 17:51:03, INFO: Planning depth: 1 -2024-02-14 17:51:03, INFO: Planning width: 10 -2024-02-14 17:51:03, INFO: Sparse search: None -2024-02-14 17:51:06, INFO: human number: 10 -2024-02-14 17:51:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:11, INFO: Using device: cpu -2024-02-14 17:51:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:11, INFO: Similarity_func: concatenation -2024-02-14 17:51:11, INFO: Layerwise_graph: False -2024-02-14 17:51:11, INFO: Skip_connection: True -2024-02-14 17:51:11, INFO: Number of layers: 1 -2024-02-14 17:51:11, INFO: Similarity_func: concatenation -2024-02-14 17:51:11, INFO: Layerwise_graph: False -2024-02-14 17:51:11, INFO: Skip_connection: True -2024-02-14 17:51:11, INFO: Number of layers: 1 -2024-02-14 17:51:11, INFO: Planning depth: 1 -2024-02-14 17:51:11, INFO: Planning width: 10 -2024-02-14 17:51:11, INFO: Sparse search: None -2024-02-14 17:51:13, INFO: human number: 10 -2024-02-14 17:51:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:17, INFO: Using device: cpu -2024-02-14 17:51:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:17, INFO: Similarity_func: concatenation -2024-02-14 17:51:17, INFO: Layerwise_graph: False -2024-02-14 17:51:17, INFO: Skip_connection: True -2024-02-14 17:51:17, INFO: Number of layers: 1 -2024-02-14 17:51:17, INFO: Similarity_func: concatenation -2024-02-14 17:51:17, INFO: Layerwise_graph: False -2024-02-14 17:51:17, INFO: Skip_connection: True -2024-02-14 17:51:17, INFO: Number of layers: 1 -2024-02-14 17:51:17, INFO: Planning depth: 1 -2024-02-14 17:51:17, INFO: Planning width: 10 -2024-02-14 17:51:17, INFO: Sparse search: None -2024-02-14 17:51:20, INFO: human number: 10 -2024-02-14 17:51:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:20, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:25, INFO: Using device: cpu -2024-02-14 17:51:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:25, INFO: Similarity_func: concatenation -2024-02-14 17:51:25, INFO: Layerwise_graph: False -2024-02-14 17:51:25, INFO: Skip_connection: True -2024-02-14 17:51:25, INFO: Number of layers: 1 -2024-02-14 17:51:25, INFO: Similarity_func: concatenation -2024-02-14 17:51:25, INFO: Layerwise_graph: False -2024-02-14 17:51:25, INFO: Skip_connection: True -2024-02-14 17:51:25, INFO: Number of layers: 1 -2024-02-14 17:51:25, INFO: Planning depth: 1 -2024-02-14 17:51:25, INFO: Planning width: 10 -2024-02-14 17:51:25, INFO: Sparse search: None -2024-02-14 17:51:27, INFO: human number: 10 -2024-02-14 17:51:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:32, INFO: Using device: cpu -2024-02-14 17:51:32, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:32, INFO: Similarity_func: concatenation -2024-02-14 17:51:32, INFO: Layerwise_graph: False -2024-02-14 17:51:32, INFO: Skip_connection: True -2024-02-14 17:51:32, INFO: Number of layers: 1 -2024-02-14 17:51:32, INFO: Similarity_func: concatenation -2024-02-14 17:51:32, INFO: Layerwise_graph: False -2024-02-14 17:51:32, INFO: Skip_connection: True -2024-02-14 17:51:32, INFO: Number of layers: 1 -2024-02-14 17:51:32, INFO: Planning depth: 1 -2024-02-14 17:51:32, INFO: Planning width: 10 -2024-02-14 17:51:32, INFO: Sparse search: None -2024-02-14 17:51:34, INFO: human number: 10 -2024-02-14 17:51:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:38, INFO: Using device: cpu -2024-02-14 17:51:38, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:38, INFO: Similarity_func: concatenation -2024-02-14 17:51:38, INFO: Layerwise_graph: False -2024-02-14 17:51:38, INFO: Skip_connection: True -2024-02-14 17:51:38, INFO: Number of layers: 1 -2024-02-14 17:51:38, INFO: Similarity_func: concatenation -2024-02-14 17:51:38, INFO: Layerwise_graph: False -2024-02-14 17:51:38, INFO: Skip_connection: True -2024-02-14 17:51:38, INFO: Number of layers: 1 -2024-02-14 17:51:38, INFO: Planning depth: 1 -2024-02-14 17:51:38, INFO: Planning width: 10 -2024-02-14 17:51:38, INFO: Sparse search: None -2024-02-14 17:51:41, INFO: human number: 10 -2024-02-14 17:51:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:45, INFO: Using device: cpu -2024-02-14 17:51:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:45, INFO: Similarity_func: concatenation -2024-02-14 17:51:45, INFO: Layerwise_graph: False -2024-02-14 17:51:45, INFO: Skip_connection: True -2024-02-14 17:51:45, INFO: Number of layers: 1 -2024-02-14 17:51:45, INFO: Similarity_func: concatenation -2024-02-14 17:51:45, INFO: Layerwise_graph: False -2024-02-14 17:51:45, INFO: Skip_connection: True -2024-02-14 17:51:45, INFO: Number of layers: 1 -2024-02-14 17:51:45, INFO: Planning depth: 1 -2024-02-14 17:51:45, INFO: Planning width: 10 -2024-02-14 17:51:45, INFO: Sparse search: None -2024-02-14 17:51:48, INFO: human number: 10 -2024-02-14 17:51:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:52, INFO: Using device: cpu -2024-02-14 17:51:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:52, INFO: Similarity_func: concatenation -2024-02-14 17:51:52, INFO: Layerwise_graph: False -2024-02-14 17:51:52, INFO: Skip_connection: True -2024-02-14 17:51:52, INFO: Number of layers: 1 -2024-02-14 17:51:52, INFO: Similarity_func: concatenation -2024-02-14 17:51:52, INFO: Layerwise_graph: False -2024-02-14 17:51:52, INFO: Skip_connection: True -2024-02-14 17:51:52, INFO: Number of layers: 1 -2024-02-14 17:51:52, INFO: Planning depth: 1 -2024-02-14 17:51:52, INFO: Planning width: 10 -2024-02-14 17:51:52, INFO: Sparse search: None -2024-02-14 17:51:55, INFO: human number: 10 -2024-02-14 17:51:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:51:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:51:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:51:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:51:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:51:59, INFO: Using device: cpu -2024-02-14 17:51:59, INFO: Loaded RL weights with best VAL -2024-02-14 17:51:59, INFO: Similarity_func: concatenation -2024-02-14 17:51:59, INFO: Layerwise_graph: False -2024-02-14 17:51:59, INFO: Skip_connection: True -2024-02-14 17:51:59, INFO: Number of layers: 1 -2024-02-14 17:51:59, INFO: Similarity_func: concatenation -2024-02-14 17:51:59, INFO: Layerwise_graph: False -2024-02-14 17:51:59, INFO: Skip_connection: True -2024-02-14 17:51:59, INFO: Number of layers: 1 -2024-02-14 17:51:59, INFO: Planning depth: 1 -2024-02-14 17:51:59, INFO: Planning width: 10 -2024-02-14 17:51:59, INFO: Sparse search: None -2024-02-14 17:52:02, INFO: human number: 10 -2024-02-14 17:52:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:02, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:06, INFO: Using device: cpu -2024-02-14 17:52:06, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:06, INFO: Similarity_func: concatenation -2024-02-14 17:52:06, INFO: Layerwise_graph: False -2024-02-14 17:52:06, INFO: Skip_connection: True -2024-02-14 17:52:06, INFO: Number of layers: 1 -2024-02-14 17:52:06, INFO: Similarity_func: concatenation -2024-02-14 17:52:06, INFO: Layerwise_graph: False -2024-02-14 17:52:06, INFO: Skip_connection: True -2024-02-14 17:52:06, INFO: Number of layers: 1 -2024-02-14 17:52:06, INFO: Planning depth: 1 -2024-02-14 17:52:06, INFO: Planning width: 10 -2024-02-14 17:52:06, INFO: Sparse search: None -2024-02-14 17:52:09, INFO: human number: 10 -2024-02-14 17:52:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:13, INFO: Using device: cpu -2024-02-14 17:52:13, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:13, INFO: Similarity_func: concatenation -2024-02-14 17:52:13, INFO: Layerwise_graph: False -2024-02-14 17:52:13, INFO: Skip_connection: True -2024-02-14 17:52:13, INFO: Number of layers: 1 -2024-02-14 17:52:13, INFO: Similarity_func: concatenation -2024-02-14 17:52:13, INFO: Layerwise_graph: False -2024-02-14 17:52:13, INFO: Skip_connection: True -2024-02-14 17:52:13, INFO: Number of layers: 1 -2024-02-14 17:52:13, INFO: Planning depth: 1 -2024-02-14 17:52:13, INFO: Planning width: 10 -2024-02-14 17:52:13, INFO: Sparse search: None -2024-02-14 17:52:16, INFO: human number: 10 -2024-02-14 17:52:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:16, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:20, INFO: Using device: cpu -2024-02-14 17:52:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:20, INFO: Similarity_func: concatenation -2024-02-14 17:52:20, INFO: Layerwise_graph: False -2024-02-14 17:52:20, INFO: Skip_connection: True -2024-02-14 17:52:20, INFO: Number of layers: 1 -2024-02-14 17:52:20, INFO: Similarity_func: concatenation -2024-02-14 17:52:20, INFO: Layerwise_graph: False -2024-02-14 17:52:20, INFO: Skip_connection: True -2024-02-14 17:52:20, INFO: Number of layers: 1 -2024-02-14 17:52:20, INFO: Planning depth: 1 -2024-02-14 17:52:20, INFO: Planning width: 10 -2024-02-14 17:52:20, INFO: Sparse search: None -2024-02-14 17:52:23, INFO: human number: 10 -2024-02-14 17:52:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:23, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:27, INFO: Using device: cpu -2024-02-14 17:52:27, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:27, INFO: Similarity_func: concatenation -2024-02-14 17:52:27, INFO: Layerwise_graph: False -2024-02-14 17:52:27, INFO: Skip_connection: True -2024-02-14 17:52:27, INFO: Number of layers: 1 -2024-02-14 17:52:27, INFO: Similarity_func: concatenation -2024-02-14 17:52:27, INFO: Layerwise_graph: False -2024-02-14 17:52:27, INFO: Skip_connection: True -2024-02-14 17:52:27, INFO: Number of layers: 1 -2024-02-14 17:52:27, INFO: Planning depth: 1 -2024-02-14 17:52:27, INFO: Planning width: 10 -2024-02-14 17:52:27, INFO: Sparse search: None -2024-02-14 17:52:30, INFO: human number: 10 -2024-02-14 17:52:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:30, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:34, INFO: Using device: cpu -2024-02-14 17:52:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:34, INFO: Similarity_func: concatenation -2024-02-14 17:52:34, INFO: Layerwise_graph: False -2024-02-14 17:52:34, INFO: Skip_connection: True -2024-02-14 17:52:34, INFO: Number of layers: 1 -2024-02-14 17:52:34, INFO: Similarity_func: concatenation -2024-02-14 17:52:34, INFO: Layerwise_graph: False -2024-02-14 17:52:34, INFO: Skip_connection: True -2024-02-14 17:52:34, INFO: Number of layers: 1 -2024-02-14 17:52:34, INFO: Planning depth: 1 -2024-02-14 17:52:34, INFO: Planning width: 10 -2024-02-14 17:52:34, INFO: Sparse search: None -2024-02-14 17:52:37, INFO: human number: 10 -2024-02-14 17:52:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:41, INFO: Using device: cpu -2024-02-14 17:52:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:41, INFO: Similarity_func: concatenation -2024-02-14 17:52:41, INFO: Layerwise_graph: False -2024-02-14 17:52:41, INFO: Skip_connection: True -2024-02-14 17:52:41, INFO: Number of layers: 1 -2024-02-14 17:52:41, INFO: Similarity_func: concatenation -2024-02-14 17:52:41, INFO: Layerwise_graph: False -2024-02-14 17:52:41, INFO: Skip_connection: True -2024-02-14 17:52:41, INFO: Number of layers: 1 -2024-02-14 17:52:41, INFO: Planning depth: 1 -2024-02-14 17:52:41, INFO: Planning width: 10 -2024-02-14 17:52:41, INFO: Sparse search: None -2024-02-14 17:52:44, INFO: human number: 10 -2024-02-14 17:52:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:49, INFO: Using device: cpu -2024-02-14 17:52:49, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:49, INFO: Similarity_func: concatenation -2024-02-14 17:52:49, INFO: Layerwise_graph: False -2024-02-14 17:52:49, INFO: Skip_connection: True -2024-02-14 17:52:49, INFO: Number of layers: 1 -2024-02-14 17:52:49, INFO: Similarity_func: concatenation -2024-02-14 17:52:49, INFO: Layerwise_graph: False -2024-02-14 17:52:49, INFO: Skip_connection: True -2024-02-14 17:52:49, INFO: Number of layers: 1 -2024-02-14 17:52:49, INFO: Planning depth: 1 -2024-02-14 17:52:49, INFO: Planning width: 10 -2024-02-14 17:52:49, INFO: Sparse search: None -2024-02-14 17:52:51, INFO: human number: 10 -2024-02-14 17:52:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:52:56, INFO: Using device: cpu -2024-02-14 17:52:56, INFO: Loaded RL weights with best VAL -2024-02-14 17:52:56, INFO: Similarity_func: concatenation -2024-02-14 17:52:56, INFO: Layerwise_graph: False -2024-02-14 17:52:56, INFO: Skip_connection: True -2024-02-14 17:52:56, INFO: Number of layers: 1 -2024-02-14 17:52:56, INFO: Similarity_func: concatenation -2024-02-14 17:52:56, INFO: Layerwise_graph: False -2024-02-14 17:52:56, INFO: Skip_connection: True -2024-02-14 17:52:56, INFO: Number of layers: 1 -2024-02-14 17:52:56, INFO: Planning depth: 1 -2024-02-14 17:52:56, INFO: Planning width: 10 -2024-02-14 17:52:56, INFO: Sparse search: None -2024-02-14 17:52:59, INFO: human number: 10 -2024-02-14 17:52:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:52:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:52:59, INFO: Square width: 10, circle width: 4 -2024-02-14 17:52:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:52:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:03, INFO: Using device: cpu -2024-02-14 17:53:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:03, INFO: Similarity_func: concatenation -2024-02-14 17:53:03, INFO: Layerwise_graph: False -2024-02-14 17:53:03, INFO: Skip_connection: True -2024-02-14 17:53:03, INFO: Number of layers: 1 -2024-02-14 17:53:03, INFO: Similarity_func: concatenation -2024-02-14 17:53:03, INFO: Layerwise_graph: False -2024-02-14 17:53:03, INFO: Skip_connection: True -2024-02-14 17:53:03, INFO: Number of layers: 1 -2024-02-14 17:53:03, INFO: Planning depth: 1 -2024-02-14 17:53:03, INFO: Planning width: 10 -2024-02-14 17:53:03, INFO: Sparse search: None -2024-02-14 17:53:06, INFO: human number: 10 -2024-02-14 17:53:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:10, INFO: Using device: cpu -2024-02-14 17:53:10, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:10, INFO: Similarity_func: concatenation -2024-02-14 17:53:10, INFO: Layerwise_graph: False -2024-02-14 17:53:10, INFO: Skip_connection: True -2024-02-14 17:53:10, INFO: Number of layers: 1 -2024-02-14 17:53:10, INFO: Similarity_func: concatenation -2024-02-14 17:53:10, INFO: Layerwise_graph: False -2024-02-14 17:53:10, INFO: Skip_connection: True -2024-02-14 17:53:10, INFO: Number of layers: 1 -2024-02-14 17:53:10, INFO: Planning depth: 1 -2024-02-14 17:53:10, INFO: Planning width: 10 -2024-02-14 17:53:10, INFO: Sparse search: None -2024-02-14 17:53:13, INFO: human number: 10 -2024-02-14 17:53:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:13, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:18, INFO: Using device: cpu -2024-02-14 17:53:18, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:18, INFO: Similarity_func: concatenation -2024-02-14 17:53:18, INFO: Layerwise_graph: False -2024-02-14 17:53:18, INFO: Skip_connection: True -2024-02-14 17:53:18, INFO: Number of layers: 1 -2024-02-14 17:53:18, INFO: Similarity_func: concatenation -2024-02-14 17:53:18, INFO: Layerwise_graph: False -2024-02-14 17:53:18, INFO: Skip_connection: True -2024-02-14 17:53:18, INFO: Number of layers: 1 -2024-02-14 17:53:18, INFO: Planning depth: 1 -2024-02-14 17:53:18, INFO: Planning width: 10 -2024-02-14 17:53:18, INFO: Sparse search: None -2024-02-14 17:53:21, INFO: human number: 10 -2024-02-14 17:53:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:21, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:25, INFO: Using device: cpu -2024-02-14 17:53:25, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:25, INFO: Similarity_func: concatenation -2024-02-14 17:53:25, INFO: Layerwise_graph: False -2024-02-14 17:53:25, INFO: Skip_connection: True -2024-02-14 17:53:25, INFO: Number of layers: 1 -2024-02-14 17:53:25, INFO: Similarity_func: concatenation -2024-02-14 17:53:25, INFO: Layerwise_graph: False -2024-02-14 17:53:25, INFO: Skip_connection: True -2024-02-14 17:53:25, INFO: Number of layers: 1 -2024-02-14 17:53:25, INFO: Planning depth: 1 -2024-02-14 17:53:25, INFO: Planning width: 10 -2024-02-14 17:53:25, INFO: Sparse search: None -2024-02-14 17:53:28, INFO: human number: 10 -2024-02-14 17:53:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:28, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:33, INFO: Using device: cpu -2024-02-14 17:53:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:33, INFO: Similarity_func: concatenation -2024-02-14 17:53:33, INFO: Layerwise_graph: False -2024-02-14 17:53:33, INFO: Skip_connection: True -2024-02-14 17:53:33, INFO: Number of layers: 1 -2024-02-14 17:53:33, INFO: Similarity_func: concatenation -2024-02-14 17:53:33, INFO: Layerwise_graph: False -2024-02-14 17:53:33, INFO: Skip_connection: True -2024-02-14 17:53:33, INFO: Number of layers: 1 -2024-02-14 17:53:33, INFO: Planning depth: 1 -2024-02-14 17:53:33, INFO: Planning width: 10 -2024-02-14 17:53:33, INFO: Sparse search: None -2024-02-14 17:53:36, INFO: human number: 10 -2024-02-14 17:53:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:40, INFO: Using device: cpu -2024-02-14 17:53:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:40, INFO: Similarity_func: concatenation -2024-02-14 17:53:40, INFO: Layerwise_graph: False -2024-02-14 17:53:40, INFO: Skip_connection: True -2024-02-14 17:53:40, INFO: Number of layers: 1 -2024-02-14 17:53:40, INFO: Similarity_func: concatenation -2024-02-14 17:53:40, INFO: Layerwise_graph: False -2024-02-14 17:53:40, INFO: Skip_connection: True -2024-02-14 17:53:40, INFO: Number of layers: 1 -2024-02-14 17:53:40, INFO: Planning depth: 1 -2024-02-14 17:53:40, INFO: Planning width: 10 -2024-02-14 17:53:40, INFO: Sparse search: None -2024-02-14 17:53:43, INFO: human number: 10 -2024-02-14 17:53:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:47, INFO: Using device: cpu -2024-02-14 17:53:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:47, INFO: Similarity_func: concatenation -2024-02-14 17:53:47, INFO: Layerwise_graph: False -2024-02-14 17:53:47, INFO: Skip_connection: True -2024-02-14 17:53:47, INFO: Number of layers: 1 -2024-02-14 17:53:47, INFO: Similarity_func: concatenation -2024-02-14 17:53:47, INFO: Layerwise_graph: False -2024-02-14 17:53:47, INFO: Skip_connection: True -2024-02-14 17:53:47, INFO: Number of layers: 1 -2024-02-14 17:53:47, INFO: Planning depth: 1 -2024-02-14 17:53:47, INFO: Planning width: 10 -2024-02-14 17:53:47, INFO: Sparse search: None -2024-02-14 17:53:50, INFO: human number: 10 -2024-02-14 17:53:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:53:55, INFO: Using device: cpu -2024-02-14 17:53:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:53:55, INFO: Similarity_func: concatenation -2024-02-14 17:53:55, INFO: Layerwise_graph: False -2024-02-14 17:53:55, INFO: Skip_connection: True -2024-02-14 17:53:55, INFO: Number of layers: 1 -2024-02-14 17:53:55, INFO: Similarity_func: concatenation -2024-02-14 17:53:55, INFO: Layerwise_graph: False -2024-02-14 17:53:55, INFO: Skip_connection: True -2024-02-14 17:53:55, INFO: Number of layers: 1 -2024-02-14 17:53:55, INFO: Planning depth: 1 -2024-02-14 17:53:55, INFO: Planning width: 10 -2024-02-14 17:53:55, INFO: Sparse search: None -2024-02-14 17:53:57, INFO: human number: 10 -2024-02-14 17:53:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:53:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:53:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:53:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:53:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:02, INFO: Using device: cpu -2024-02-14 17:54:02, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:02, INFO: Similarity_func: concatenation -2024-02-14 17:54:02, INFO: Layerwise_graph: False -2024-02-14 17:54:02, INFO: Skip_connection: True -2024-02-14 17:54:02, INFO: Number of layers: 1 -2024-02-14 17:54:02, INFO: Similarity_func: concatenation -2024-02-14 17:54:02, INFO: Layerwise_graph: False -2024-02-14 17:54:02, INFO: Skip_connection: True -2024-02-14 17:54:02, INFO: Number of layers: 1 -2024-02-14 17:54:02, INFO: Planning depth: 1 -2024-02-14 17:54:02, INFO: Planning width: 10 -2024-02-14 17:54:02, INFO: Sparse search: None -2024-02-14 17:54:04, INFO: human number: 10 -2024-02-14 17:54:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:09, INFO: Using device: cpu -2024-02-14 17:54:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:09, INFO: Similarity_func: concatenation -2024-02-14 17:54:09, INFO: Layerwise_graph: False -2024-02-14 17:54:09, INFO: Skip_connection: True -2024-02-14 17:54:09, INFO: Number of layers: 1 -2024-02-14 17:54:09, INFO: Similarity_func: concatenation -2024-02-14 17:54:09, INFO: Layerwise_graph: False -2024-02-14 17:54:09, INFO: Skip_connection: True -2024-02-14 17:54:09, INFO: Number of layers: 1 -2024-02-14 17:54:09, INFO: Planning depth: 1 -2024-02-14 17:54:09, INFO: Planning width: 10 -2024-02-14 17:54:09, INFO: Sparse search: None -2024-02-14 17:54:11, INFO: human number: 10 -2024-02-14 17:54:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:16, INFO: Using device: cpu -2024-02-14 17:54:16, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:16, INFO: Similarity_func: concatenation -2024-02-14 17:54:16, INFO: Layerwise_graph: False -2024-02-14 17:54:16, INFO: Skip_connection: True -2024-02-14 17:54:16, INFO: Number of layers: 1 -2024-02-14 17:54:16, INFO: Similarity_func: concatenation -2024-02-14 17:54:16, INFO: Layerwise_graph: False -2024-02-14 17:54:16, INFO: Skip_connection: True -2024-02-14 17:54:16, INFO: Number of layers: 1 -2024-02-14 17:54:16, INFO: Planning depth: 1 -2024-02-14 17:54:16, INFO: Planning width: 10 -2024-02-14 17:54:16, INFO: Sparse search: None -2024-02-14 17:54:18, INFO: human number: 10 -2024-02-14 17:54:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:23, INFO: Using device: cpu -2024-02-14 17:54:23, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:23, INFO: Similarity_func: concatenation -2024-02-14 17:54:23, INFO: Layerwise_graph: False -2024-02-14 17:54:23, INFO: Skip_connection: True -2024-02-14 17:54:23, INFO: Number of layers: 1 -2024-02-14 17:54:23, INFO: Similarity_func: concatenation -2024-02-14 17:54:23, INFO: Layerwise_graph: False -2024-02-14 17:54:23, INFO: Skip_connection: True -2024-02-14 17:54:23, INFO: Number of layers: 1 -2024-02-14 17:54:23, INFO: Planning depth: 1 -2024-02-14 17:54:23, INFO: Planning width: 10 -2024-02-14 17:54:23, INFO: Sparse search: None -2024-02-14 17:54:25, INFO: human number: 10 -2024-02-14 17:54:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:29, INFO: Using device: cpu -2024-02-14 17:54:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:29, INFO: Similarity_func: concatenation -2024-02-14 17:54:29, INFO: Layerwise_graph: False -2024-02-14 17:54:29, INFO: Skip_connection: True -2024-02-14 17:54:29, INFO: Number of layers: 1 -2024-02-14 17:54:29, INFO: Similarity_func: concatenation -2024-02-14 17:54:29, INFO: Layerwise_graph: False -2024-02-14 17:54:29, INFO: Skip_connection: True -2024-02-14 17:54:29, INFO: Number of layers: 1 -2024-02-14 17:54:29, INFO: Planning depth: 1 -2024-02-14 17:54:29, INFO: Planning width: 10 -2024-02-14 17:54:29, INFO: Sparse search: None -2024-02-14 17:54:32, INFO: human number: 10 -2024-02-14 17:54:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:36, INFO: Using device: cpu -2024-02-14 17:54:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:36, INFO: Similarity_func: concatenation -2024-02-14 17:54:36, INFO: Layerwise_graph: False -2024-02-14 17:54:36, INFO: Skip_connection: True -2024-02-14 17:54:36, INFO: Number of layers: 1 -2024-02-14 17:54:36, INFO: Similarity_func: concatenation -2024-02-14 17:54:36, INFO: Layerwise_graph: False -2024-02-14 17:54:36, INFO: Skip_connection: True -2024-02-14 17:54:36, INFO: Number of layers: 1 -2024-02-14 17:54:36, INFO: Planning depth: 1 -2024-02-14 17:54:36, INFO: Planning width: 10 -2024-02-14 17:54:36, INFO: Sparse search: None -2024-02-14 17:54:39, INFO: human number: 10 -2024-02-14 17:54:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:44, INFO: Using device: cpu -2024-02-14 17:54:44, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:44, INFO: Similarity_func: concatenation -2024-02-14 17:54:44, INFO: Layerwise_graph: False -2024-02-14 17:54:44, INFO: Skip_connection: True -2024-02-14 17:54:44, INFO: Number of layers: 1 -2024-02-14 17:54:44, INFO: Similarity_func: concatenation -2024-02-14 17:54:44, INFO: Layerwise_graph: False -2024-02-14 17:54:44, INFO: Skip_connection: True -2024-02-14 17:54:44, INFO: Number of layers: 1 -2024-02-14 17:54:44, INFO: Planning depth: 1 -2024-02-14 17:54:44, INFO: Planning width: 10 -2024-02-14 17:54:44, INFO: Sparse search: None -2024-02-14 17:54:47, INFO: human number: 10 -2024-02-14 17:54:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:47, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:51, INFO: Using device: cpu -2024-02-14 17:54:51, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:51, INFO: Similarity_func: concatenation -2024-02-14 17:54:51, INFO: Layerwise_graph: False -2024-02-14 17:54:51, INFO: Skip_connection: True -2024-02-14 17:54:51, INFO: Number of layers: 1 -2024-02-14 17:54:51, INFO: Similarity_func: concatenation -2024-02-14 17:54:51, INFO: Layerwise_graph: False -2024-02-14 17:54:51, INFO: Skip_connection: True -2024-02-14 17:54:51, INFO: Number of layers: 1 -2024-02-14 17:54:51, INFO: Planning depth: 1 -2024-02-14 17:54:51, INFO: Planning width: 10 -2024-02-14 17:54:51, INFO: Sparse search: None -2024-02-14 17:54:54, INFO: human number: 10 -2024-02-14 17:54:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:54:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:54:54, INFO: Square width: 10, circle width: 4 -2024-02-14 17:54:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:54:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:54:58, INFO: Using device: cpu -2024-02-14 17:54:58, INFO: Loaded RL weights with best VAL -2024-02-14 17:54:58, INFO: Similarity_func: concatenation -2024-02-14 17:54:58, INFO: Layerwise_graph: False -2024-02-14 17:54:58, INFO: Skip_connection: True -2024-02-14 17:54:58, INFO: Number of layers: 1 -2024-02-14 17:54:58, INFO: Similarity_func: concatenation -2024-02-14 17:54:58, INFO: Layerwise_graph: False -2024-02-14 17:54:58, INFO: Skip_connection: True -2024-02-14 17:54:58, INFO: Number of layers: 1 -2024-02-14 17:54:58, INFO: Planning depth: 1 -2024-02-14 17:54:58, INFO: Planning width: 10 -2024-02-14 17:54:58, INFO: Sparse search: None -2024-02-14 17:55:00, INFO: human number: 10 -2024-02-14 17:55:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:05, INFO: Using device: cpu -2024-02-14 17:55:05, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:05, INFO: Similarity_func: concatenation -2024-02-14 17:55:05, INFO: Layerwise_graph: False -2024-02-14 17:55:05, INFO: Skip_connection: True -2024-02-14 17:55:05, INFO: Number of layers: 1 -2024-02-14 17:55:05, INFO: Similarity_func: concatenation -2024-02-14 17:55:05, INFO: Layerwise_graph: False -2024-02-14 17:55:05, INFO: Skip_connection: True -2024-02-14 17:55:05, INFO: Number of layers: 1 -2024-02-14 17:55:05, INFO: Planning depth: 1 -2024-02-14 17:55:05, INFO: Planning width: 10 -2024-02-14 17:55:05, INFO: Sparse search: None -2024-02-14 17:55:07, INFO: human number: 10 -2024-02-14 17:55:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:12, INFO: Using device: cpu -2024-02-14 17:55:12, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:12, INFO: Similarity_func: concatenation -2024-02-14 17:55:12, INFO: Layerwise_graph: False -2024-02-14 17:55:12, INFO: Skip_connection: True -2024-02-14 17:55:12, INFO: Number of layers: 1 -2024-02-14 17:55:12, INFO: Similarity_func: concatenation -2024-02-14 17:55:12, INFO: Layerwise_graph: False -2024-02-14 17:55:12, INFO: Skip_connection: True -2024-02-14 17:55:12, INFO: Number of layers: 1 -2024-02-14 17:55:12, INFO: Planning depth: 1 -2024-02-14 17:55:12, INFO: Planning width: 10 -2024-02-14 17:55:12, INFO: Sparse search: None -2024-02-14 17:55:14, INFO: human number: 10 -2024-02-14 17:55:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:19, INFO: Using device: cpu -2024-02-14 17:55:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:19, INFO: Similarity_func: concatenation -2024-02-14 17:55:19, INFO: Layerwise_graph: False -2024-02-14 17:55:19, INFO: Skip_connection: True -2024-02-14 17:55:19, INFO: Number of layers: 1 -2024-02-14 17:55:19, INFO: Similarity_func: concatenation -2024-02-14 17:55:19, INFO: Layerwise_graph: False -2024-02-14 17:55:19, INFO: Skip_connection: True -2024-02-14 17:55:19, INFO: Number of layers: 1 -2024-02-14 17:55:19, INFO: Planning depth: 1 -2024-02-14 17:55:19, INFO: Planning width: 10 -2024-02-14 17:55:19, INFO: Sparse search: None -2024-02-14 17:55:22, INFO: human number: 10 -2024-02-14 17:55:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:26, INFO: Using device: cpu -2024-02-14 17:55:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:26, INFO: Similarity_func: concatenation -2024-02-14 17:55:26, INFO: Layerwise_graph: False -2024-02-14 17:55:26, INFO: Skip_connection: True -2024-02-14 17:55:26, INFO: Number of layers: 1 -2024-02-14 17:55:26, INFO: Similarity_func: concatenation -2024-02-14 17:55:26, INFO: Layerwise_graph: False -2024-02-14 17:55:26, INFO: Skip_connection: True -2024-02-14 17:55:26, INFO: Number of layers: 1 -2024-02-14 17:55:26, INFO: Planning depth: 1 -2024-02-14 17:55:26, INFO: Planning width: 10 -2024-02-14 17:55:26, INFO: Sparse search: None -2024-02-14 17:55:29, INFO: human number: 10 -2024-02-14 17:55:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:34, INFO: Using device: cpu -2024-02-14 17:55:34, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:34, INFO: Similarity_func: concatenation -2024-02-14 17:55:34, INFO: Layerwise_graph: False -2024-02-14 17:55:34, INFO: Skip_connection: True -2024-02-14 17:55:34, INFO: Number of layers: 1 -2024-02-14 17:55:34, INFO: Similarity_func: concatenation -2024-02-14 17:55:34, INFO: Layerwise_graph: False -2024-02-14 17:55:34, INFO: Skip_connection: True -2024-02-14 17:55:34, INFO: Number of layers: 1 -2024-02-14 17:55:34, INFO: Planning depth: 1 -2024-02-14 17:55:34, INFO: Planning width: 10 -2024-02-14 17:55:34, INFO: Sparse search: None -2024-02-14 17:55:37, INFO: human number: 10 -2024-02-14 17:55:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:37, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:41, INFO: Using device: cpu -2024-02-14 17:55:41, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:41, INFO: Similarity_func: concatenation -2024-02-14 17:55:41, INFO: Layerwise_graph: False -2024-02-14 17:55:41, INFO: Skip_connection: True -2024-02-14 17:55:41, INFO: Number of layers: 1 -2024-02-14 17:55:41, INFO: Similarity_func: concatenation -2024-02-14 17:55:41, INFO: Layerwise_graph: False -2024-02-14 17:55:41, INFO: Skip_connection: True -2024-02-14 17:55:41, INFO: Number of layers: 1 -2024-02-14 17:55:41, INFO: Planning depth: 1 -2024-02-14 17:55:41, INFO: Planning width: 10 -2024-02-14 17:55:41, INFO: Sparse search: None -2024-02-14 17:55:44, INFO: human number: 10 -2024-02-14 17:55:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:44, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:48, INFO: Using device: cpu -2024-02-14 17:55:48, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:48, INFO: Similarity_func: concatenation -2024-02-14 17:55:48, INFO: Layerwise_graph: False -2024-02-14 17:55:48, INFO: Skip_connection: True -2024-02-14 17:55:48, INFO: Number of layers: 1 -2024-02-14 17:55:48, INFO: Similarity_func: concatenation -2024-02-14 17:55:48, INFO: Layerwise_graph: False -2024-02-14 17:55:48, INFO: Skip_connection: True -2024-02-14 17:55:48, INFO: Number of layers: 1 -2024-02-14 17:55:48, INFO: Planning depth: 1 -2024-02-14 17:55:48, INFO: Planning width: 10 -2024-02-14 17:55:48, INFO: Sparse search: None -2024-02-14 17:55:51, INFO: human number: 10 -2024-02-14 17:55:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:51, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:55:55, INFO: Using device: cpu -2024-02-14 17:55:55, INFO: Loaded RL weights with best VAL -2024-02-14 17:55:55, INFO: Similarity_func: concatenation -2024-02-14 17:55:55, INFO: Layerwise_graph: False -2024-02-14 17:55:55, INFO: Skip_connection: True -2024-02-14 17:55:55, INFO: Number of layers: 1 -2024-02-14 17:55:55, INFO: Similarity_func: concatenation -2024-02-14 17:55:55, INFO: Layerwise_graph: False -2024-02-14 17:55:55, INFO: Skip_connection: True -2024-02-14 17:55:55, INFO: Number of layers: 1 -2024-02-14 17:55:55, INFO: Planning depth: 1 -2024-02-14 17:55:55, INFO: Planning width: 10 -2024-02-14 17:55:55, INFO: Sparse search: None -2024-02-14 17:55:58, INFO: human number: 10 -2024-02-14 17:55:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:55:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:55:58, INFO: Square width: 10, circle width: 4 -2024-02-14 17:55:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:55:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:03, INFO: Using device: cpu -2024-02-14 17:56:03, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:03, INFO: Similarity_func: concatenation -2024-02-14 17:56:03, INFO: Layerwise_graph: False -2024-02-14 17:56:03, INFO: Skip_connection: True -2024-02-14 17:56:03, INFO: Number of layers: 1 -2024-02-14 17:56:03, INFO: Similarity_func: concatenation -2024-02-14 17:56:03, INFO: Layerwise_graph: False -2024-02-14 17:56:03, INFO: Skip_connection: True -2024-02-14 17:56:03, INFO: Number of layers: 1 -2024-02-14 17:56:03, INFO: Planning depth: 1 -2024-02-14 17:56:03, INFO: Planning width: 10 -2024-02-14 17:56:03, INFO: Sparse search: None -2024-02-14 17:56:06, INFO: human number: 10 -2024-02-14 17:56:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:06, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:09, INFO: Using device: cpu -2024-02-14 17:56:09, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:09, INFO: Similarity_func: concatenation -2024-02-14 17:56:09, INFO: Layerwise_graph: False -2024-02-14 17:56:09, INFO: Skip_connection: True -2024-02-14 17:56:09, INFO: Number of layers: 1 -2024-02-14 17:56:09, INFO: Similarity_func: concatenation -2024-02-14 17:56:09, INFO: Layerwise_graph: False -2024-02-14 17:56:09, INFO: Skip_connection: True -2024-02-14 17:56:09, INFO: Number of layers: 1 -2024-02-14 17:56:09, INFO: Planning depth: 1 -2024-02-14 17:56:09, INFO: Planning width: 10 -2024-02-14 17:56:09, INFO: Sparse search: None -2024-02-14 17:56:12, INFO: human number: 10 -2024-02-14 17:56:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:12, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:17, INFO: Using device: cpu -2024-02-14 17:56:17, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:17, INFO: Similarity_func: concatenation -2024-02-14 17:56:17, INFO: Layerwise_graph: False -2024-02-14 17:56:17, INFO: Skip_connection: True -2024-02-14 17:56:17, INFO: Number of layers: 1 -2024-02-14 17:56:17, INFO: Similarity_func: concatenation -2024-02-14 17:56:17, INFO: Layerwise_graph: False -2024-02-14 17:56:17, INFO: Skip_connection: True -2024-02-14 17:56:17, INFO: Number of layers: 1 -2024-02-14 17:56:17, INFO: Planning depth: 1 -2024-02-14 17:56:17, INFO: Planning width: 10 -2024-02-14 17:56:17, INFO: Sparse search: None -2024-02-14 17:56:19, INFO: human number: 10 -2024-02-14 17:56:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:19, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:24, INFO: Using device: cpu -2024-02-14 17:56:24, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:24, INFO: Similarity_func: concatenation -2024-02-14 17:56:24, INFO: Layerwise_graph: False -2024-02-14 17:56:24, INFO: Skip_connection: True -2024-02-14 17:56:24, INFO: Number of layers: 1 -2024-02-14 17:56:24, INFO: Similarity_func: concatenation -2024-02-14 17:56:24, INFO: Layerwise_graph: False -2024-02-14 17:56:24, INFO: Skip_connection: True -2024-02-14 17:56:24, INFO: Number of layers: 1 -2024-02-14 17:56:24, INFO: Planning depth: 1 -2024-02-14 17:56:24, INFO: Planning width: 10 -2024-02-14 17:56:24, INFO: Sparse search: None -2024-02-14 17:56:27, INFO: human number: 10 -2024-02-14 17:56:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:27, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:31, INFO: Using device: cpu -2024-02-14 17:56:31, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:31, INFO: Similarity_func: concatenation -2024-02-14 17:56:31, INFO: Layerwise_graph: False -2024-02-14 17:56:31, INFO: Skip_connection: True -2024-02-14 17:56:31, INFO: Number of layers: 1 -2024-02-14 17:56:31, INFO: Similarity_func: concatenation -2024-02-14 17:56:31, INFO: Layerwise_graph: False -2024-02-14 17:56:31, INFO: Skip_connection: True -2024-02-14 17:56:31, INFO: Number of layers: 1 -2024-02-14 17:56:31, INFO: Planning depth: 1 -2024-02-14 17:56:31, INFO: Planning width: 10 -2024-02-14 17:56:31, INFO: Sparse search: None -2024-02-14 17:56:34, INFO: human number: 10 -2024-02-14 17:56:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:34, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:38, INFO: Using device: cpu -2024-02-14 17:56:38, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:38, INFO: Similarity_func: concatenation -2024-02-14 17:56:38, INFO: Layerwise_graph: False -2024-02-14 17:56:38, INFO: Skip_connection: True -2024-02-14 17:56:38, INFO: Number of layers: 1 -2024-02-14 17:56:38, INFO: Similarity_func: concatenation -2024-02-14 17:56:38, INFO: Layerwise_graph: False -2024-02-14 17:56:38, INFO: Skip_connection: True -2024-02-14 17:56:38, INFO: Number of layers: 1 -2024-02-14 17:56:38, INFO: Planning depth: 1 -2024-02-14 17:56:38, INFO: Planning width: 10 -2024-02-14 17:56:38, INFO: Sparse search: None -2024-02-14 17:56:41, INFO: human number: 10 -2024-02-14 17:56:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:41, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:45, INFO: Using device: cpu -2024-02-14 17:56:45, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:45, INFO: Similarity_func: concatenation -2024-02-14 17:56:45, INFO: Layerwise_graph: False -2024-02-14 17:56:45, INFO: Skip_connection: True -2024-02-14 17:56:45, INFO: Number of layers: 1 -2024-02-14 17:56:45, INFO: Similarity_func: concatenation -2024-02-14 17:56:45, INFO: Layerwise_graph: False -2024-02-14 17:56:45, INFO: Skip_connection: True -2024-02-14 17:56:45, INFO: Number of layers: 1 -2024-02-14 17:56:45, INFO: Planning depth: 1 -2024-02-14 17:56:45, INFO: Planning width: 10 -2024-02-14 17:56:45, INFO: Sparse search: None -2024-02-14 17:56:48, INFO: human number: 10 -2024-02-14 17:56:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:48, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:52, INFO: Using device: cpu -2024-02-14 17:56:52, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:52, INFO: Similarity_func: concatenation -2024-02-14 17:56:52, INFO: Layerwise_graph: False -2024-02-14 17:56:52, INFO: Skip_connection: True -2024-02-14 17:56:52, INFO: Number of layers: 1 -2024-02-14 17:56:52, INFO: Similarity_func: concatenation -2024-02-14 17:56:52, INFO: Layerwise_graph: False -2024-02-14 17:56:52, INFO: Skip_connection: True -2024-02-14 17:56:52, INFO: Number of layers: 1 -2024-02-14 17:56:52, INFO: Planning depth: 1 -2024-02-14 17:56:52, INFO: Planning width: 10 -2024-02-14 17:56:52, INFO: Sparse search: None -2024-02-14 17:56:55, INFO: human number: 10 -2024-02-14 17:56:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:56:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:56:55, INFO: Square width: 10, circle width: 4 -2024-02-14 17:56:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:56:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:56:59, INFO: Using device: cpu -2024-02-14 17:56:59, INFO: Loaded RL weights with best VAL -2024-02-14 17:56:59, INFO: Similarity_func: concatenation -2024-02-14 17:56:59, INFO: Layerwise_graph: False -2024-02-14 17:56:59, INFO: Skip_connection: True -2024-02-14 17:56:59, INFO: Number of layers: 1 -2024-02-14 17:56:59, INFO: Similarity_func: concatenation -2024-02-14 17:56:59, INFO: Layerwise_graph: False -2024-02-14 17:56:59, INFO: Skip_connection: True -2024-02-14 17:56:59, INFO: Number of layers: 1 -2024-02-14 17:56:59, INFO: Planning depth: 1 -2024-02-14 17:56:59, INFO: Planning width: 10 -2024-02-14 17:56:59, INFO: Sparse search: None -2024-02-14 17:57:02, INFO: human number: 10 -2024-02-14 17:57:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:02, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:06, INFO: Using device: cpu -2024-02-14 17:57:06, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:06, INFO: Similarity_func: concatenation -2024-02-14 17:57:06, INFO: Layerwise_graph: False -2024-02-14 17:57:06, INFO: Skip_connection: True -2024-02-14 17:57:06, INFO: Number of layers: 1 -2024-02-14 17:57:06, INFO: Similarity_func: concatenation -2024-02-14 17:57:06, INFO: Layerwise_graph: False -2024-02-14 17:57:06, INFO: Skip_connection: True -2024-02-14 17:57:06, INFO: Number of layers: 1 -2024-02-14 17:57:06, INFO: Planning depth: 1 -2024-02-14 17:57:06, INFO: Planning width: 10 -2024-02-14 17:57:06, INFO: Sparse search: None -2024-02-14 17:57:09, INFO: human number: 10 -2024-02-14 17:57:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:09, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:13, INFO: Using device: cpu -2024-02-14 17:57:13, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:13, INFO: Similarity_func: concatenation -2024-02-14 17:57:13, INFO: Layerwise_graph: False -2024-02-14 17:57:13, INFO: Skip_connection: True -2024-02-14 17:57:13, INFO: Number of layers: 1 -2024-02-14 17:57:13, INFO: Similarity_func: concatenation -2024-02-14 17:57:13, INFO: Layerwise_graph: False -2024-02-14 17:57:13, INFO: Skip_connection: True -2024-02-14 17:57:13, INFO: Number of layers: 1 -2024-02-14 17:57:13, INFO: Planning depth: 1 -2024-02-14 17:57:13, INFO: Planning width: 10 -2024-02-14 17:57:13, INFO: Sparse search: None -2024-02-14 17:57:15, INFO: human number: 10 -2024-02-14 17:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:15, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:20, INFO: Using device: cpu -2024-02-14 17:57:20, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:20, INFO: Similarity_func: concatenation -2024-02-14 17:57:20, INFO: Layerwise_graph: False -2024-02-14 17:57:20, INFO: Skip_connection: True -2024-02-14 17:57:20, INFO: Number of layers: 1 -2024-02-14 17:57:20, INFO: Similarity_func: concatenation -2024-02-14 17:57:20, INFO: Layerwise_graph: False -2024-02-14 17:57:20, INFO: Skip_connection: True -2024-02-14 17:57:20, INFO: Number of layers: 1 -2024-02-14 17:57:20, INFO: Planning depth: 1 -2024-02-14 17:57:20, INFO: Planning width: 10 -2024-02-14 17:57:20, INFO: Sparse search: None -2024-02-14 17:57:22, INFO: human number: 10 -2024-02-14 17:57:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:26, INFO: Using device: cpu -2024-02-14 17:57:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:26, INFO: Similarity_func: concatenation -2024-02-14 17:57:26, INFO: Layerwise_graph: False -2024-02-14 17:57:26, INFO: Skip_connection: True -2024-02-14 17:57:26, INFO: Number of layers: 1 -2024-02-14 17:57:26, INFO: Similarity_func: concatenation -2024-02-14 17:57:26, INFO: Layerwise_graph: False -2024-02-14 17:57:26, INFO: Skip_connection: True -2024-02-14 17:57:26, INFO: Number of layers: 1 -2024-02-14 17:57:26, INFO: Planning depth: 1 -2024-02-14 17:57:26, INFO: Planning width: 10 -2024-02-14 17:57:26, INFO: Sparse search: None -2024-02-14 17:57:29, INFO: human number: 10 -2024-02-14 17:57:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:33, INFO: Using device: cpu -2024-02-14 17:57:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:33, INFO: Similarity_func: concatenation -2024-02-14 17:57:33, INFO: Layerwise_graph: False -2024-02-14 17:57:33, INFO: Skip_connection: True -2024-02-14 17:57:33, INFO: Number of layers: 1 -2024-02-14 17:57:33, INFO: Similarity_func: concatenation -2024-02-14 17:57:33, INFO: Layerwise_graph: False -2024-02-14 17:57:33, INFO: Skip_connection: True -2024-02-14 17:57:33, INFO: Number of layers: 1 -2024-02-14 17:57:33, INFO: Planning depth: 1 -2024-02-14 17:57:33, INFO: Planning width: 10 -2024-02-14 17:57:33, INFO: Sparse search: None -2024-02-14 17:57:36, INFO: human number: 10 -2024-02-14 17:57:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:40, INFO: Using device: cpu -2024-02-14 17:57:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:40, INFO: Similarity_func: concatenation -2024-02-14 17:57:40, INFO: Layerwise_graph: False -2024-02-14 17:57:40, INFO: Skip_connection: True -2024-02-14 17:57:40, INFO: Number of layers: 1 -2024-02-14 17:57:40, INFO: Similarity_func: concatenation -2024-02-14 17:57:40, INFO: Layerwise_graph: False -2024-02-14 17:57:40, INFO: Skip_connection: True -2024-02-14 17:57:40, INFO: Number of layers: 1 -2024-02-14 17:57:40, INFO: Planning depth: 1 -2024-02-14 17:57:40, INFO: Planning width: 10 -2024-02-14 17:57:40, INFO: Sparse search: None -2024-02-14 17:57:43, INFO: human number: 10 -2024-02-14 17:57:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:47, INFO: Using device: cpu -2024-02-14 17:57:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:47, INFO: Similarity_func: concatenation -2024-02-14 17:57:47, INFO: Layerwise_graph: False -2024-02-14 17:57:47, INFO: Skip_connection: True -2024-02-14 17:57:47, INFO: Number of layers: 1 -2024-02-14 17:57:47, INFO: Similarity_func: concatenation -2024-02-14 17:57:47, INFO: Layerwise_graph: False -2024-02-14 17:57:47, INFO: Skip_connection: True -2024-02-14 17:57:47, INFO: Number of layers: 1 -2024-02-14 17:57:47, INFO: Planning depth: 1 -2024-02-14 17:57:47, INFO: Planning width: 10 -2024-02-14 17:57:47, INFO: Sparse search: None -2024-02-14 17:57:50, INFO: human number: 10 -2024-02-14 17:57:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:57:54, INFO: Using device: cpu -2024-02-14 17:57:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:57:54, INFO: Similarity_func: concatenation -2024-02-14 17:57:54, INFO: Layerwise_graph: False -2024-02-14 17:57:54, INFO: Skip_connection: True -2024-02-14 17:57:54, INFO: Number of layers: 1 -2024-02-14 17:57:54, INFO: Similarity_func: concatenation -2024-02-14 17:57:54, INFO: Layerwise_graph: False -2024-02-14 17:57:54, INFO: Skip_connection: True -2024-02-14 17:57:54, INFO: Number of layers: 1 -2024-02-14 17:57:54, INFO: Planning depth: 1 -2024-02-14 17:57:54, INFO: Planning width: 10 -2024-02-14 17:57:54, INFO: Sparse search: None -2024-02-14 17:57:57, INFO: human number: 10 -2024-02-14 17:57:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:57:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:57:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:57:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:57:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:01, INFO: Using device: cpu -2024-02-14 17:58:01, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:01, INFO: Similarity_func: concatenation -2024-02-14 17:58:01, INFO: Layerwise_graph: False -2024-02-14 17:58:01, INFO: Skip_connection: True -2024-02-14 17:58:01, INFO: Number of layers: 1 -2024-02-14 17:58:01, INFO: Similarity_func: concatenation -2024-02-14 17:58:01, INFO: Layerwise_graph: False -2024-02-14 17:58:01, INFO: Skip_connection: True -2024-02-14 17:58:01, INFO: Number of layers: 1 -2024-02-14 17:58:01, INFO: Planning depth: 1 -2024-02-14 17:58:01, INFO: Planning width: 10 -2024-02-14 17:58:01, INFO: Sparse search: None -2024-02-14 17:58:04, INFO: human number: 10 -2024-02-14 17:58:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:04, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:08, INFO: Using device: cpu -2024-02-14 17:58:08, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:08, INFO: Similarity_func: concatenation -2024-02-14 17:58:08, INFO: Layerwise_graph: False -2024-02-14 17:58:08, INFO: Skip_connection: True -2024-02-14 17:58:08, INFO: Number of layers: 1 -2024-02-14 17:58:08, INFO: Similarity_func: concatenation -2024-02-14 17:58:08, INFO: Layerwise_graph: False -2024-02-14 17:58:08, INFO: Skip_connection: True -2024-02-14 17:58:08, INFO: Number of layers: 1 -2024-02-14 17:58:08, INFO: Planning depth: 1 -2024-02-14 17:58:08, INFO: Planning width: 10 -2024-02-14 17:58:08, INFO: Sparse search: None -2024-02-14 17:58:11, INFO: human number: 10 -2024-02-14 17:58:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:11, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:15, INFO: Using device: cpu -2024-02-14 17:58:15, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:15, INFO: Similarity_func: concatenation -2024-02-14 17:58:15, INFO: Layerwise_graph: False -2024-02-14 17:58:15, INFO: Skip_connection: True -2024-02-14 17:58:15, INFO: Number of layers: 1 -2024-02-14 17:58:15, INFO: Similarity_func: concatenation -2024-02-14 17:58:15, INFO: Layerwise_graph: False -2024-02-14 17:58:15, INFO: Skip_connection: True -2024-02-14 17:58:15, INFO: Number of layers: 1 -2024-02-14 17:58:15, INFO: Planning depth: 1 -2024-02-14 17:58:15, INFO: Planning width: 10 -2024-02-14 17:58:15, INFO: Sparse search: None -2024-02-14 17:58:18, INFO: human number: 10 -2024-02-14 17:58:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:18, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:22, INFO: Using device: cpu -2024-02-14 17:58:22, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:22, INFO: Similarity_func: concatenation -2024-02-14 17:58:22, INFO: Layerwise_graph: False -2024-02-14 17:58:22, INFO: Skip_connection: True -2024-02-14 17:58:22, INFO: Number of layers: 1 -2024-02-14 17:58:22, INFO: Similarity_func: concatenation -2024-02-14 17:58:22, INFO: Layerwise_graph: False -2024-02-14 17:58:22, INFO: Skip_connection: True -2024-02-14 17:58:22, INFO: Number of layers: 1 -2024-02-14 17:58:22, INFO: Planning depth: 1 -2024-02-14 17:58:22, INFO: Planning width: 10 -2024-02-14 17:58:22, INFO: Sparse search: None -2024-02-14 17:58:25, INFO: human number: 10 -2024-02-14 17:58:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:25, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:29, INFO: Using device: cpu -2024-02-14 17:58:29, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:29, INFO: Similarity_func: concatenation -2024-02-14 17:58:29, INFO: Layerwise_graph: False -2024-02-14 17:58:29, INFO: Skip_connection: True -2024-02-14 17:58:29, INFO: Number of layers: 1 -2024-02-14 17:58:29, INFO: Similarity_func: concatenation -2024-02-14 17:58:29, INFO: Layerwise_graph: False -2024-02-14 17:58:29, INFO: Skip_connection: True -2024-02-14 17:58:29, INFO: Number of layers: 1 -2024-02-14 17:58:29, INFO: Planning depth: 1 -2024-02-14 17:58:29, INFO: Planning width: 10 -2024-02-14 17:58:29, INFO: Sparse search: None -2024-02-14 17:58:32, INFO: human number: 10 -2024-02-14 17:58:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:32, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:36, INFO: Using device: cpu -2024-02-14 17:58:36, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:36, INFO: Similarity_func: concatenation -2024-02-14 17:58:36, INFO: Layerwise_graph: False -2024-02-14 17:58:36, INFO: Skip_connection: True -2024-02-14 17:58:36, INFO: Number of layers: 1 -2024-02-14 17:58:36, INFO: Similarity_func: concatenation -2024-02-14 17:58:36, INFO: Layerwise_graph: False -2024-02-14 17:58:36, INFO: Skip_connection: True -2024-02-14 17:58:36, INFO: Number of layers: 1 -2024-02-14 17:58:36, INFO: Planning depth: 1 -2024-02-14 17:58:36, INFO: Planning width: 10 -2024-02-14 17:58:36, INFO: Sparse search: None -2024-02-14 17:58:39, INFO: human number: 10 -2024-02-14 17:58:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:39, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:43, INFO: Using device: cpu -2024-02-14 17:58:43, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:43, INFO: Similarity_func: concatenation -2024-02-14 17:58:43, INFO: Layerwise_graph: False -2024-02-14 17:58:43, INFO: Skip_connection: True -2024-02-14 17:58:43, INFO: Number of layers: 1 -2024-02-14 17:58:43, INFO: Similarity_func: concatenation -2024-02-14 17:58:43, INFO: Layerwise_graph: False -2024-02-14 17:58:43, INFO: Skip_connection: True -2024-02-14 17:58:43, INFO: Number of layers: 1 -2024-02-14 17:58:43, INFO: Planning depth: 1 -2024-02-14 17:58:43, INFO: Planning width: 10 -2024-02-14 17:58:43, INFO: Sparse search: None -2024-02-14 17:58:46, INFO: human number: 10 -2024-02-14 17:58:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:46, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:50, INFO: Using device: cpu -2024-02-14 17:58:50, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:50, INFO: Similarity_func: concatenation -2024-02-14 17:58:50, INFO: Layerwise_graph: False -2024-02-14 17:58:50, INFO: Skip_connection: True -2024-02-14 17:58:50, INFO: Number of layers: 1 -2024-02-14 17:58:50, INFO: Similarity_func: concatenation -2024-02-14 17:58:50, INFO: Layerwise_graph: False -2024-02-14 17:58:50, INFO: Skip_connection: True -2024-02-14 17:58:50, INFO: Number of layers: 1 -2024-02-14 17:58:50, INFO: Planning depth: 1 -2024-02-14 17:58:50, INFO: Planning width: 10 -2024-02-14 17:58:50, INFO: Sparse search: None -2024-02-14 17:58:53, INFO: human number: 10 -2024-02-14 17:58:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:58:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:58:53, INFO: Square width: 10, circle width: 4 -2024-02-14 17:58:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:58:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:58:57, INFO: Using device: cpu -2024-02-14 17:58:57, INFO: Loaded RL weights with best VAL -2024-02-14 17:58:57, INFO: Similarity_func: concatenation -2024-02-14 17:58:57, INFO: Layerwise_graph: False -2024-02-14 17:58:57, INFO: Skip_connection: True -2024-02-14 17:58:57, INFO: Number of layers: 1 -2024-02-14 17:58:57, INFO: Similarity_func: concatenation -2024-02-14 17:58:57, INFO: Layerwise_graph: False -2024-02-14 17:58:57, INFO: Skip_connection: True -2024-02-14 17:58:57, INFO: Number of layers: 1 -2024-02-14 17:58:57, INFO: Planning depth: 1 -2024-02-14 17:58:57, INFO: Planning width: 10 -2024-02-14 17:58:57, INFO: Sparse search: None -2024-02-14 17:59:00, INFO: human number: 10 -2024-02-14 17:59:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:00, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:04, INFO: Using device: cpu -2024-02-14 17:59:04, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:04, INFO: Similarity_func: concatenation -2024-02-14 17:59:04, INFO: Layerwise_graph: False -2024-02-14 17:59:04, INFO: Skip_connection: True -2024-02-14 17:59:04, INFO: Number of layers: 1 -2024-02-14 17:59:04, INFO: Similarity_func: concatenation -2024-02-14 17:59:04, INFO: Layerwise_graph: False -2024-02-14 17:59:04, INFO: Skip_connection: True -2024-02-14 17:59:04, INFO: Number of layers: 1 -2024-02-14 17:59:04, INFO: Planning depth: 1 -2024-02-14 17:59:04, INFO: Planning width: 10 -2024-02-14 17:59:04, INFO: Sparse search: None -2024-02-14 17:59:07, INFO: human number: 10 -2024-02-14 17:59:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:07, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:11, INFO: Using device: cpu -2024-02-14 17:59:11, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:11, INFO: Similarity_func: concatenation -2024-02-14 17:59:11, INFO: Layerwise_graph: False -2024-02-14 17:59:11, INFO: Skip_connection: True -2024-02-14 17:59:11, INFO: Number of layers: 1 -2024-02-14 17:59:11, INFO: Similarity_func: concatenation -2024-02-14 17:59:11, INFO: Layerwise_graph: False -2024-02-14 17:59:11, INFO: Skip_connection: True -2024-02-14 17:59:11, INFO: Number of layers: 1 -2024-02-14 17:59:11, INFO: Planning depth: 1 -2024-02-14 17:59:11, INFO: Planning width: 10 -2024-02-14 17:59:11, INFO: Sparse search: None -2024-02-14 17:59:14, INFO: human number: 10 -2024-02-14 17:59:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:14, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:19, INFO: Using device: cpu -2024-02-14 17:59:19, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:19, INFO: Similarity_func: concatenation -2024-02-14 17:59:19, INFO: Layerwise_graph: False -2024-02-14 17:59:19, INFO: Skip_connection: True -2024-02-14 17:59:19, INFO: Number of layers: 1 -2024-02-14 17:59:19, INFO: Similarity_func: concatenation -2024-02-14 17:59:19, INFO: Layerwise_graph: False -2024-02-14 17:59:19, INFO: Skip_connection: True -2024-02-14 17:59:19, INFO: Number of layers: 1 -2024-02-14 17:59:19, INFO: Planning depth: 1 -2024-02-14 17:59:19, INFO: Planning width: 10 -2024-02-14 17:59:19, INFO: Sparse search: None -2024-02-14 17:59:22, INFO: human number: 10 -2024-02-14 17:59:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:22, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:26, INFO: Using device: cpu -2024-02-14 17:59:26, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:26, INFO: Similarity_func: concatenation -2024-02-14 17:59:26, INFO: Layerwise_graph: False -2024-02-14 17:59:26, INFO: Skip_connection: True -2024-02-14 17:59:26, INFO: Number of layers: 1 -2024-02-14 17:59:26, INFO: Similarity_func: concatenation -2024-02-14 17:59:26, INFO: Layerwise_graph: False -2024-02-14 17:59:26, INFO: Skip_connection: True -2024-02-14 17:59:26, INFO: Number of layers: 1 -2024-02-14 17:59:26, INFO: Planning depth: 1 -2024-02-14 17:59:26, INFO: Planning width: 10 -2024-02-14 17:59:26, INFO: Sparse search: None -2024-02-14 17:59:29, INFO: human number: 10 -2024-02-14 17:59:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:29, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:33, INFO: Using device: cpu -2024-02-14 17:59:33, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:33, INFO: Similarity_func: concatenation -2024-02-14 17:59:33, INFO: Layerwise_graph: False -2024-02-14 17:59:33, INFO: Skip_connection: True -2024-02-14 17:59:33, INFO: Number of layers: 1 -2024-02-14 17:59:33, INFO: Similarity_func: concatenation -2024-02-14 17:59:33, INFO: Layerwise_graph: False -2024-02-14 17:59:33, INFO: Skip_connection: True -2024-02-14 17:59:33, INFO: Number of layers: 1 -2024-02-14 17:59:33, INFO: Planning depth: 1 -2024-02-14 17:59:33, INFO: Planning width: 10 -2024-02-14 17:59:33, INFO: Sparse search: None -2024-02-14 17:59:36, INFO: human number: 10 -2024-02-14 17:59:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:36, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:40, INFO: Using device: cpu -2024-02-14 17:59:40, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:40, INFO: Similarity_func: concatenation -2024-02-14 17:59:40, INFO: Layerwise_graph: False -2024-02-14 17:59:40, INFO: Skip_connection: True -2024-02-14 17:59:40, INFO: Number of layers: 1 -2024-02-14 17:59:40, INFO: Similarity_func: concatenation -2024-02-14 17:59:40, INFO: Layerwise_graph: False -2024-02-14 17:59:40, INFO: Skip_connection: True -2024-02-14 17:59:40, INFO: Number of layers: 1 -2024-02-14 17:59:40, INFO: Planning depth: 1 -2024-02-14 17:59:40, INFO: Planning width: 10 -2024-02-14 17:59:40, INFO: Sparse search: None -2024-02-14 17:59:43, INFO: human number: 10 -2024-02-14 17:59:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:43, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:47, INFO: Using device: cpu -2024-02-14 17:59:47, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:47, INFO: Similarity_func: concatenation -2024-02-14 17:59:47, INFO: Layerwise_graph: False -2024-02-14 17:59:47, INFO: Skip_connection: True -2024-02-14 17:59:47, INFO: Number of layers: 1 -2024-02-14 17:59:47, INFO: Similarity_func: concatenation -2024-02-14 17:59:47, INFO: Layerwise_graph: False -2024-02-14 17:59:47, INFO: Skip_connection: True -2024-02-14 17:59:47, INFO: Number of layers: 1 -2024-02-14 17:59:47, INFO: Planning depth: 1 -2024-02-14 17:59:47, INFO: Planning width: 10 -2024-02-14 17:59:47, INFO: Sparse search: None -2024-02-14 17:59:50, INFO: human number: 10 -2024-02-14 17:59:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:50, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 17:59:54, INFO: Using device: cpu -2024-02-14 17:59:54, INFO: Loaded RL weights with best VAL -2024-02-14 17:59:54, INFO: Similarity_func: concatenation -2024-02-14 17:59:54, INFO: Layerwise_graph: False -2024-02-14 17:59:54, INFO: Skip_connection: True -2024-02-14 17:59:54, INFO: Number of layers: 1 -2024-02-14 17:59:54, INFO: Similarity_func: concatenation -2024-02-14 17:59:54, INFO: Layerwise_graph: False -2024-02-14 17:59:54, INFO: Skip_connection: True -2024-02-14 17:59:54, INFO: Number of layers: 1 -2024-02-14 17:59:54, INFO: Planning depth: 1 -2024-02-14 17:59:54, INFO: Planning width: 10 -2024-02-14 17:59:54, INFO: Sparse search: None -2024-02-14 17:59:57, INFO: human number: 10 -2024-02-14 17:59:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 17:59:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 17:59:57, INFO: Square width: 10, circle width: 4 -2024-02-14 17:59:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 17:59:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:01, INFO: Using device: cpu -2024-02-14 18:00:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:01, INFO: Similarity_func: concatenation -2024-02-14 18:00:01, INFO: Layerwise_graph: False -2024-02-14 18:00:01, INFO: Skip_connection: True -2024-02-14 18:00:01, INFO: Number of layers: 1 -2024-02-14 18:00:01, INFO: Similarity_func: concatenation -2024-02-14 18:00:01, INFO: Layerwise_graph: False -2024-02-14 18:00:01, INFO: Skip_connection: True -2024-02-14 18:00:01, INFO: Number of layers: 1 -2024-02-14 18:00:01, INFO: Planning depth: 1 -2024-02-14 18:00:01, INFO: Planning width: 10 -2024-02-14 18:00:01, INFO: Sparse search: None -2024-02-14 18:00:04, INFO: human number: 10 -2024-02-14 18:00:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:08, INFO: Using device: cpu -2024-02-14 18:00:08, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:08, INFO: Similarity_func: concatenation -2024-02-14 18:00:08, INFO: Layerwise_graph: False -2024-02-14 18:00:08, INFO: Skip_connection: True -2024-02-14 18:00:08, INFO: Number of layers: 1 -2024-02-14 18:00:08, INFO: Similarity_func: concatenation -2024-02-14 18:00:08, INFO: Layerwise_graph: False -2024-02-14 18:00:08, INFO: Skip_connection: True -2024-02-14 18:00:08, INFO: Number of layers: 1 -2024-02-14 18:00:08, INFO: Planning depth: 1 -2024-02-14 18:00:08, INFO: Planning width: 10 -2024-02-14 18:00:08, INFO: Sparse search: None -2024-02-14 18:00:11, INFO: human number: 10 -2024-02-14 18:00:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:15, INFO: Using device: cpu -2024-02-14 18:00:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:15, INFO: Similarity_func: concatenation -2024-02-14 18:00:15, INFO: Layerwise_graph: False -2024-02-14 18:00:15, INFO: Skip_connection: True -2024-02-14 18:00:15, INFO: Number of layers: 1 -2024-02-14 18:00:15, INFO: Similarity_func: concatenation -2024-02-14 18:00:15, INFO: Layerwise_graph: False -2024-02-14 18:00:15, INFO: Skip_connection: True -2024-02-14 18:00:15, INFO: Number of layers: 1 -2024-02-14 18:00:15, INFO: Planning depth: 1 -2024-02-14 18:00:15, INFO: Planning width: 10 -2024-02-14 18:00:15, INFO: Sparse search: None -2024-02-14 18:00:18, INFO: human number: 10 -2024-02-14 18:00:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:22, INFO: Using device: cpu -2024-02-14 18:00:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:22, INFO: Similarity_func: concatenation -2024-02-14 18:00:22, INFO: Layerwise_graph: False -2024-02-14 18:00:22, INFO: Skip_connection: True -2024-02-14 18:00:22, INFO: Number of layers: 1 -2024-02-14 18:00:22, INFO: Similarity_func: concatenation -2024-02-14 18:00:22, INFO: Layerwise_graph: False -2024-02-14 18:00:22, INFO: Skip_connection: True -2024-02-14 18:00:22, INFO: Number of layers: 1 -2024-02-14 18:00:22, INFO: Planning depth: 1 -2024-02-14 18:00:22, INFO: Planning width: 10 -2024-02-14 18:00:22, INFO: Sparse search: None -2024-02-14 18:00:25, INFO: human number: 10 -2024-02-14 18:00:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:29, INFO: Using device: cpu -2024-02-14 18:00:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:29, INFO: Similarity_func: concatenation -2024-02-14 18:00:29, INFO: Layerwise_graph: False -2024-02-14 18:00:29, INFO: Skip_connection: True -2024-02-14 18:00:29, INFO: Number of layers: 1 -2024-02-14 18:00:29, INFO: Similarity_func: concatenation -2024-02-14 18:00:29, INFO: Layerwise_graph: False -2024-02-14 18:00:29, INFO: Skip_connection: True -2024-02-14 18:00:29, INFO: Number of layers: 1 -2024-02-14 18:00:29, INFO: Planning depth: 1 -2024-02-14 18:00:29, INFO: Planning width: 10 -2024-02-14 18:00:29, INFO: Sparse search: None -2024-02-14 18:00:32, INFO: human number: 10 -2024-02-14 18:00:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:36, INFO: Using device: cpu -2024-02-14 18:00:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:36, INFO: Similarity_func: concatenation -2024-02-14 18:00:36, INFO: Layerwise_graph: False -2024-02-14 18:00:36, INFO: Skip_connection: True -2024-02-14 18:00:36, INFO: Number of layers: 1 -2024-02-14 18:00:36, INFO: Similarity_func: concatenation -2024-02-14 18:00:36, INFO: Layerwise_graph: False -2024-02-14 18:00:36, INFO: Skip_connection: True -2024-02-14 18:00:36, INFO: Number of layers: 1 -2024-02-14 18:00:36, INFO: Planning depth: 1 -2024-02-14 18:00:36, INFO: Planning width: 10 -2024-02-14 18:00:36, INFO: Sparse search: None -2024-02-14 18:00:39, INFO: human number: 10 -2024-02-14 18:00:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:43, INFO: Using device: cpu -2024-02-14 18:00:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:43, INFO: Similarity_func: concatenation -2024-02-14 18:00:43, INFO: Layerwise_graph: False -2024-02-14 18:00:43, INFO: Skip_connection: True -2024-02-14 18:00:43, INFO: Number of layers: 1 -2024-02-14 18:00:43, INFO: Similarity_func: concatenation -2024-02-14 18:00:43, INFO: Layerwise_graph: False -2024-02-14 18:00:43, INFO: Skip_connection: True -2024-02-14 18:00:43, INFO: Number of layers: 1 -2024-02-14 18:00:43, INFO: Planning depth: 1 -2024-02-14 18:00:43, INFO: Planning width: 10 -2024-02-14 18:00:43, INFO: Sparse search: None -2024-02-14 18:00:46, INFO: human number: 10 -2024-02-14 18:00:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:50, INFO: Using device: cpu -2024-02-14 18:00:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:50, INFO: Similarity_func: concatenation -2024-02-14 18:00:50, INFO: Layerwise_graph: False -2024-02-14 18:00:50, INFO: Skip_connection: True -2024-02-14 18:00:50, INFO: Number of layers: 1 -2024-02-14 18:00:50, INFO: Similarity_func: concatenation -2024-02-14 18:00:50, INFO: Layerwise_graph: False -2024-02-14 18:00:50, INFO: Skip_connection: True -2024-02-14 18:00:50, INFO: Number of layers: 1 -2024-02-14 18:00:50, INFO: Planning depth: 1 -2024-02-14 18:00:50, INFO: Planning width: 10 -2024-02-14 18:00:50, INFO: Sparse search: None -2024-02-14 18:00:53, INFO: human number: 10 -2024-02-14 18:00:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:00:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:00:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:00:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:00:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:00:57, INFO: Using device: cpu -2024-02-14 18:00:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:00:57, INFO: Similarity_func: concatenation -2024-02-14 18:00:57, INFO: Layerwise_graph: False -2024-02-14 18:00:57, INFO: Skip_connection: True -2024-02-14 18:00:57, INFO: Number of layers: 1 -2024-02-14 18:00:57, INFO: Similarity_func: concatenation -2024-02-14 18:00:57, INFO: Layerwise_graph: False -2024-02-14 18:00:57, INFO: Skip_connection: True -2024-02-14 18:00:57, INFO: Number of layers: 1 -2024-02-14 18:00:57, INFO: Planning depth: 1 -2024-02-14 18:00:57, INFO: Planning width: 10 -2024-02-14 18:00:57, INFO: Sparse search: None -2024-02-14 18:01:00, INFO: human number: 10 -2024-02-14 18:01:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:04, INFO: Using device: cpu -2024-02-14 18:01:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:04, INFO: Similarity_func: concatenation -2024-02-14 18:01:04, INFO: Layerwise_graph: False -2024-02-14 18:01:04, INFO: Skip_connection: True -2024-02-14 18:01:04, INFO: Number of layers: 1 -2024-02-14 18:01:04, INFO: Similarity_func: concatenation -2024-02-14 18:01:04, INFO: Layerwise_graph: False -2024-02-14 18:01:04, INFO: Skip_connection: True -2024-02-14 18:01:04, INFO: Number of layers: 1 -2024-02-14 18:01:04, INFO: Planning depth: 1 -2024-02-14 18:01:04, INFO: Planning width: 10 -2024-02-14 18:01:04, INFO: Sparse search: None -2024-02-14 18:01:07, INFO: human number: 10 -2024-02-14 18:01:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:11, INFO: Using device: cpu -2024-02-14 18:01:11, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:11, INFO: Similarity_func: concatenation -2024-02-14 18:01:11, INFO: Layerwise_graph: False -2024-02-14 18:01:11, INFO: Skip_connection: True -2024-02-14 18:01:11, INFO: Number of layers: 1 -2024-02-14 18:01:11, INFO: Similarity_func: concatenation -2024-02-14 18:01:11, INFO: Layerwise_graph: False -2024-02-14 18:01:11, INFO: Skip_connection: True -2024-02-14 18:01:11, INFO: Number of layers: 1 -2024-02-14 18:01:11, INFO: Planning depth: 1 -2024-02-14 18:01:11, INFO: Planning width: 10 -2024-02-14 18:01:11, INFO: Sparse search: None -2024-02-14 18:01:14, INFO: human number: 10 -2024-02-14 18:01:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:18, INFO: Using device: cpu -2024-02-14 18:01:18, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:18, INFO: Similarity_func: concatenation -2024-02-14 18:01:18, INFO: Layerwise_graph: False -2024-02-14 18:01:18, INFO: Skip_connection: True -2024-02-14 18:01:18, INFO: Number of layers: 1 -2024-02-14 18:01:18, INFO: Similarity_func: concatenation -2024-02-14 18:01:18, INFO: Layerwise_graph: False -2024-02-14 18:01:18, INFO: Skip_connection: True -2024-02-14 18:01:18, INFO: Number of layers: 1 -2024-02-14 18:01:18, INFO: Planning depth: 1 -2024-02-14 18:01:18, INFO: Planning width: 10 -2024-02-14 18:01:18, INFO: Sparse search: None -2024-02-14 18:01:21, INFO: human number: 10 -2024-02-14 18:01:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:25, INFO: Using device: cpu -2024-02-14 18:01:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:25, INFO: Similarity_func: concatenation -2024-02-14 18:01:25, INFO: Layerwise_graph: False -2024-02-14 18:01:25, INFO: Skip_connection: True -2024-02-14 18:01:25, INFO: Number of layers: 1 -2024-02-14 18:01:25, INFO: Similarity_func: concatenation -2024-02-14 18:01:25, INFO: Layerwise_graph: False -2024-02-14 18:01:25, INFO: Skip_connection: True -2024-02-14 18:01:25, INFO: Number of layers: 1 -2024-02-14 18:01:25, INFO: Planning depth: 1 -2024-02-14 18:01:25, INFO: Planning width: 10 -2024-02-14 18:01:25, INFO: Sparse search: None -2024-02-14 18:01:28, INFO: human number: 10 -2024-02-14 18:01:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:32, INFO: Using device: cpu -2024-02-14 18:01:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:32, INFO: Similarity_func: concatenation -2024-02-14 18:01:32, INFO: Layerwise_graph: False -2024-02-14 18:01:32, INFO: Skip_connection: True -2024-02-14 18:01:32, INFO: Number of layers: 1 -2024-02-14 18:01:32, INFO: Similarity_func: concatenation -2024-02-14 18:01:32, INFO: Layerwise_graph: False -2024-02-14 18:01:32, INFO: Skip_connection: True -2024-02-14 18:01:32, INFO: Number of layers: 1 -2024-02-14 18:01:32, INFO: Planning depth: 1 -2024-02-14 18:01:32, INFO: Planning width: 10 -2024-02-14 18:01:32, INFO: Sparse search: None -2024-02-14 18:01:35, INFO: human number: 10 -2024-02-14 18:01:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:40, INFO: Using device: cpu -2024-02-14 18:01:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:40, INFO: Similarity_func: concatenation -2024-02-14 18:01:40, INFO: Layerwise_graph: False -2024-02-14 18:01:40, INFO: Skip_connection: True -2024-02-14 18:01:40, INFO: Number of layers: 1 -2024-02-14 18:01:40, INFO: Similarity_func: concatenation -2024-02-14 18:01:40, INFO: Layerwise_graph: False -2024-02-14 18:01:40, INFO: Skip_connection: True -2024-02-14 18:01:40, INFO: Number of layers: 1 -2024-02-14 18:01:40, INFO: Planning depth: 1 -2024-02-14 18:01:40, INFO: Planning width: 10 -2024-02-14 18:01:40, INFO: Sparse search: None -2024-02-14 18:01:42, INFO: human number: 10 -2024-02-14 18:01:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:47, INFO: Using device: cpu -2024-02-14 18:01:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:47, INFO: Similarity_func: concatenation -2024-02-14 18:01:47, INFO: Layerwise_graph: False -2024-02-14 18:01:47, INFO: Skip_connection: True -2024-02-14 18:01:47, INFO: Number of layers: 1 -2024-02-14 18:01:47, INFO: Similarity_func: concatenation -2024-02-14 18:01:47, INFO: Layerwise_graph: False -2024-02-14 18:01:47, INFO: Skip_connection: True -2024-02-14 18:01:47, INFO: Number of layers: 1 -2024-02-14 18:01:47, INFO: Planning depth: 1 -2024-02-14 18:01:47, INFO: Planning width: 10 -2024-02-14 18:01:47, INFO: Sparse search: None -2024-02-14 18:01:49, INFO: human number: 10 -2024-02-14 18:01:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:01:53, INFO: Using device: cpu -2024-02-14 18:01:53, INFO: Loaded RL weights with best VAL -2024-02-14 18:01:53, INFO: Similarity_func: concatenation -2024-02-14 18:01:53, INFO: Layerwise_graph: False -2024-02-14 18:01:53, INFO: Skip_connection: True -2024-02-14 18:01:53, INFO: Number of layers: 1 -2024-02-14 18:01:53, INFO: Similarity_func: concatenation -2024-02-14 18:01:53, INFO: Layerwise_graph: False -2024-02-14 18:01:53, INFO: Skip_connection: True -2024-02-14 18:01:53, INFO: Number of layers: 1 -2024-02-14 18:01:53, INFO: Planning depth: 1 -2024-02-14 18:01:53, INFO: Planning width: 10 -2024-02-14 18:01:53, INFO: Sparse search: None -2024-02-14 18:01:56, INFO: human number: 10 -2024-02-14 18:01:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:01:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:01:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:01:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:01:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:00, INFO: Using device: cpu -2024-02-14 18:02:00, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:00, INFO: Similarity_func: concatenation -2024-02-14 18:02:00, INFO: Layerwise_graph: False -2024-02-14 18:02:00, INFO: Skip_connection: True -2024-02-14 18:02:00, INFO: Number of layers: 1 -2024-02-14 18:02:00, INFO: Similarity_func: concatenation -2024-02-14 18:02:00, INFO: Layerwise_graph: False -2024-02-14 18:02:00, INFO: Skip_connection: True -2024-02-14 18:02:00, INFO: Number of layers: 1 -2024-02-14 18:02:00, INFO: Planning depth: 1 -2024-02-14 18:02:00, INFO: Planning width: 10 -2024-02-14 18:02:00, INFO: Sparse search: None -2024-02-14 18:02:03, INFO: human number: 10 -2024-02-14 18:02:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:07, INFO: Using device: cpu -2024-02-14 18:02:07, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:07, INFO: Similarity_func: concatenation -2024-02-14 18:02:07, INFO: Layerwise_graph: False -2024-02-14 18:02:07, INFO: Skip_connection: True -2024-02-14 18:02:07, INFO: Number of layers: 1 -2024-02-14 18:02:07, INFO: Similarity_func: concatenation -2024-02-14 18:02:07, INFO: Layerwise_graph: False -2024-02-14 18:02:07, INFO: Skip_connection: True -2024-02-14 18:02:07, INFO: Number of layers: 1 -2024-02-14 18:02:07, INFO: Planning depth: 1 -2024-02-14 18:02:07, INFO: Planning width: 10 -2024-02-14 18:02:07, INFO: Sparse search: None -2024-02-14 18:02:10, INFO: human number: 10 -2024-02-14 18:02:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:10, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:14, INFO: Using device: cpu -2024-02-14 18:02:14, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:14, INFO: Similarity_func: concatenation -2024-02-14 18:02:14, INFO: Layerwise_graph: False -2024-02-14 18:02:14, INFO: Skip_connection: True -2024-02-14 18:02:14, INFO: Number of layers: 1 -2024-02-14 18:02:14, INFO: Similarity_func: concatenation -2024-02-14 18:02:14, INFO: Layerwise_graph: False -2024-02-14 18:02:14, INFO: Skip_connection: True -2024-02-14 18:02:14, INFO: Number of layers: 1 -2024-02-14 18:02:14, INFO: Planning depth: 1 -2024-02-14 18:02:14, INFO: Planning width: 10 -2024-02-14 18:02:14, INFO: Sparse search: None -2024-02-14 18:02:17, INFO: human number: 10 -2024-02-14 18:02:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:21, INFO: Using device: cpu -2024-02-14 18:02:21, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:21, INFO: Similarity_func: concatenation -2024-02-14 18:02:21, INFO: Layerwise_graph: False -2024-02-14 18:02:21, INFO: Skip_connection: True -2024-02-14 18:02:21, INFO: Number of layers: 1 -2024-02-14 18:02:21, INFO: Similarity_func: concatenation -2024-02-14 18:02:21, INFO: Layerwise_graph: False -2024-02-14 18:02:21, INFO: Skip_connection: True -2024-02-14 18:02:21, INFO: Number of layers: 1 -2024-02-14 18:02:21, INFO: Planning depth: 1 -2024-02-14 18:02:21, INFO: Planning width: 10 -2024-02-14 18:02:21, INFO: Sparse search: None -2024-02-14 18:02:24, INFO: human number: 10 -2024-02-14 18:02:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:24, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:29, INFO: Using device: cpu -2024-02-14 18:02:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:29, INFO: Similarity_func: concatenation -2024-02-14 18:02:29, INFO: Layerwise_graph: False -2024-02-14 18:02:29, INFO: Skip_connection: True -2024-02-14 18:02:29, INFO: Number of layers: 1 -2024-02-14 18:02:29, INFO: Similarity_func: concatenation -2024-02-14 18:02:29, INFO: Layerwise_graph: False -2024-02-14 18:02:29, INFO: Skip_connection: True -2024-02-14 18:02:29, INFO: Number of layers: 1 -2024-02-14 18:02:29, INFO: Planning depth: 1 -2024-02-14 18:02:29, INFO: Planning width: 10 -2024-02-14 18:02:29, INFO: Sparse search: None -2024-02-14 18:02:31, INFO: human number: 10 -2024-02-14 18:02:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:31, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:35, INFO: Using device: cpu -2024-02-14 18:02:35, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:35, INFO: Similarity_func: concatenation -2024-02-14 18:02:35, INFO: Layerwise_graph: False -2024-02-14 18:02:35, INFO: Skip_connection: True -2024-02-14 18:02:35, INFO: Number of layers: 1 -2024-02-14 18:02:35, INFO: Similarity_func: concatenation -2024-02-14 18:02:35, INFO: Layerwise_graph: False -2024-02-14 18:02:35, INFO: Skip_connection: True -2024-02-14 18:02:35, INFO: Number of layers: 1 -2024-02-14 18:02:35, INFO: Planning depth: 1 -2024-02-14 18:02:35, INFO: Planning width: 10 -2024-02-14 18:02:35, INFO: Sparse search: None -2024-02-14 18:02:38, INFO: human number: 10 -2024-02-14 18:02:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:38, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:43, INFO: Using device: cpu -2024-02-14 18:02:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:43, INFO: Similarity_func: concatenation -2024-02-14 18:02:43, INFO: Layerwise_graph: False -2024-02-14 18:02:43, INFO: Skip_connection: True -2024-02-14 18:02:43, INFO: Number of layers: 1 -2024-02-14 18:02:43, INFO: Similarity_func: concatenation -2024-02-14 18:02:43, INFO: Layerwise_graph: False -2024-02-14 18:02:43, INFO: Skip_connection: True -2024-02-14 18:02:43, INFO: Number of layers: 1 -2024-02-14 18:02:43, INFO: Planning depth: 1 -2024-02-14 18:02:43, INFO: Planning width: 10 -2024-02-14 18:02:43, INFO: Sparse search: None -2024-02-14 18:02:46, INFO: human number: 10 -2024-02-14 18:02:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:50, INFO: Using device: cpu -2024-02-14 18:02:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:50, INFO: Similarity_func: concatenation -2024-02-14 18:02:50, INFO: Layerwise_graph: False -2024-02-14 18:02:50, INFO: Skip_connection: True -2024-02-14 18:02:50, INFO: Number of layers: 1 -2024-02-14 18:02:50, INFO: Similarity_func: concatenation -2024-02-14 18:02:50, INFO: Layerwise_graph: False -2024-02-14 18:02:50, INFO: Skip_connection: True -2024-02-14 18:02:50, INFO: Number of layers: 1 -2024-02-14 18:02:50, INFO: Planning depth: 1 -2024-02-14 18:02:50, INFO: Planning width: 10 -2024-02-14 18:02:50, INFO: Sparse search: None -2024-02-14 18:02:53, INFO: human number: 10 -2024-02-14 18:02:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:02:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:02:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:02:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:02:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:02:57, INFO: Using device: cpu -2024-02-14 18:02:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:02:57, INFO: Similarity_func: concatenation -2024-02-14 18:02:57, INFO: Layerwise_graph: False -2024-02-14 18:02:57, INFO: Skip_connection: True -2024-02-14 18:02:57, INFO: Number of layers: 1 -2024-02-14 18:02:57, INFO: Similarity_func: concatenation -2024-02-14 18:02:57, INFO: Layerwise_graph: False -2024-02-14 18:02:57, INFO: Skip_connection: True -2024-02-14 18:02:57, INFO: Number of layers: 1 -2024-02-14 18:02:57, INFO: Planning depth: 1 -2024-02-14 18:02:57, INFO: Planning width: 10 -2024-02-14 18:02:57, INFO: Sparse search: None -2024-02-14 18:03:00, INFO: human number: 10 -2024-02-14 18:03:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:05, INFO: Using device: cpu -2024-02-14 18:03:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:05, INFO: Similarity_func: concatenation -2024-02-14 18:03:05, INFO: Layerwise_graph: False -2024-02-14 18:03:05, INFO: Skip_connection: True -2024-02-14 18:03:05, INFO: Number of layers: 1 -2024-02-14 18:03:05, INFO: Similarity_func: concatenation -2024-02-14 18:03:05, INFO: Layerwise_graph: False -2024-02-14 18:03:05, INFO: Skip_connection: True -2024-02-14 18:03:05, INFO: Number of layers: 1 -2024-02-14 18:03:05, INFO: Planning depth: 1 -2024-02-14 18:03:05, INFO: Planning width: 10 -2024-02-14 18:03:05, INFO: Sparse search: None -2024-02-14 18:03:08, INFO: human number: 10 -2024-02-14 18:03:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:12, INFO: Using device: cpu -2024-02-14 18:03:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:12, INFO: Similarity_func: concatenation -2024-02-14 18:03:12, INFO: Layerwise_graph: False -2024-02-14 18:03:12, INFO: Skip_connection: True -2024-02-14 18:03:12, INFO: Number of layers: 1 -2024-02-14 18:03:12, INFO: Similarity_func: concatenation -2024-02-14 18:03:12, INFO: Layerwise_graph: False -2024-02-14 18:03:12, INFO: Skip_connection: True -2024-02-14 18:03:12, INFO: Number of layers: 1 -2024-02-14 18:03:12, INFO: Planning depth: 1 -2024-02-14 18:03:12, INFO: Planning width: 10 -2024-02-14 18:03:12, INFO: Sparse search: None -2024-02-14 18:03:15, INFO: human number: 10 -2024-02-14 18:03:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:19, INFO: Using device: cpu -2024-02-14 18:03:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:19, INFO: Similarity_func: concatenation -2024-02-14 18:03:19, INFO: Layerwise_graph: False -2024-02-14 18:03:19, INFO: Skip_connection: True -2024-02-14 18:03:19, INFO: Number of layers: 1 -2024-02-14 18:03:19, INFO: Similarity_func: concatenation -2024-02-14 18:03:19, INFO: Layerwise_graph: False -2024-02-14 18:03:19, INFO: Skip_connection: True -2024-02-14 18:03:19, INFO: Number of layers: 1 -2024-02-14 18:03:19, INFO: Planning depth: 1 -2024-02-14 18:03:19, INFO: Planning width: 10 -2024-02-14 18:03:19, INFO: Sparse search: None -2024-02-14 18:03:22, INFO: human number: 10 -2024-02-14 18:03:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:25, INFO: Using device: cpu -2024-02-14 18:03:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:25, INFO: Similarity_func: concatenation -2024-02-14 18:03:25, INFO: Layerwise_graph: False -2024-02-14 18:03:25, INFO: Skip_connection: True -2024-02-14 18:03:25, INFO: Number of layers: 1 -2024-02-14 18:03:25, INFO: Similarity_func: concatenation -2024-02-14 18:03:25, INFO: Layerwise_graph: False -2024-02-14 18:03:25, INFO: Skip_connection: True -2024-02-14 18:03:25, INFO: Number of layers: 1 -2024-02-14 18:03:25, INFO: Planning depth: 1 -2024-02-14 18:03:25, INFO: Planning width: 10 -2024-02-14 18:03:25, INFO: Sparse search: None -2024-02-14 18:03:28, INFO: human number: 10 -2024-02-14 18:03:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:32, INFO: Using device: cpu -2024-02-14 18:03:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:32, INFO: Similarity_func: concatenation -2024-02-14 18:03:32, INFO: Layerwise_graph: False -2024-02-14 18:03:32, INFO: Skip_connection: True -2024-02-14 18:03:32, INFO: Number of layers: 1 -2024-02-14 18:03:32, INFO: Similarity_func: concatenation -2024-02-14 18:03:32, INFO: Layerwise_graph: False -2024-02-14 18:03:32, INFO: Skip_connection: True -2024-02-14 18:03:32, INFO: Number of layers: 1 -2024-02-14 18:03:32, INFO: Planning depth: 1 -2024-02-14 18:03:32, INFO: Planning width: 10 -2024-02-14 18:03:32, INFO: Sparse search: None -2024-02-14 18:03:35, INFO: human number: 10 -2024-02-14 18:03:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:39, INFO: Using device: cpu -2024-02-14 18:03:39, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:39, INFO: Similarity_func: concatenation -2024-02-14 18:03:39, INFO: Layerwise_graph: False -2024-02-14 18:03:39, INFO: Skip_connection: True -2024-02-14 18:03:39, INFO: Number of layers: 1 -2024-02-14 18:03:39, INFO: Similarity_func: concatenation -2024-02-14 18:03:39, INFO: Layerwise_graph: False -2024-02-14 18:03:39, INFO: Skip_connection: True -2024-02-14 18:03:39, INFO: Number of layers: 1 -2024-02-14 18:03:39, INFO: Planning depth: 1 -2024-02-14 18:03:39, INFO: Planning width: 10 -2024-02-14 18:03:39, INFO: Sparse search: None -2024-02-14 18:03:42, INFO: human number: 10 -2024-02-14 18:03:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:46, INFO: Using device: cpu -2024-02-14 18:03:46, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:46, INFO: Similarity_func: concatenation -2024-02-14 18:03:46, INFO: Layerwise_graph: False -2024-02-14 18:03:46, INFO: Skip_connection: True -2024-02-14 18:03:46, INFO: Number of layers: 1 -2024-02-14 18:03:46, INFO: Similarity_func: concatenation -2024-02-14 18:03:46, INFO: Layerwise_graph: False -2024-02-14 18:03:46, INFO: Skip_connection: True -2024-02-14 18:03:46, INFO: Number of layers: 1 -2024-02-14 18:03:46, INFO: Planning depth: 1 -2024-02-14 18:03:46, INFO: Planning width: 10 -2024-02-14 18:03:46, INFO: Sparse search: None -2024-02-14 18:03:49, INFO: human number: 10 -2024-02-14 18:03:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:03:53, INFO: Using device: cpu -2024-02-14 18:03:53, INFO: Loaded RL weights with best VAL -2024-02-14 18:03:53, INFO: Similarity_func: concatenation -2024-02-14 18:03:53, INFO: Layerwise_graph: False -2024-02-14 18:03:53, INFO: Skip_connection: True -2024-02-14 18:03:53, INFO: Number of layers: 1 -2024-02-14 18:03:53, INFO: Similarity_func: concatenation -2024-02-14 18:03:53, INFO: Layerwise_graph: False -2024-02-14 18:03:53, INFO: Skip_connection: True -2024-02-14 18:03:53, INFO: Number of layers: 1 -2024-02-14 18:03:53, INFO: Planning depth: 1 -2024-02-14 18:03:53, INFO: Planning width: 10 -2024-02-14 18:03:53, INFO: Sparse search: None -2024-02-14 18:03:56, INFO: human number: 10 -2024-02-14 18:03:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:03:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:03:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:03:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:03:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:01, INFO: Using device: cpu -2024-02-14 18:04:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:01, INFO: Similarity_func: concatenation -2024-02-14 18:04:01, INFO: Layerwise_graph: False -2024-02-14 18:04:01, INFO: Skip_connection: True -2024-02-14 18:04:01, INFO: Number of layers: 1 -2024-02-14 18:04:01, INFO: Similarity_func: concatenation -2024-02-14 18:04:01, INFO: Layerwise_graph: False -2024-02-14 18:04:01, INFO: Skip_connection: True -2024-02-14 18:04:01, INFO: Number of layers: 1 -2024-02-14 18:04:01, INFO: Planning depth: 1 -2024-02-14 18:04:01, INFO: Planning width: 10 -2024-02-14 18:04:01, INFO: Sparse search: None -2024-02-14 18:04:03, INFO: human number: 10 -2024-02-14 18:04:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:08, INFO: Using device: cpu -2024-02-14 18:04:08, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:08, INFO: Similarity_func: concatenation -2024-02-14 18:04:08, INFO: Layerwise_graph: False -2024-02-14 18:04:08, INFO: Skip_connection: True -2024-02-14 18:04:08, INFO: Number of layers: 1 -2024-02-14 18:04:08, INFO: Similarity_func: concatenation -2024-02-14 18:04:08, INFO: Layerwise_graph: False -2024-02-14 18:04:08, INFO: Skip_connection: True -2024-02-14 18:04:08, INFO: Number of layers: 1 -2024-02-14 18:04:08, INFO: Planning depth: 1 -2024-02-14 18:04:08, INFO: Planning width: 10 -2024-02-14 18:04:08, INFO: Sparse search: None -2024-02-14 18:04:11, INFO: human number: 10 -2024-02-14 18:04:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:15, INFO: Using device: cpu -2024-02-14 18:04:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:15, INFO: Similarity_func: concatenation -2024-02-14 18:04:15, INFO: Layerwise_graph: False -2024-02-14 18:04:15, INFO: Skip_connection: True -2024-02-14 18:04:15, INFO: Number of layers: 1 -2024-02-14 18:04:15, INFO: Similarity_func: concatenation -2024-02-14 18:04:15, INFO: Layerwise_graph: False -2024-02-14 18:04:15, INFO: Skip_connection: True -2024-02-14 18:04:15, INFO: Number of layers: 1 -2024-02-14 18:04:15, INFO: Planning depth: 1 -2024-02-14 18:04:15, INFO: Planning width: 10 -2024-02-14 18:04:15, INFO: Sparse search: None -2024-02-14 18:04:18, INFO: human number: 10 -2024-02-14 18:04:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:22, INFO: Using device: cpu -2024-02-14 18:04:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:22, INFO: Similarity_func: concatenation -2024-02-14 18:04:22, INFO: Layerwise_graph: False -2024-02-14 18:04:22, INFO: Skip_connection: True -2024-02-14 18:04:22, INFO: Number of layers: 1 -2024-02-14 18:04:22, INFO: Similarity_func: concatenation -2024-02-14 18:04:22, INFO: Layerwise_graph: False -2024-02-14 18:04:22, INFO: Skip_connection: True -2024-02-14 18:04:22, INFO: Number of layers: 1 -2024-02-14 18:04:22, INFO: Planning depth: 1 -2024-02-14 18:04:22, INFO: Planning width: 10 -2024-02-14 18:04:22, INFO: Sparse search: None -2024-02-14 18:04:25, INFO: human number: 10 -2024-02-14 18:04:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:30, INFO: Using device: cpu -2024-02-14 18:04:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:30, INFO: Similarity_func: concatenation -2024-02-14 18:04:30, INFO: Layerwise_graph: False -2024-02-14 18:04:30, INFO: Skip_connection: True -2024-02-14 18:04:30, INFO: Number of layers: 1 -2024-02-14 18:04:30, INFO: Similarity_func: concatenation -2024-02-14 18:04:30, INFO: Layerwise_graph: False -2024-02-14 18:04:30, INFO: Skip_connection: True -2024-02-14 18:04:30, INFO: Number of layers: 1 -2024-02-14 18:04:30, INFO: Planning depth: 1 -2024-02-14 18:04:30, INFO: Planning width: 10 -2024-02-14 18:04:30, INFO: Sparse search: None -2024-02-14 18:04:32, INFO: human number: 10 -2024-02-14 18:04:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:37, INFO: Using device: cpu -2024-02-14 18:04:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:37, INFO: Similarity_func: concatenation -2024-02-14 18:04:37, INFO: Layerwise_graph: False -2024-02-14 18:04:37, INFO: Skip_connection: True -2024-02-14 18:04:37, INFO: Number of layers: 1 -2024-02-14 18:04:37, INFO: Similarity_func: concatenation -2024-02-14 18:04:37, INFO: Layerwise_graph: False -2024-02-14 18:04:37, INFO: Skip_connection: True -2024-02-14 18:04:37, INFO: Number of layers: 1 -2024-02-14 18:04:37, INFO: Planning depth: 1 -2024-02-14 18:04:37, INFO: Planning width: 10 -2024-02-14 18:04:37, INFO: Sparse search: None -2024-02-14 18:04:39, INFO: human number: 10 -2024-02-14 18:04:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:44, INFO: Using device: cpu -2024-02-14 18:04:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:44, INFO: Similarity_func: concatenation -2024-02-14 18:04:44, INFO: Layerwise_graph: False -2024-02-14 18:04:44, INFO: Skip_connection: True -2024-02-14 18:04:44, INFO: Number of layers: 1 -2024-02-14 18:04:44, INFO: Similarity_func: concatenation -2024-02-14 18:04:44, INFO: Layerwise_graph: False -2024-02-14 18:04:44, INFO: Skip_connection: True -2024-02-14 18:04:44, INFO: Number of layers: 1 -2024-02-14 18:04:44, INFO: Planning depth: 1 -2024-02-14 18:04:44, INFO: Planning width: 10 -2024-02-14 18:04:44, INFO: Sparse search: None -2024-02-14 18:04:46, INFO: human number: 10 -2024-02-14 18:04:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:50, INFO: Using device: cpu -2024-02-14 18:04:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:50, INFO: Similarity_func: concatenation -2024-02-14 18:04:50, INFO: Layerwise_graph: False -2024-02-14 18:04:50, INFO: Skip_connection: True -2024-02-14 18:04:50, INFO: Number of layers: 1 -2024-02-14 18:04:50, INFO: Similarity_func: concatenation -2024-02-14 18:04:50, INFO: Layerwise_graph: False -2024-02-14 18:04:50, INFO: Skip_connection: True -2024-02-14 18:04:50, INFO: Number of layers: 1 -2024-02-14 18:04:50, INFO: Planning depth: 1 -2024-02-14 18:04:50, INFO: Planning width: 10 -2024-02-14 18:04:50, INFO: Sparse search: None -2024-02-14 18:04:53, INFO: human number: 10 -2024-02-14 18:04:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:04:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:04:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:04:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:04:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:04:57, INFO: Using device: cpu -2024-02-14 18:04:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:04:57, INFO: Similarity_func: concatenation -2024-02-14 18:04:57, INFO: Layerwise_graph: False -2024-02-14 18:04:57, INFO: Skip_connection: True -2024-02-14 18:04:57, INFO: Number of layers: 1 -2024-02-14 18:04:57, INFO: Similarity_func: concatenation -2024-02-14 18:04:57, INFO: Layerwise_graph: False -2024-02-14 18:04:57, INFO: Skip_connection: True -2024-02-14 18:04:57, INFO: Number of layers: 1 -2024-02-14 18:04:57, INFO: Planning depth: 1 -2024-02-14 18:04:57, INFO: Planning width: 10 -2024-02-14 18:04:57, INFO: Sparse search: None -2024-02-14 18:05:00, INFO: human number: 10 -2024-02-14 18:05:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:04, INFO: Using device: cpu -2024-02-14 18:05:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:04, INFO: Similarity_func: concatenation -2024-02-14 18:05:04, INFO: Layerwise_graph: False -2024-02-14 18:05:04, INFO: Skip_connection: True -2024-02-14 18:05:04, INFO: Number of layers: 1 -2024-02-14 18:05:04, INFO: Similarity_func: concatenation -2024-02-14 18:05:04, INFO: Layerwise_graph: False -2024-02-14 18:05:04, INFO: Skip_connection: True -2024-02-14 18:05:04, INFO: Number of layers: 1 -2024-02-14 18:05:04, INFO: Planning depth: 1 -2024-02-14 18:05:04, INFO: Planning width: 10 -2024-02-14 18:05:04, INFO: Sparse search: None -2024-02-14 18:05:07, INFO: human number: 10 -2024-02-14 18:05:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:12, INFO: Using device: cpu -2024-02-14 18:05:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:12, INFO: Similarity_func: concatenation -2024-02-14 18:05:12, INFO: Layerwise_graph: False -2024-02-14 18:05:12, INFO: Skip_connection: True -2024-02-14 18:05:12, INFO: Number of layers: 1 -2024-02-14 18:05:12, INFO: Similarity_func: concatenation -2024-02-14 18:05:12, INFO: Layerwise_graph: False -2024-02-14 18:05:12, INFO: Skip_connection: True -2024-02-14 18:05:12, INFO: Number of layers: 1 -2024-02-14 18:05:12, INFO: Planning depth: 1 -2024-02-14 18:05:12, INFO: Planning width: 10 -2024-02-14 18:05:12, INFO: Sparse search: None -2024-02-14 18:05:14, INFO: human number: 10 -2024-02-14 18:05:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:19, INFO: Using device: cpu -2024-02-14 18:05:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:19, INFO: Similarity_func: concatenation -2024-02-14 18:05:19, INFO: Layerwise_graph: False -2024-02-14 18:05:19, INFO: Skip_connection: True -2024-02-14 18:05:19, INFO: Number of layers: 1 -2024-02-14 18:05:19, INFO: Similarity_func: concatenation -2024-02-14 18:05:19, INFO: Layerwise_graph: False -2024-02-14 18:05:19, INFO: Skip_connection: True -2024-02-14 18:05:19, INFO: Number of layers: 1 -2024-02-14 18:05:19, INFO: Planning depth: 1 -2024-02-14 18:05:19, INFO: Planning width: 10 -2024-02-14 18:05:19, INFO: Sparse search: None -2024-02-14 18:05:21, INFO: human number: 10 -2024-02-14 18:05:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:25, INFO: Using device: cpu -2024-02-14 18:05:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:25, INFO: Similarity_func: concatenation -2024-02-14 18:05:25, INFO: Layerwise_graph: False -2024-02-14 18:05:25, INFO: Skip_connection: True -2024-02-14 18:05:25, INFO: Number of layers: 1 -2024-02-14 18:05:25, INFO: Similarity_func: concatenation -2024-02-14 18:05:25, INFO: Layerwise_graph: False -2024-02-14 18:05:25, INFO: Skip_connection: True -2024-02-14 18:05:25, INFO: Number of layers: 1 -2024-02-14 18:05:25, INFO: Planning depth: 1 -2024-02-14 18:05:25, INFO: Planning width: 10 -2024-02-14 18:05:25, INFO: Sparse search: None -2024-02-14 18:05:28, INFO: human number: 10 -2024-02-14 18:05:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:33, INFO: Using device: cpu -2024-02-14 18:05:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:33, INFO: Similarity_func: concatenation -2024-02-14 18:05:33, INFO: Layerwise_graph: False -2024-02-14 18:05:33, INFO: Skip_connection: True -2024-02-14 18:05:33, INFO: Number of layers: 1 -2024-02-14 18:05:33, INFO: Similarity_func: concatenation -2024-02-14 18:05:33, INFO: Layerwise_graph: False -2024-02-14 18:05:33, INFO: Skip_connection: True -2024-02-14 18:05:33, INFO: Number of layers: 1 -2024-02-14 18:05:33, INFO: Planning depth: 1 -2024-02-14 18:05:33, INFO: Planning width: 10 -2024-02-14 18:05:33, INFO: Sparse search: None -2024-02-14 18:05:35, INFO: human number: 10 -2024-02-14 18:05:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:40, INFO: Using device: cpu -2024-02-14 18:05:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:40, INFO: Similarity_func: concatenation -2024-02-14 18:05:40, INFO: Layerwise_graph: False -2024-02-14 18:05:40, INFO: Skip_connection: True -2024-02-14 18:05:40, INFO: Number of layers: 1 -2024-02-14 18:05:40, INFO: Similarity_func: concatenation -2024-02-14 18:05:40, INFO: Layerwise_graph: False -2024-02-14 18:05:40, INFO: Skip_connection: True -2024-02-14 18:05:40, INFO: Number of layers: 1 -2024-02-14 18:05:40, INFO: Planning depth: 1 -2024-02-14 18:05:40, INFO: Planning width: 10 -2024-02-14 18:05:40, INFO: Sparse search: None -2024-02-14 18:05:42, INFO: human number: 10 -2024-02-14 18:05:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:47, INFO: Using device: cpu -2024-02-14 18:05:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:47, INFO: Similarity_func: concatenation -2024-02-14 18:05:47, INFO: Layerwise_graph: False -2024-02-14 18:05:47, INFO: Skip_connection: True -2024-02-14 18:05:47, INFO: Number of layers: 1 -2024-02-14 18:05:47, INFO: Similarity_func: concatenation -2024-02-14 18:05:47, INFO: Layerwise_graph: False -2024-02-14 18:05:47, INFO: Skip_connection: True -2024-02-14 18:05:47, INFO: Number of layers: 1 -2024-02-14 18:05:47, INFO: Planning depth: 1 -2024-02-14 18:05:47, INFO: Planning width: 10 -2024-02-14 18:05:47, INFO: Sparse search: None -2024-02-14 18:05:49, INFO: human number: 10 -2024-02-14 18:05:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:05:54, INFO: Using device: cpu -2024-02-14 18:05:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:05:54, INFO: Similarity_func: concatenation -2024-02-14 18:05:54, INFO: Layerwise_graph: False -2024-02-14 18:05:54, INFO: Skip_connection: True -2024-02-14 18:05:54, INFO: Number of layers: 1 -2024-02-14 18:05:54, INFO: Similarity_func: concatenation -2024-02-14 18:05:54, INFO: Layerwise_graph: False -2024-02-14 18:05:54, INFO: Skip_connection: True -2024-02-14 18:05:54, INFO: Number of layers: 1 -2024-02-14 18:05:54, INFO: Planning depth: 1 -2024-02-14 18:05:54, INFO: Planning width: 10 -2024-02-14 18:05:54, INFO: Sparse search: None -2024-02-14 18:05:57, INFO: human number: 10 -2024-02-14 18:05:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:05:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:05:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:05:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:05:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:01, INFO: Using device: cpu -2024-02-14 18:06:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:01, INFO: Similarity_func: concatenation -2024-02-14 18:06:01, INFO: Layerwise_graph: False -2024-02-14 18:06:01, INFO: Skip_connection: True -2024-02-14 18:06:01, INFO: Number of layers: 1 -2024-02-14 18:06:01, INFO: Similarity_func: concatenation -2024-02-14 18:06:01, INFO: Layerwise_graph: False -2024-02-14 18:06:01, INFO: Skip_connection: True -2024-02-14 18:06:01, INFO: Number of layers: 1 -2024-02-14 18:06:01, INFO: Planning depth: 1 -2024-02-14 18:06:01, INFO: Planning width: 10 -2024-02-14 18:06:01, INFO: Sparse search: None -2024-02-14 18:06:04, INFO: human number: 10 -2024-02-14 18:06:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:08, INFO: Using device: cpu -2024-02-14 18:06:08, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:08, INFO: Similarity_func: concatenation -2024-02-14 18:06:08, INFO: Layerwise_graph: False -2024-02-14 18:06:08, INFO: Skip_connection: True -2024-02-14 18:06:08, INFO: Number of layers: 1 -2024-02-14 18:06:08, INFO: Similarity_func: concatenation -2024-02-14 18:06:08, INFO: Layerwise_graph: False -2024-02-14 18:06:08, INFO: Skip_connection: True -2024-02-14 18:06:08, INFO: Number of layers: 1 -2024-02-14 18:06:08, INFO: Planning depth: 1 -2024-02-14 18:06:08, INFO: Planning width: 10 -2024-02-14 18:06:08, INFO: Sparse search: None -2024-02-14 18:06:11, INFO: human number: 10 -2024-02-14 18:06:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:16, INFO: Using device: cpu -2024-02-14 18:06:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:16, INFO: Similarity_func: concatenation -2024-02-14 18:06:16, INFO: Layerwise_graph: False -2024-02-14 18:06:16, INFO: Skip_connection: True -2024-02-14 18:06:16, INFO: Number of layers: 1 -2024-02-14 18:06:16, INFO: Similarity_func: concatenation -2024-02-14 18:06:16, INFO: Layerwise_graph: False -2024-02-14 18:06:16, INFO: Skip_connection: True -2024-02-14 18:06:16, INFO: Number of layers: 1 -2024-02-14 18:06:16, INFO: Planning depth: 1 -2024-02-14 18:06:16, INFO: Planning width: 10 -2024-02-14 18:06:16, INFO: Sparse search: None -2024-02-14 18:06:18, INFO: human number: 10 -2024-02-14 18:06:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:22, INFO: Using device: cpu -2024-02-14 18:06:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:22, INFO: Similarity_func: concatenation -2024-02-14 18:06:22, INFO: Layerwise_graph: False -2024-02-14 18:06:22, INFO: Skip_connection: True -2024-02-14 18:06:22, INFO: Number of layers: 1 -2024-02-14 18:06:22, INFO: Similarity_func: concatenation -2024-02-14 18:06:22, INFO: Layerwise_graph: False -2024-02-14 18:06:22, INFO: Skip_connection: True -2024-02-14 18:06:22, INFO: Number of layers: 1 -2024-02-14 18:06:22, INFO: Planning depth: 1 -2024-02-14 18:06:22, INFO: Planning width: 10 -2024-02-14 18:06:22, INFO: Sparse search: None -2024-02-14 18:06:25, INFO: human number: 10 -2024-02-14 18:06:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:29, INFO: Using device: cpu -2024-02-14 18:06:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:29, INFO: Similarity_func: concatenation -2024-02-14 18:06:29, INFO: Layerwise_graph: False -2024-02-14 18:06:29, INFO: Skip_connection: True -2024-02-14 18:06:29, INFO: Number of layers: 1 -2024-02-14 18:06:29, INFO: Similarity_func: concatenation -2024-02-14 18:06:29, INFO: Layerwise_graph: False -2024-02-14 18:06:29, INFO: Skip_connection: True -2024-02-14 18:06:29, INFO: Number of layers: 1 -2024-02-14 18:06:29, INFO: Planning depth: 1 -2024-02-14 18:06:29, INFO: Planning width: 10 -2024-02-14 18:06:29, INFO: Sparse search: None -2024-02-14 18:06:32, INFO: human number: 10 -2024-02-14 18:06:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:36, INFO: Using device: cpu -2024-02-14 18:06:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:36, INFO: Similarity_func: concatenation -2024-02-14 18:06:36, INFO: Layerwise_graph: False -2024-02-14 18:06:36, INFO: Skip_connection: True -2024-02-14 18:06:36, INFO: Number of layers: 1 -2024-02-14 18:06:36, INFO: Similarity_func: concatenation -2024-02-14 18:06:36, INFO: Layerwise_graph: False -2024-02-14 18:06:36, INFO: Skip_connection: True -2024-02-14 18:06:36, INFO: Number of layers: 1 -2024-02-14 18:06:36, INFO: Planning depth: 1 -2024-02-14 18:06:36, INFO: Planning width: 10 -2024-02-14 18:06:36, INFO: Sparse search: None -2024-02-14 18:06:39, INFO: human number: 10 -2024-02-14 18:06:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:43, INFO: Using device: cpu -2024-02-14 18:06:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:43, INFO: Similarity_func: concatenation -2024-02-14 18:06:43, INFO: Layerwise_graph: False -2024-02-14 18:06:43, INFO: Skip_connection: True -2024-02-14 18:06:43, INFO: Number of layers: 1 -2024-02-14 18:06:43, INFO: Similarity_func: concatenation -2024-02-14 18:06:43, INFO: Layerwise_graph: False -2024-02-14 18:06:43, INFO: Skip_connection: True -2024-02-14 18:06:43, INFO: Number of layers: 1 -2024-02-14 18:06:43, INFO: Planning depth: 1 -2024-02-14 18:06:43, INFO: Planning width: 10 -2024-02-14 18:06:43, INFO: Sparse search: None -2024-02-14 18:06:46, INFO: human number: 10 -2024-02-14 18:06:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:50, INFO: Using device: cpu -2024-02-14 18:06:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:50, INFO: Similarity_func: concatenation -2024-02-14 18:06:50, INFO: Layerwise_graph: False -2024-02-14 18:06:50, INFO: Skip_connection: True -2024-02-14 18:06:50, INFO: Number of layers: 1 -2024-02-14 18:06:50, INFO: Similarity_func: concatenation -2024-02-14 18:06:50, INFO: Layerwise_graph: False -2024-02-14 18:06:50, INFO: Skip_connection: True -2024-02-14 18:06:50, INFO: Number of layers: 1 -2024-02-14 18:06:50, INFO: Planning depth: 1 -2024-02-14 18:06:50, INFO: Planning width: 10 -2024-02-14 18:06:50, INFO: Sparse search: None -2024-02-14 18:06:53, INFO: human number: 10 -2024-02-14 18:06:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:06:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:06:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:06:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:06:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:06:57, INFO: Using device: cpu -2024-02-14 18:06:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:06:57, INFO: Similarity_func: concatenation -2024-02-14 18:06:57, INFO: Layerwise_graph: False -2024-02-14 18:06:57, INFO: Skip_connection: True -2024-02-14 18:06:57, INFO: Number of layers: 1 -2024-02-14 18:06:57, INFO: Similarity_func: concatenation -2024-02-14 18:06:57, INFO: Layerwise_graph: False -2024-02-14 18:06:57, INFO: Skip_connection: True -2024-02-14 18:06:57, INFO: Number of layers: 1 -2024-02-14 18:06:57, INFO: Planning depth: 1 -2024-02-14 18:06:57, INFO: Planning width: 10 -2024-02-14 18:06:57, INFO: Sparse search: None -2024-02-14 18:07:00, INFO: human number: 10 -2024-02-14 18:07:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:04, INFO: Using device: cpu -2024-02-14 18:07:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:04, INFO: Similarity_func: concatenation -2024-02-14 18:07:04, INFO: Layerwise_graph: False -2024-02-14 18:07:04, INFO: Skip_connection: True -2024-02-14 18:07:04, INFO: Number of layers: 1 -2024-02-14 18:07:04, INFO: Similarity_func: concatenation -2024-02-14 18:07:04, INFO: Layerwise_graph: False -2024-02-14 18:07:04, INFO: Skip_connection: True -2024-02-14 18:07:04, INFO: Number of layers: 1 -2024-02-14 18:07:04, INFO: Planning depth: 1 -2024-02-14 18:07:04, INFO: Planning width: 10 -2024-02-14 18:07:04, INFO: Sparse search: None -2024-02-14 18:07:07, INFO: human number: 10 -2024-02-14 18:07:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:11, INFO: Using device: cpu -2024-02-14 18:07:11, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:11, INFO: Similarity_func: concatenation -2024-02-14 18:07:11, INFO: Layerwise_graph: False -2024-02-14 18:07:11, INFO: Skip_connection: True -2024-02-14 18:07:11, INFO: Number of layers: 1 -2024-02-14 18:07:11, INFO: Similarity_func: concatenation -2024-02-14 18:07:11, INFO: Layerwise_graph: False -2024-02-14 18:07:11, INFO: Skip_connection: True -2024-02-14 18:07:11, INFO: Number of layers: 1 -2024-02-14 18:07:11, INFO: Planning depth: 1 -2024-02-14 18:07:11, INFO: Planning width: 10 -2024-02-14 18:07:11, INFO: Sparse search: None -2024-02-14 18:07:14, INFO: human number: 10 -2024-02-14 18:07:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:18, INFO: Using device: cpu -2024-02-14 18:07:18, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:18, INFO: Similarity_func: concatenation -2024-02-14 18:07:18, INFO: Layerwise_graph: False -2024-02-14 18:07:18, INFO: Skip_connection: True -2024-02-14 18:07:18, INFO: Number of layers: 1 -2024-02-14 18:07:18, INFO: Similarity_func: concatenation -2024-02-14 18:07:18, INFO: Layerwise_graph: False -2024-02-14 18:07:18, INFO: Skip_connection: True -2024-02-14 18:07:18, INFO: Number of layers: 1 -2024-02-14 18:07:18, INFO: Planning depth: 1 -2024-02-14 18:07:18, INFO: Planning width: 10 -2024-02-14 18:07:18, INFO: Sparse search: None -2024-02-14 18:07:21, INFO: human number: 10 -2024-02-14 18:07:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:26, INFO: Using device: cpu -2024-02-14 18:07:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:26, INFO: Similarity_func: concatenation -2024-02-14 18:07:26, INFO: Layerwise_graph: False -2024-02-14 18:07:26, INFO: Skip_connection: True -2024-02-14 18:07:26, INFO: Number of layers: 1 -2024-02-14 18:07:26, INFO: Similarity_func: concatenation -2024-02-14 18:07:26, INFO: Layerwise_graph: False -2024-02-14 18:07:26, INFO: Skip_connection: True -2024-02-14 18:07:26, INFO: Number of layers: 1 -2024-02-14 18:07:26, INFO: Planning depth: 1 -2024-02-14 18:07:26, INFO: Planning width: 10 -2024-02-14 18:07:26, INFO: Sparse search: None -2024-02-14 18:07:29, INFO: human number: 10 -2024-02-14 18:07:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:33, INFO: Using device: cpu -2024-02-14 18:07:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:33, INFO: Similarity_func: concatenation -2024-02-14 18:07:33, INFO: Layerwise_graph: False -2024-02-14 18:07:33, INFO: Skip_connection: True -2024-02-14 18:07:33, INFO: Number of layers: 1 -2024-02-14 18:07:33, INFO: Similarity_func: concatenation -2024-02-14 18:07:33, INFO: Layerwise_graph: False -2024-02-14 18:07:33, INFO: Skip_connection: True -2024-02-14 18:07:33, INFO: Number of layers: 1 -2024-02-14 18:07:33, INFO: Planning depth: 1 -2024-02-14 18:07:33, INFO: Planning width: 10 -2024-02-14 18:07:33, INFO: Sparse search: None -2024-02-14 18:07:36, INFO: human number: 10 -2024-02-14 18:07:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:40, INFO: Using device: cpu -2024-02-14 18:07:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:40, INFO: Similarity_func: concatenation -2024-02-14 18:07:40, INFO: Layerwise_graph: False -2024-02-14 18:07:40, INFO: Skip_connection: True -2024-02-14 18:07:40, INFO: Number of layers: 1 -2024-02-14 18:07:40, INFO: Similarity_func: concatenation -2024-02-14 18:07:40, INFO: Layerwise_graph: False -2024-02-14 18:07:40, INFO: Skip_connection: True -2024-02-14 18:07:40, INFO: Number of layers: 1 -2024-02-14 18:07:40, INFO: Planning depth: 1 -2024-02-14 18:07:40, INFO: Planning width: 10 -2024-02-14 18:07:40, INFO: Sparse search: None -2024-02-14 18:07:43, INFO: human number: 10 -2024-02-14 18:07:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:47, INFO: Using device: cpu -2024-02-14 18:07:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:47, INFO: Similarity_func: concatenation -2024-02-14 18:07:47, INFO: Layerwise_graph: False -2024-02-14 18:07:47, INFO: Skip_connection: True -2024-02-14 18:07:47, INFO: Number of layers: 1 -2024-02-14 18:07:47, INFO: Similarity_func: concatenation -2024-02-14 18:07:47, INFO: Layerwise_graph: False -2024-02-14 18:07:47, INFO: Skip_connection: True -2024-02-14 18:07:47, INFO: Number of layers: 1 -2024-02-14 18:07:47, INFO: Planning depth: 1 -2024-02-14 18:07:47, INFO: Planning width: 10 -2024-02-14 18:07:47, INFO: Sparse search: None -2024-02-14 18:07:50, INFO: human number: 10 -2024-02-14 18:07:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:07:54, INFO: Using device: cpu -2024-02-14 18:07:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:07:54, INFO: Similarity_func: concatenation -2024-02-14 18:07:54, INFO: Layerwise_graph: False -2024-02-14 18:07:54, INFO: Skip_connection: True -2024-02-14 18:07:54, INFO: Number of layers: 1 -2024-02-14 18:07:54, INFO: Similarity_func: concatenation -2024-02-14 18:07:54, INFO: Layerwise_graph: False -2024-02-14 18:07:54, INFO: Skip_connection: True -2024-02-14 18:07:54, INFO: Number of layers: 1 -2024-02-14 18:07:54, INFO: Planning depth: 1 -2024-02-14 18:07:54, INFO: Planning width: 10 -2024-02-14 18:07:54, INFO: Sparse search: None -2024-02-14 18:07:57, INFO: human number: 10 -2024-02-14 18:07:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:07:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:07:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:07:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:07:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:02, INFO: Using device: cpu -2024-02-14 18:08:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:02, INFO: Similarity_func: concatenation -2024-02-14 18:08:02, INFO: Layerwise_graph: False -2024-02-14 18:08:02, INFO: Skip_connection: True -2024-02-14 18:08:02, INFO: Number of layers: 1 -2024-02-14 18:08:02, INFO: Similarity_func: concatenation -2024-02-14 18:08:02, INFO: Layerwise_graph: False -2024-02-14 18:08:02, INFO: Skip_connection: True -2024-02-14 18:08:02, INFO: Number of layers: 1 -2024-02-14 18:08:02, INFO: Planning depth: 1 -2024-02-14 18:08:02, INFO: Planning width: 10 -2024-02-14 18:08:02, INFO: Sparse search: None -2024-02-14 18:08:04, INFO: human number: 10 -2024-02-14 18:08:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:09, INFO: Using device: cpu -2024-02-14 18:08:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:09, INFO: Similarity_func: concatenation -2024-02-14 18:08:09, INFO: Layerwise_graph: False -2024-02-14 18:08:09, INFO: Skip_connection: True -2024-02-14 18:08:09, INFO: Number of layers: 1 -2024-02-14 18:08:09, INFO: Similarity_func: concatenation -2024-02-14 18:08:09, INFO: Layerwise_graph: False -2024-02-14 18:08:09, INFO: Skip_connection: True -2024-02-14 18:08:09, INFO: Number of layers: 1 -2024-02-14 18:08:09, INFO: Planning depth: 1 -2024-02-14 18:08:09, INFO: Planning width: 10 -2024-02-14 18:08:09, INFO: Sparse search: None -2024-02-14 18:08:11, INFO: human number: 10 -2024-02-14 18:08:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:15, INFO: Using device: cpu -2024-02-14 18:08:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:15, INFO: Similarity_func: concatenation -2024-02-14 18:08:15, INFO: Layerwise_graph: False -2024-02-14 18:08:15, INFO: Skip_connection: True -2024-02-14 18:08:15, INFO: Number of layers: 1 -2024-02-14 18:08:15, INFO: Similarity_func: concatenation -2024-02-14 18:08:15, INFO: Layerwise_graph: False -2024-02-14 18:08:15, INFO: Skip_connection: True -2024-02-14 18:08:15, INFO: Number of layers: 1 -2024-02-14 18:08:15, INFO: Planning depth: 1 -2024-02-14 18:08:15, INFO: Planning width: 10 -2024-02-14 18:08:15, INFO: Sparse search: None -2024-02-14 18:08:18, INFO: human number: 10 -2024-02-14 18:08:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:22, INFO: Using device: cpu -2024-02-14 18:08:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:22, INFO: Similarity_func: concatenation -2024-02-14 18:08:22, INFO: Layerwise_graph: False -2024-02-14 18:08:22, INFO: Skip_connection: True -2024-02-14 18:08:22, INFO: Number of layers: 1 -2024-02-14 18:08:22, INFO: Similarity_func: concatenation -2024-02-14 18:08:22, INFO: Layerwise_graph: False -2024-02-14 18:08:22, INFO: Skip_connection: True -2024-02-14 18:08:22, INFO: Number of layers: 1 -2024-02-14 18:08:22, INFO: Planning depth: 1 -2024-02-14 18:08:22, INFO: Planning width: 10 -2024-02-14 18:08:22, INFO: Sparse search: None -2024-02-14 18:08:25, INFO: human number: 10 -2024-02-14 18:08:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:29, INFO: Using device: cpu -2024-02-14 18:08:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:29, INFO: Similarity_func: concatenation -2024-02-14 18:08:29, INFO: Layerwise_graph: False -2024-02-14 18:08:29, INFO: Skip_connection: True -2024-02-14 18:08:29, INFO: Number of layers: 1 -2024-02-14 18:08:29, INFO: Similarity_func: concatenation -2024-02-14 18:08:29, INFO: Layerwise_graph: False -2024-02-14 18:08:29, INFO: Skip_connection: True -2024-02-14 18:08:29, INFO: Number of layers: 1 -2024-02-14 18:08:29, INFO: Planning depth: 1 -2024-02-14 18:08:29, INFO: Planning width: 10 -2024-02-14 18:08:29, INFO: Sparse search: None -2024-02-14 18:08:32, INFO: human number: 10 -2024-02-14 18:08:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:36, INFO: Using device: cpu -2024-02-14 18:08:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:36, INFO: Similarity_func: concatenation -2024-02-14 18:08:36, INFO: Layerwise_graph: False -2024-02-14 18:08:36, INFO: Skip_connection: True -2024-02-14 18:08:36, INFO: Number of layers: 1 -2024-02-14 18:08:36, INFO: Similarity_func: concatenation -2024-02-14 18:08:36, INFO: Layerwise_graph: False -2024-02-14 18:08:36, INFO: Skip_connection: True -2024-02-14 18:08:36, INFO: Number of layers: 1 -2024-02-14 18:08:36, INFO: Planning depth: 1 -2024-02-14 18:08:36, INFO: Planning width: 10 -2024-02-14 18:08:36, INFO: Sparse search: None -2024-02-14 18:08:39, INFO: human number: 10 -2024-02-14 18:08:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:43, INFO: Using device: cpu -2024-02-14 18:08:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:43, INFO: Similarity_func: concatenation -2024-02-14 18:08:43, INFO: Layerwise_graph: False -2024-02-14 18:08:43, INFO: Skip_connection: True -2024-02-14 18:08:43, INFO: Number of layers: 1 -2024-02-14 18:08:43, INFO: Similarity_func: concatenation -2024-02-14 18:08:43, INFO: Layerwise_graph: False -2024-02-14 18:08:43, INFO: Skip_connection: True -2024-02-14 18:08:43, INFO: Number of layers: 1 -2024-02-14 18:08:43, INFO: Planning depth: 1 -2024-02-14 18:08:43, INFO: Planning width: 10 -2024-02-14 18:08:43, INFO: Sparse search: None -2024-02-14 18:08:46, INFO: human number: 10 -2024-02-14 18:08:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:50, INFO: Using device: cpu -2024-02-14 18:08:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:50, INFO: Similarity_func: concatenation -2024-02-14 18:08:50, INFO: Layerwise_graph: False -2024-02-14 18:08:50, INFO: Skip_connection: True -2024-02-14 18:08:50, INFO: Number of layers: 1 -2024-02-14 18:08:50, INFO: Similarity_func: concatenation -2024-02-14 18:08:50, INFO: Layerwise_graph: False -2024-02-14 18:08:50, INFO: Skip_connection: True -2024-02-14 18:08:50, INFO: Number of layers: 1 -2024-02-14 18:08:50, INFO: Planning depth: 1 -2024-02-14 18:08:50, INFO: Planning width: 10 -2024-02-14 18:08:50, INFO: Sparse search: None -2024-02-14 18:08:53, INFO: human number: 10 -2024-02-14 18:08:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:08:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:08:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:08:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:08:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:08:57, INFO: Using device: cpu -2024-02-14 18:08:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:08:57, INFO: Similarity_func: concatenation -2024-02-14 18:08:57, INFO: Layerwise_graph: False -2024-02-14 18:08:57, INFO: Skip_connection: True -2024-02-14 18:08:57, INFO: Number of layers: 1 -2024-02-14 18:08:57, INFO: Similarity_func: concatenation -2024-02-14 18:08:57, INFO: Layerwise_graph: False -2024-02-14 18:08:57, INFO: Skip_connection: True -2024-02-14 18:08:57, INFO: Number of layers: 1 -2024-02-14 18:08:57, INFO: Planning depth: 1 -2024-02-14 18:08:57, INFO: Planning width: 10 -2024-02-14 18:08:57, INFO: Sparse search: None -2024-02-14 18:09:00, INFO: human number: 10 -2024-02-14 18:09:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:05, INFO: Using device: cpu -2024-02-14 18:09:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:05, INFO: Similarity_func: concatenation -2024-02-14 18:09:05, INFO: Layerwise_graph: False -2024-02-14 18:09:05, INFO: Skip_connection: True -2024-02-14 18:09:05, INFO: Number of layers: 1 -2024-02-14 18:09:05, INFO: Similarity_func: concatenation -2024-02-14 18:09:05, INFO: Layerwise_graph: False -2024-02-14 18:09:05, INFO: Skip_connection: True -2024-02-14 18:09:05, INFO: Number of layers: 1 -2024-02-14 18:09:05, INFO: Planning depth: 1 -2024-02-14 18:09:05, INFO: Planning width: 10 -2024-02-14 18:09:05, INFO: Sparse search: None -2024-02-14 18:09:07, INFO: human number: 10 -2024-02-14 18:09:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:12, INFO: Using device: cpu -2024-02-14 18:09:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:12, INFO: Similarity_func: concatenation -2024-02-14 18:09:12, INFO: Layerwise_graph: False -2024-02-14 18:09:12, INFO: Skip_connection: True -2024-02-14 18:09:12, INFO: Number of layers: 1 -2024-02-14 18:09:12, INFO: Similarity_func: concatenation -2024-02-14 18:09:12, INFO: Layerwise_graph: False -2024-02-14 18:09:12, INFO: Skip_connection: True -2024-02-14 18:09:12, INFO: Number of layers: 1 -2024-02-14 18:09:12, INFO: Planning depth: 1 -2024-02-14 18:09:12, INFO: Planning width: 10 -2024-02-14 18:09:12, INFO: Sparse search: None -2024-02-14 18:09:15, INFO: human number: 10 -2024-02-14 18:09:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:19, INFO: Using device: cpu -2024-02-14 18:09:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:19, INFO: Similarity_func: concatenation -2024-02-14 18:09:19, INFO: Layerwise_graph: False -2024-02-14 18:09:19, INFO: Skip_connection: True -2024-02-14 18:09:19, INFO: Number of layers: 1 -2024-02-14 18:09:19, INFO: Similarity_func: concatenation -2024-02-14 18:09:19, INFO: Layerwise_graph: False -2024-02-14 18:09:19, INFO: Skip_connection: True -2024-02-14 18:09:19, INFO: Number of layers: 1 -2024-02-14 18:09:19, INFO: Planning depth: 1 -2024-02-14 18:09:19, INFO: Planning width: 10 -2024-02-14 18:09:19, INFO: Sparse search: None -2024-02-14 18:09:22, INFO: human number: 10 -2024-02-14 18:09:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:26, INFO: Using device: cpu -2024-02-14 18:09:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:26, INFO: Similarity_func: concatenation -2024-02-14 18:09:26, INFO: Layerwise_graph: False -2024-02-14 18:09:26, INFO: Skip_connection: True -2024-02-14 18:09:26, INFO: Number of layers: 1 -2024-02-14 18:09:26, INFO: Similarity_func: concatenation -2024-02-14 18:09:26, INFO: Layerwise_graph: False -2024-02-14 18:09:26, INFO: Skip_connection: True -2024-02-14 18:09:26, INFO: Number of layers: 1 -2024-02-14 18:09:26, INFO: Planning depth: 1 -2024-02-14 18:09:26, INFO: Planning width: 10 -2024-02-14 18:09:26, INFO: Sparse search: None -2024-02-14 18:09:29, INFO: human number: 10 -2024-02-14 18:09:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:33, INFO: Using device: cpu -2024-02-14 18:09:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:33, INFO: Similarity_func: concatenation -2024-02-14 18:09:33, INFO: Layerwise_graph: False -2024-02-14 18:09:33, INFO: Skip_connection: True -2024-02-14 18:09:33, INFO: Number of layers: 1 -2024-02-14 18:09:33, INFO: Similarity_func: concatenation -2024-02-14 18:09:33, INFO: Layerwise_graph: False -2024-02-14 18:09:33, INFO: Skip_connection: True -2024-02-14 18:09:33, INFO: Number of layers: 1 -2024-02-14 18:09:33, INFO: Planning depth: 1 -2024-02-14 18:09:33, INFO: Planning width: 10 -2024-02-14 18:09:33, INFO: Sparse search: None -2024-02-14 18:09:35, INFO: human number: 10 -2024-02-14 18:09:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:40, INFO: Using device: cpu -2024-02-14 18:09:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:40, INFO: Similarity_func: concatenation -2024-02-14 18:09:40, INFO: Layerwise_graph: False -2024-02-14 18:09:40, INFO: Skip_connection: True -2024-02-14 18:09:40, INFO: Number of layers: 1 -2024-02-14 18:09:40, INFO: Similarity_func: concatenation -2024-02-14 18:09:40, INFO: Layerwise_graph: False -2024-02-14 18:09:40, INFO: Skip_connection: True -2024-02-14 18:09:40, INFO: Number of layers: 1 -2024-02-14 18:09:40, INFO: Planning depth: 1 -2024-02-14 18:09:40, INFO: Planning width: 10 -2024-02-14 18:09:40, INFO: Sparse search: None -2024-02-14 18:09:42, INFO: human number: 10 -2024-02-14 18:09:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:47, INFO: Using device: cpu -2024-02-14 18:09:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:47, INFO: Similarity_func: concatenation -2024-02-14 18:09:47, INFO: Layerwise_graph: False -2024-02-14 18:09:47, INFO: Skip_connection: True -2024-02-14 18:09:47, INFO: Number of layers: 1 -2024-02-14 18:09:47, INFO: Similarity_func: concatenation -2024-02-14 18:09:47, INFO: Layerwise_graph: False -2024-02-14 18:09:47, INFO: Skip_connection: True -2024-02-14 18:09:47, INFO: Number of layers: 1 -2024-02-14 18:09:47, INFO: Planning depth: 1 -2024-02-14 18:09:47, INFO: Planning width: 10 -2024-02-14 18:09:47, INFO: Sparse search: None -2024-02-14 18:09:49, INFO: human number: 10 -2024-02-14 18:09:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:09:54, INFO: Using device: cpu -2024-02-14 18:09:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:09:54, INFO: Similarity_func: concatenation -2024-02-14 18:09:54, INFO: Layerwise_graph: False -2024-02-14 18:09:54, INFO: Skip_connection: True -2024-02-14 18:09:54, INFO: Number of layers: 1 -2024-02-14 18:09:54, INFO: Similarity_func: concatenation -2024-02-14 18:09:54, INFO: Layerwise_graph: False -2024-02-14 18:09:54, INFO: Skip_connection: True -2024-02-14 18:09:54, INFO: Number of layers: 1 -2024-02-14 18:09:54, INFO: Planning depth: 1 -2024-02-14 18:09:54, INFO: Planning width: 10 -2024-02-14 18:09:54, INFO: Sparse search: None -2024-02-14 18:09:57, INFO: human number: 10 -2024-02-14 18:09:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:09:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:09:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:09:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:09:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:02, INFO: Using device: cpu -2024-02-14 18:10:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:02, INFO: Similarity_func: concatenation -2024-02-14 18:10:02, INFO: Layerwise_graph: False -2024-02-14 18:10:02, INFO: Skip_connection: True -2024-02-14 18:10:02, INFO: Number of layers: 1 -2024-02-14 18:10:02, INFO: Similarity_func: concatenation -2024-02-14 18:10:02, INFO: Layerwise_graph: False -2024-02-14 18:10:02, INFO: Skip_connection: True -2024-02-14 18:10:02, INFO: Number of layers: 1 -2024-02-14 18:10:02, INFO: Planning depth: 1 -2024-02-14 18:10:02, INFO: Planning width: 10 -2024-02-14 18:10:02, INFO: Sparse search: None -2024-02-14 18:10:04, INFO: human number: 10 -2024-02-14 18:10:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:09, INFO: Using device: cpu -2024-02-14 18:10:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:09, INFO: Similarity_func: concatenation -2024-02-14 18:10:09, INFO: Layerwise_graph: False -2024-02-14 18:10:09, INFO: Skip_connection: True -2024-02-14 18:10:09, INFO: Number of layers: 1 -2024-02-14 18:10:09, INFO: Similarity_func: concatenation -2024-02-14 18:10:09, INFO: Layerwise_graph: False -2024-02-14 18:10:09, INFO: Skip_connection: True -2024-02-14 18:10:09, INFO: Number of layers: 1 -2024-02-14 18:10:09, INFO: Planning depth: 1 -2024-02-14 18:10:09, INFO: Planning width: 10 -2024-02-14 18:10:09, INFO: Sparse search: None -2024-02-14 18:10:12, INFO: human number: 10 -2024-02-14 18:10:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:12, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:16, INFO: Using device: cpu -2024-02-14 18:10:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:16, INFO: Similarity_func: concatenation -2024-02-14 18:10:16, INFO: Layerwise_graph: False -2024-02-14 18:10:16, INFO: Skip_connection: True -2024-02-14 18:10:16, INFO: Number of layers: 1 -2024-02-14 18:10:16, INFO: Similarity_func: concatenation -2024-02-14 18:10:16, INFO: Layerwise_graph: False -2024-02-14 18:10:16, INFO: Skip_connection: True -2024-02-14 18:10:16, INFO: Number of layers: 1 -2024-02-14 18:10:16, INFO: Planning depth: 1 -2024-02-14 18:10:16, INFO: Planning width: 10 -2024-02-14 18:10:16, INFO: Sparse search: None -2024-02-14 18:10:19, INFO: human number: 10 -2024-02-14 18:10:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:23, INFO: Using device: cpu -2024-02-14 18:10:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:23, INFO: Similarity_func: concatenation -2024-02-14 18:10:23, INFO: Layerwise_graph: False -2024-02-14 18:10:23, INFO: Skip_connection: True -2024-02-14 18:10:23, INFO: Number of layers: 1 -2024-02-14 18:10:23, INFO: Similarity_func: concatenation -2024-02-14 18:10:23, INFO: Layerwise_graph: False -2024-02-14 18:10:23, INFO: Skip_connection: True -2024-02-14 18:10:23, INFO: Number of layers: 1 -2024-02-14 18:10:23, INFO: Planning depth: 1 -2024-02-14 18:10:23, INFO: Planning width: 10 -2024-02-14 18:10:23, INFO: Sparse search: None -2024-02-14 18:10:26, INFO: human number: 10 -2024-02-14 18:10:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:31, INFO: Using device: cpu -2024-02-14 18:10:31, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:31, INFO: Similarity_func: concatenation -2024-02-14 18:10:31, INFO: Layerwise_graph: False -2024-02-14 18:10:31, INFO: Skip_connection: True -2024-02-14 18:10:31, INFO: Number of layers: 1 -2024-02-14 18:10:31, INFO: Similarity_func: concatenation -2024-02-14 18:10:31, INFO: Layerwise_graph: False -2024-02-14 18:10:31, INFO: Skip_connection: True -2024-02-14 18:10:31, INFO: Number of layers: 1 -2024-02-14 18:10:31, INFO: Planning depth: 1 -2024-02-14 18:10:31, INFO: Planning width: 10 -2024-02-14 18:10:31, INFO: Sparse search: None -2024-02-14 18:10:34, INFO: human number: 10 -2024-02-14 18:10:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:34, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:38, INFO: Using device: cpu -2024-02-14 18:10:38, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:38, INFO: Similarity_func: concatenation -2024-02-14 18:10:38, INFO: Layerwise_graph: False -2024-02-14 18:10:38, INFO: Skip_connection: True -2024-02-14 18:10:38, INFO: Number of layers: 1 -2024-02-14 18:10:38, INFO: Similarity_func: concatenation -2024-02-14 18:10:38, INFO: Layerwise_graph: False -2024-02-14 18:10:38, INFO: Skip_connection: True -2024-02-14 18:10:38, INFO: Number of layers: 1 -2024-02-14 18:10:38, INFO: Planning depth: 1 -2024-02-14 18:10:38, INFO: Planning width: 10 -2024-02-14 18:10:38, INFO: Sparse search: None -2024-02-14 18:10:40, INFO: human number: 10 -2024-02-14 18:10:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:45, INFO: Using device: cpu -2024-02-14 18:10:45, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:45, INFO: Similarity_func: concatenation -2024-02-14 18:10:45, INFO: Layerwise_graph: False -2024-02-14 18:10:45, INFO: Skip_connection: True -2024-02-14 18:10:45, INFO: Number of layers: 1 -2024-02-14 18:10:45, INFO: Similarity_func: concatenation -2024-02-14 18:10:45, INFO: Layerwise_graph: False -2024-02-14 18:10:45, INFO: Skip_connection: True -2024-02-14 18:10:45, INFO: Number of layers: 1 -2024-02-14 18:10:45, INFO: Planning depth: 1 -2024-02-14 18:10:45, INFO: Planning width: 10 -2024-02-14 18:10:45, INFO: Sparse search: None -2024-02-14 18:10:48, INFO: human number: 10 -2024-02-14 18:10:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:48, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:52, INFO: Using device: cpu -2024-02-14 18:10:52, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:52, INFO: Similarity_func: concatenation -2024-02-14 18:10:52, INFO: Layerwise_graph: False -2024-02-14 18:10:52, INFO: Skip_connection: True -2024-02-14 18:10:52, INFO: Number of layers: 1 -2024-02-14 18:10:52, INFO: Similarity_func: concatenation -2024-02-14 18:10:52, INFO: Layerwise_graph: False -2024-02-14 18:10:52, INFO: Skip_connection: True -2024-02-14 18:10:52, INFO: Number of layers: 1 -2024-02-14 18:10:52, INFO: Planning depth: 1 -2024-02-14 18:10:52, INFO: Planning width: 10 -2024-02-14 18:10:52, INFO: Sparse search: None -2024-02-14 18:10:55, INFO: human number: 10 -2024-02-14 18:10:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:10:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:10:55, INFO: Square width: 10, circle width: 4 -2024-02-14 18:10:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:10:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:10:59, INFO: Using device: cpu -2024-02-14 18:10:59, INFO: Loaded RL weights with best VAL -2024-02-14 18:10:59, INFO: Similarity_func: concatenation -2024-02-14 18:10:59, INFO: Layerwise_graph: False -2024-02-14 18:10:59, INFO: Skip_connection: True -2024-02-14 18:10:59, INFO: Number of layers: 1 -2024-02-14 18:10:59, INFO: Similarity_func: concatenation -2024-02-14 18:10:59, INFO: Layerwise_graph: False -2024-02-14 18:10:59, INFO: Skip_connection: True -2024-02-14 18:10:59, INFO: Number of layers: 1 -2024-02-14 18:10:59, INFO: Planning depth: 1 -2024-02-14 18:10:59, INFO: Planning width: 10 -2024-02-14 18:10:59, INFO: Sparse search: None -2024-02-14 18:11:02, INFO: human number: 10 -2024-02-14 18:11:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:02, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:06, INFO: Using device: cpu -2024-02-14 18:11:06, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:06, INFO: Similarity_func: concatenation -2024-02-14 18:11:06, INFO: Layerwise_graph: False -2024-02-14 18:11:06, INFO: Skip_connection: True -2024-02-14 18:11:06, INFO: Number of layers: 1 -2024-02-14 18:11:06, INFO: Similarity_func: concatenation -2024-02-14 18:11:06, INFO: Layerwise_graph: False -2024-02-14 18:11:06, INFO: Skip_connection: True -2024-02-14 18:11:06, INFO: Number of layers: 1 -2024-02-14 18:11:06, INFO: Planning depth: 1 -2024-02-14 18:11:06, INFO: Planning width: 10 -2024-02-14 18:11:06, INFO: Sparse search: None -2024-02-14 18:11:09, INFO: human number: 10 -2024-02-14 18:11:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:09, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:13, INFO: Using device: cpu -2024-02-14 18:11:13, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:13, INFO: Similarity_func: concatenation -2024-02-14 18:11:13, INFO: Layerwise_graph: False -2024-02-14 18:11:13, INFO: Skip_connection: True -2024-02-14 18:11:13, INFO: Number of layers: 1 -2024-02-14 18:11:13, INFO: Similarity_func: concatenation -2024-02-14 18:11:13, INFO: Layerwise_graph: False -2024-02-14 18:11:13, INFO: Skip_connection: True -2024-02-14 18:11:13, INFO: Number of layers: 1 -2024-02-14 18:11:13, INFO: Planning depth: 1 -2024-02-14 18:11:13, INFO: Planning width: 10 -2024-02-14 18:11:13, INFO: Sparse search: None -2024-02-14 18:11:16, INFO: human number: 10 -2024-02-14 18:11:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:16, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:20, INFO: Using device: cpu -2024-02-14 18:11:20, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:20, INFO: Similarity_func: concatenation -2024-02-14 18:11:20, INFO: Layerwise_graph: False -2024-02-14 18:11:20, INFO: Skip_connection: True -2024-02-14 18:11:20, INFO: Number of layers: 1 -2024-02-14 18:11:20, INFO: Similarity_func: concatenation -2024-02-14 18:11:20, INFO: Layerwise_graph: False -2024-02-14 18:11:20, INFO: Skip_connection: True -2024-02-14 18:11:20, INFO: Number of layers: 1 -2024-02-14 18:11:20, INFO: Planning depth: 1 -2024-02-14 18:11:20, INFO: Planning width: 10 -2024-02-14 18:11:20, INFO: Sparse search: None -2024-02-14 18:11:23, INFO: human number: 10 -2024-02-14 18:11:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:27, INFO: Using device: cpu -2024-02-14 18:11:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:27, INFO: Similarity_func: concatenation -2024-02-14 18:11:27, INFO: Layerwise_graph: False -2024-02-14 18:11:27, INFO: Skip_connection: True -2024-02-14 18:11:27, INFO: Number of layers: 1 -2024-02-14 18:11:27, INFO: Similarity_func: concatenation -2024-02-14 18:11:27, INFO: Layerwise_graph: False -2024-02-14 18:11:27, INFO: Skip_connection: True -2024-02-14 18:11:27, INFO: Number of layers: 1 -2024-02-14 18:11:27, INFO: Planning depth: 1 -2024-02-14 18:11:27, INFO: Planning width: 10 -2024-02-14 18:11:27, INFO: Sparse search: None -2024-02-14 18:11:30, INFO: human number: 10 -2024-02-14 18:11:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:34, INFO: Using device: cpu -2024-02-14 18:11:34, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:34, INFO: Similarity_func: concatenation -2024-02-14 18:11:34, INFO: Layerwise_graph: False -2024-02-14 18:11:34, INFO: Skip_connection: True -2024-02-14 18:11:34, INFO: Number of layers: 1 -2024-02-14 18:11:34, INFO: Similarity_func: concatenation -2024-02-14 18:11:34, INFO: Layerwise_graph: False -2024-02-14 18:11:34, INFO: Skip_connection: True -2024-02-14 18:11:34, INFO: Number of layers: 1 -2024-02-14 18:11:34, INFO: Planning depth: 1 -2024-02-14 18:11:34, INFO: Planning width: 10 -2024-02-14 18:11:34, INFO: Sparse search: None -2024-02-14 18:11:37, INFO: human number: 10 -2024-02-14 18:11:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:42, INFO: Using device: cpu -2024-02-14 18:11:42, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:42, INFO: Similarity_func: concatenation -2024-02-14 18:11:42, INFO: Layerwise_graph: False -2024-02-14 18:11:42, INFO: Skip_connection: True -2024-02-14 18:11:42, INFO: Number of layers: 1 -2024-02-14 18:11:42, INFO: Similarity_func: concatenation -2024-02-14 18:11:42, INFO: Layerwise_graph: False -2024-02-14 18:11:42, INFO: Skip_connection: True -2024-02-14 18:11:42, INFO: Number of layers: 1 -2024-02-14 18:11:42, INFO: Planning depth: 1 -2024-02-14 18:11:42, INFO: Planning width: 10 -2024-02-14 18:11:42, INFO: Sparse search: None -2024-02-14 18:11:44, INFO: human number: 10 -2024-02-14 18:11:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:44, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:11:56, INFO: Using device: cpu -2024-02-14 18:11:56, INFO: Loaded RL weights with best VAL -2024-02-14 18:11:56, INFO: Similarity_func: concatenation -2024-02-14 18:11:56, INFO: Layerwise_graph: False -2024-02-14 18:11:56, INFO: Skip_connection: True -2024-02-14 18:11:56, INFO: Number of layers: 1 -2024-02-14 18:11:56, INFO: Similarity_func: concatenation -2024-02-14 18:11:56, INFO: Layerwise_graph: False -2024-02-14 18:11:56, INFO: Skip_connection: True -2024-02-14 18:11:56, INFO: Number of layers: 1 -2024-02-14 18:11:56, INFO: Planning depth: 1 -2024-02-14 18:11:56, INFO: Planning width: 10 -2024-02-14 18:11:56, INFO: Sparse search: None -2024-02-14 18:11:59, INFO: human number: 10 -2024-02-14 18:11:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:11:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:11:59, INFO: Square width: 10, circle width: 4 -2024-02-14 18:11:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:11:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:04, INFO: Using device: cpu -2024-02-14 18:12:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:04, INFO: Similarity_func: concatenation -2024-02-14 18:12:04, INFO: Layerwise_graph: False -2024-02-14 18:12:04, INFO: Skip_connection: True -2024-02-14 18:12:04, INFO: Number of layers: 1 -2024-02-14 18:12:04, INFO: Similarity_func: concatenation -2024-02-14 18:12:04, INFO: Layerwise_graph: False -2024-02-14 18:12:04, INFO: Skip_connection: True -2024-02-14 18:12:04, INFO: Number of layers: 1 -2024-02-14 18:12:04, INFO: Planning depth: 1 -2024-02-14 18:12:04, INFO: Planning width: 10 -2024-02-14 18:12:04, INFO: Sparse search: None -2024-02-14 18:12:06, INFO: human number: 10 -2024-02-14 18:12:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:06, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:11, INFO: Using device: cpu -2024-02-14 18:12:11, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:11, INFO: Similarity_func: concatenation -2024-02-14 18:12:11, INFO: Layerwise_graph: False -2024-02-14 18:12:11, INFO: Skip_connection: True -2024-02-14 18:12:11, INFO: Number of layers: 1 -2024-02-14 18:12:11, INFO: Similarity_func: concatenation -2024-02-14 18:12:11, INFO: Layerwise_graph: False -2024-02-14 18:12:11, INFO: Skip_connection: True -2024-02-14 18:12:11, INFO: Number of layers: 1 -2024-02-14 18:12:11, INFO: Planning depth: 1 -2024-02-14 18:12:11, INFO: Planning width: 10 -2024-02-14 18:12:11, INFO: Sparse search: None -2024-02-14 18:12:13, INFO: human number: 10 -2024-02-14 18:12:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:13, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:18, INFO: Using device: cpu -2024-02-14 18:12:18, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:18, INFO: Similarity_func: concatenation -2024-02-14 18:12:18, INFO: Layerwise_graph: False -2024-02-14 18:12:18, INFO: Skip_connection: True -2024-02-14 18:12:18, INFO: Number of layers: 1 -2024-02-14 18:12:18, INFO: Similarity_func: concatenation -2024-02-14 18:12:18, INFO: Layerwise_graph: False -2024-02-14 18:12:18, INFO: Skip_connection: True -2024-02-14 18:12:18, INFO: Number of layers: 1 -2024-02-14 18:12:18, INFO: Planning depth: 1 -2024-02-14 18:12:18, INFO: Planning width: 10 -2024-02-14 18:12:18, INFO: Sparse search: None -2024-02-14 18:12:21, INFO: human number: 10 -2024-02-14 18:12:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:25, INFO: Using device: cpu -2024-02-14 18:12:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:25, INFO: Similarity_func: concatenation -2024-02-14 18:12:25, INFO: Layerwise_graph: False -2024-02-14 18:12:25, INFO: Skip_connection: True -2024-02-14 18:12:25, INFO: Number of layers: 1 -2024-02-14 18:12:25, INFO: Similarity_func: concatenation -2024-02-14 18:12:25, INFO: Layerwise_graph: False -2024-02-14 18:12:25, INFO: Skip_connection: True -2024-02-14 18:12:25, INFO: Number of layers: 1 -2024-02-14 18:12:25, INFO: Planning depth: 1 -2024-02-14 18:12:25, INFO: Planning width: 10 -2024-02-14 18:12:25, INFO: Sparse search: None -2024-02-14 18:12:28, INFO: human number: 10 -2024-02-14 18:12:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:32, INFO: Using device: cpu -2024-02-14 18:12:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:32, INFO: Similarity_func: concatenation -2024-02-14 18:12:32, INFO: Layerwise_graph: False -2024-02-14 18:12:32, INFO: Skip_connection: True -2024-02-14 18:12:32, INFO: Number of layers: 1 -2024-02-14 18:12:32, INFO: Similarity_func: concatenation -2024-02-14 18:12:32, INFO: Layerwise_graph: False -2024-02-14 18:12:32, INFO: Skip_connection: True -2024-02-14 18:12:32, INFO: Number of layers: 1 -2024-02-14 18:12:32, INFO: Planning depth: 1 -2024-02-14 18:12:32, INFO: Planning width: 10 -2024-02-14 18:12:32, INFO: Sparse search: None -2024-02-14 18:12:35, INFO: human number: 10 -2024-02-14 18:12:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:40, INFO: Using device: cpu -2024-02-14 18:12:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:40, INFO: Similarity_func: concatenation -2024-02-14 18:12:40, INFO: Layerwise_graph: False -2024-02-14 18:12:40, INFO: Skip_connection: True -2024-02-14 18:12:40, INFO: Number of layers: 1 -2024-02-14 18:12:40, INFO: Similarity_func: concatenation -2024-02-14 18:12:40, INFO: Layerwise_graph: False -2024-02-14 18:12:40, INFO: Skip_connection: True -2024-02-14 18:12:40, INFO: Number of layers: 1 -2024-02-14 18:12:40, INFO: Planning depth: 1 -2024-02-14 18:12:40, INFO: Planning width: 10 -2024-02-14 18:12:40, INFO: Sparse search: None -2024-02-14 18:12:43, INFO: human number: 10 -2024-02-14 18:12:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:47, INFO: Using device: cpu -2024-02-14 18:12:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:47, INFO: Similarity_func: concatenation -2024-02-14 18:12:47, INFO: Layerwise_graph: False -2024-02-14 18:12:47, INFO: Skip_connection: True -2024-02-14 18:12:47, INFO: Number of layers: 1 -2024-02-14 18:12:47, INFO: Similarity_func: concatenation -2024-02-14 18:12:47, INFO: Layerwise_graph: False -2024-02-14 18:12:47, INFO: Skip_connection: True -2024-02-14 18:12:47, INFO: Number of layers: 1 -2024-02-14 18:12:47, INFO: Planning depth: 1 -2024-02-14 18:12:47, INFO: Planning width: 10 -2024-02-14 18:12:47, INFO: Sparse search: None -2024-02-14 18:12:50, INFO: human number: 10 -2024-02-14 18:12:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:12:53, INFO: Using device: cpu -2024-02-14 18:12:53, INFO: Loaded RL weights with best VAL -2024-02-14 18:12:53, INFO: Similarity_func: concatenation -2024-02-14 18:12:53, INFO: Layerwise_graph: False -2024-02-14 18:12:53, INFO: Skip_connection: True -2024-02-14 18:12:53, INFO: Number of layers: 1 -2024-02-14 18:12:53, INFO: Similarity_func: concatenation -2024-02-14 18:12:53, INFO: Layerwise_graph: False -2024-02-14 18:12:53, INFO: Skip_connection: True -2024-02-14 18:12:53, INFO: Number of layers: 1 -2024-02-14 18:12:53, INFO: Planning depth: 1 -2024-02-14 18:12:53, INFO: Planning width: 10 -2024-02-14 18:12:53, INFO: Sparse search: None -2024-02-14 18:12:56, INFO: human number: 10 -2024-02-14 18:12:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:12:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:12:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:12:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:12:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:01, INFO: Using device: cpu -2024-02-14 18:13:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:01, INFO: Similarity_func: concatenation -2024-02-14 18:13:01, INFO: Layerwise_graph: False -2024-02-14 18:13:01, INFO: Skip_connection: True -2024-02-14 18:13:01, INFO: Number of layers: 1 -2024-02-14 18:13:01, INFO: Similarity_func: concatenation -2024-02-14 18:13:01, INFO: Layerwise_graph: False -2024-02-14 18:13:01, INFO: Skip_connection: True -2024-02-14 18:13:01, INFO: Number of layers: 1 -2024-02-14 18:13:01, INFO: Planning depth: 1 -2024-02-14 18:13:01, INFO: Planning width: 10 -2024-02-14 18:13:01, INFO: Sparse search: None -2024-02-14 18:13:03, INFO: human number: 10 -2024-02-14 18:13:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:07, INFO: Using device: cpu -2024-02-14 18:13:07, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:07, INFO: Similarity_func: concatenation -2024-02-14 18:13:07, INFO: Layerwise_graph: False -2024-02-14 18:13:07, INFO: Skip_connection: True -2024-02-14 18:13:07, INFO: Number of layers: 1 -2024-02-14 18:13:07, INFO: Similarity_func: concatenation -2024-02-14 18:13:07, INFO: Layerwise_graph: False -2024-02-14 18:13:07, INFO: Skip_connection: True -2024-02-14 18:13:07, INFO: Number of layers: 1 -2024-02-14 18:13:07, INFO: Planning depth: 1 -2024-02-14 18:13:07, INFO: Planning width: 10 -2024-02-14 18:13:07, INFO: Sparse search: None -2024-02-14 18:13:10, INFO: human number: 10 -2024-02-14 18:13:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:10, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:15, INFO: Using device: cpu -2024-02-14 18:13:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:15, INFO: Similarity_func: concatenation -2024-02-14 18:13:15, INFO: Layerwise_graph: False -2024-02-14 18:13:15, INFO: Skip_connection: True -2024-02-14 18:13:15, INFO: Number of layers: 1 -2024-02-14 18:13:15, INFO: Similarity_func: concatenation -2024-02-14 18:13:15, INFO: Layerwise_graph: False -2024-02-14 18:13:15, INFO: Skip_connection: True -2024-02-14 18:13:15, INFO: Number of layers: 1 -2024-02-14 18:13:15, INFO: Planning depth: 1 -2024-02-14 18:13:15, INFO: Planning width: 10 -2024-02-14 18:13:15, INFO: Sparse search: None -2024-02-14 18:13:17, INFO: human number: 10 -2024-02-14 18:13:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:21, INFO: Using device: cpu -2024-02-14 18:13:21, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:21, INFO: Similarity_func: concatenation -2024-02-14 18:13:21, INFO: Layerwise_graph: False -2024-02-14 18:13:21, INFO: Skip_connection: True -2024-02-14 18:13:21, INFO: Number of layers: 1 -2024-02-14 18:13:21, INFO: Similarity_func: concatenation -2024-02-14 18:13:21, INFO: Layerwise_graph: False -2024-02-14 18:13:21, INFO: Skip_connection: True -2024-02-14 18:13:21, INFO: Number of layers: 1 -2024-02-14 18:13:21, INFO: Planning depth: 1 -2024-02-14 18:13:21, INFO: Planning width: 10 -2024-02-14 18:13:21, INFO: Sparse search: None -2024-02-14 18:13:24, INFO: human number: 10 -2024-02-14 18:13:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:24, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:28, INFO: Using device: cpu -2024-02-14 18:13:28, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:28, INFO: Similarity_func: concatenation -2024-02-14 18:13:28, INFO: Layerwise_graph: False -2024-02-14 18:13:28, INFO: Skip_connection: True -2024-02-14 18:13:28, INFO: Number of layers: 1 -2024-02-14 18:13:28, INFO: Similarity_func: concatenation -2024-02-14 18:13:28, INFO: Layerwise_graph: False -2024-02-14 18:13:28, INFO: Skip_connection: True -2024-02-14 18:13:28, INFO: Number of layers: 1 -2024-02-14 18:13:28, INFO: Planning depth: 1 -2024-02-14 18:13:28, INFO: Planning width: 10 -2024-02-14 18:13:28, INFO: Sparse search: None -2024-02-14 18:13:31, INFO: human number: 10 -2024-02-14 18:13:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:31, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:35, INFO: Using device: cpu -2024-02-14 18:13:35, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:35, INFO: Similarity_func: concatenation -2024-02-14 18:13:35, INFO: Layerwise_graph: False -2024-02-14 18:13:35, INFO: Skip_connection: True -2024-02-14 18:13:35, INFO: Number of layers: 1 -2024-02-14 18:13:35, INFO: Similarity_func: concatenation -2024-02-14 18:13:35, INFO: Layerwise_graph: False -2024-02-14 18:13:35, INFO: Skip_connection: True -2024-02-14 18:13:35, INFO: Number of layers: 1 -2024-02-14 18:13:35, INFO: Planning depth: 1 -2024-02-14 18:13:35, INFO: Planning width: 10 -2024-02-14 18:13:35, INFO: Sparse search: None -2024-02-14 18:13:38, INFO: human number: 10 -2024-02-14 18:13:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:38, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:43, INFO: Using device: cpu -2024-02-14 18:13:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:43, INFO: Similarity_func: concatenation -2024-02-14 18:13:43, INFO: Layerwise_graph: False -2024-02-14 18:13:43, INFO: Skip_connection: True -2024-02-14 18:13:43, INFO: Number of layers: 1 -2024-02-14 18:13:43, INFO: Similarity_func: concatenation -2024-02-14 18:13:43, INFO: Layerwise_graph: False -2024-02-14 18:13:43, INFO: Skip_connection: True -2024-02-14 18:13:43, INFO: Number of layers: 1 -2024-02-14 18:13:43, INFO: Planning depth: 1 -2024-02-14 18:13:43, INFO: Planning width: 10 -2024-02-14 18:13:43, INFO: Sparse search: None -2024-02-14 18:13:46, INFO: human number: 10 -2024-02-14 18:13:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:50, INFO: Using device: cpu -2024-02-14 18:13:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:50, INFO: Similarity_func: concatenation -2024-02-14 18:13:50, INFO: Layerwise_graph: False -2024-02-14 18:13:50, INFO: Skip_connection: True -2024-02-14 18:13:50, INFO: Number of layers: 1 -2024-02-14 18:13:50, INFO: Similarity_func: concatenation -2024-02-14 18:13:50, INFO: Layerwise_graph: False -2024-02-14 18:13:50, INFO: Skip_connection: True -2024-02-14 18:13:50, INFO: Number of layers: 1 -2024-02-14 18:13:50, INFO: Planning depth: 1 -2024-02-14 18:13:50, INFO: Planning width: 10 -2024-02-14 18:13:50, INFO: Sparse search: None -2024-02-14 18:13:53, INFO: human number: 10 -2024-02-14 18:13:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:13:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:13:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:13:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:13:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:13:57, INFO: Using device: cpu -2024-02-14 18:13:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:13:57, INFO: Similarity_func: concatenation -2024-02-14 18:13:57, INFO: Layerwise_graph: False -2024-02-14 18:13:57, INFO: Skip_connection: True -2024-02-14 18:13:57, INFO: Number of layers: 1 -2024-02-14 18:13:57, INFO: Similarity_func: concatenation -2024-02-14 18:13:57, INFO: Layerwise_graph: False -2024-02-14 18:13:57, INFO: Skip_connection: True -2024-02-14 18:13:57, INFO: Number of layers: 1 -2024-02-14 18:13:57, INFO: Planning depth: 1 -2024-02-14 18:13:57, INFO: Planning width: 10 -2024-02-14 18:13:57, INFO: Sparse search: None -2024-02-14 18:14:00, INFO: human number: 10 -2024-02-14 18:14:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:04, INFO: Using device: cpu -2024-02-14 18:14:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:04, INFO: Similarity_func: concatenation -2024-02-14 18:14:04, INFO: Layerwise_graph: False -2024-02-14 18:14:04, INFO: Skip_connection: True -2024-02-14 18:14:04, INFO: Number of layers: 1 -2024-02-14 18:14:04, INFO: Similarity_func: concatenation -2024-02-14 18:14:04, INFO: Layerwise_graph: False -2024-02-14 18:14:04, INFO: Skip_connection: True -2024-02-14 18:14:04, INFO: Number of layers: 1 -2024-02-14 18:14:04, INFO: Planning depth: 1 -2024-02-14 18:14:04, INFO: Planning width: 10 -2024-02-14 18:14:04, INFO: Sparse search: None -2024-02-14 18:14:07, INFO: human number: 10 -2024-02-14 18:14:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:11, INFO: Using device: cpu -2024-02-14 18:14:11, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:11, INFO: Similarity_func: concatenation -2024-02-14 18:14:11, INFO: Layerwise_graph: False -2024-02-14 18:14:11, INFO: Skip_connection: True -2024-02-14 18:14:11, INFO: Number of layers: 1 -2024-02-14 18:14:11, INFO: Similarity_func: concatenation -2024-02-14 18:14:11, INFO: Layerwise_graph: False -2024-02-14 18:14:11, INFO: Skip_connection: True -2024-02-14 18:14:11, INFO: Number of layers: 1 -2024-02-14 18:14:11, INFO: Planning depth: 1 -2024-02-14 18:14:11, INFO: Planning width: 10 -2024-02-14 18:14:11, INFO: Sparse search: None -2024-02-14 18:14:14, INFO: human number: 10 -2024-02-14 18:14:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:18, INFO: Using device: cpu -2024-02-14 18:14:18, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:18, INFO: Similarity_func: concatenation -2024-02-14 18:14:18, INFO: Layerwise_graph: False -2024-02-14 18:14:18, INFO: Skip_connection: True -2024-02-14 18:14:18, INFO: Number of layers: 1 -2024-02-14 18:14:18, INFO: Similarity_func: concatenation -2024-02-14 18:14:18, INFO: Layerwise_graph: False -2024-02-14 18:14:18, INFO: Skip_connection: True -2024-02-14 18:14:18, INFO: Number of layers: 1 -2024-02-14 18:14:18, INFO: Planning depth: 1 -2024-02-14 18:14:18, INFO: Planning width: 10 -2024-02-14 18:14:18, INFO: Sparse search: None -2024-02-14 18:14:21, INFO: human number: 10 -2024-02-14 18:14:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:25, INFO: Using device: cpu -2024-02-14 18:14:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:25, INFO: Similarity_func: concatenation -2024-02-14 18:14:25, INFO: Layerwise_graph: False -2024-02-14 18:14:25, INFO: Skip_connection: True -2024-02-14 18:14:25, INFO: Number of layers: 1 -2024-02-14 18:14:25, INFO: Similarity_func: concatenation -2024-02-14 18:14:25, INFO: Layerwise_graph: False -2024-02-14 18:14:25, INFO: Skip_connection: True -2024-02-14 18:14:25, INFO: Number of layers: 1 -2024-02-14 18:14:25, INFO: Planning depth: 1 -2024-02-14 18:14:25, INFO: Planning width: 10 -2024-02-14 18:14:25, INFO: Sparse search: None -2024-02-14 18:14:28, INFO: human number: 10 -2024-02-14 18:14:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:32, INFO: Using device: cpu -2024-02-14 18:14:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:32, INFO: Similarity_func: concatenation -2024-02-14 18:14:32, INFO: Layerwise_graph: False -2024-02-14 18:14:32, INFO: Skip_connection: True -2024-02-14 18:14:32, INFO: Number of layers: 1 -2024-02-14 18:14:32, INFO: Similarity_func: concatenation -2024-02-14 18:14:32, INFO: Layerwise_graph: False -2024-02-14 18:14:32, INFO: Skip_connection: True -2024-02-14 18:14:32, INFO: Number of layers: 1 -2024-02-14 18:14:32, INFO: Planning depth: 1 -2024-02-14 18:14:32, INFO: Planning width: 10 -2024-02-14 18:14:32, INFO: Sparse search: None -2024-02-14 18:14:35, INFO: human number: 10 -2024-02-14 18:14:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:40, INFO: Using device: cpu -2024-02-14 18:14:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:40, INFO: Similarity_func: concatenation -2024-02-14 18:14:40, INFO: Layerwise_graph: False -2024-02-14 18:14:40, INFO: Skip_connection: True -2024-02-14 18:14:40, INFO: Number of layers: 1 -2024-02-14 18:14:40, INFO: Similarity_func: concatenation -2024-02-14 18:14:40, INFO: Layerwise_graph: False -2024-02-14 18:14:40, INFO: Skip_connection: True -2024-02-14 18:14:40, INFO: Number of layers: 1 -2024-02-14 18:14:40, INFO: Planning depth: 1 -2024-02-14 18:14:40, INFO: Planning width: 10 -2024-02-14 18:14:40, INFO: Sparse search: None -2024-02-14 18:14:42, INFO: human number: 10 -2024-02-14 18:14:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:47, INFO: Using device: cpu -2024-02-14 18:14:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:47, INFO: Similarity_func: concatenation -2024-02-14 18:14:47, INFO: Layerwise_graph: False -2024-02-14 18:14:47, INFO: Skip_connection: True -2024-02-14 18:14:47, INFO: Number of layers: 1 -2024-02-14 18:14:47, INFO: Similarity_func: concatenation -2024-02-14 18:14:47, INFO: Layerwise_graph: False -2024-02-14 18:14:47, INFO: Skip_connection: True -2024-02-14 18:14:47, INFO: Number of layers: 1 -2024-02-14 18:14:47, INFO: Planning depth: 1 -2024-02-14 18:14:47, INFO: Planning width: 10 -2024-02-14 18:14:47, INFO: Sparse search: None -2024-02-14 18:14:50, INFO: human number: 10 -2024-02-14 18:14:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:14:54, INFO: Using device: cpu -2024-02-14 18:14:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:14:54, INFO: Similarity_func: concatenation -2024-02-14 18:14:54, INFO: Layerwise_graph: False -2024-02-14 18:14:54, INFO: Skip_connection: True -2024-02-14 18:14:54, INFO: Number of layers: 1 -2024-02-14 18:14:54, INFO: Similarity_func: concatenation -2024-02-14 18:14:54, INFO: Layerwise_graph: False -2024-02-14 18:14:54, INFO: Skip_connection: True -2024-02-14 18:14:54, INFO: Number of layers: 1 -2024-02-14 18:14:54, INFO: Planning depth: 1 -2024-02-14 18:14:54, INFO: Planning width: 10 -2024-02-14 18:14:54, INFO: Sparse search: None -2024-02-14 18:14:56, INFO: human number: 10 -2024-02-14 18:14:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:14:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:14:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:14:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:14:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:00, INFO: Using device: cpu -2024-02-14 18:15:00, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:00, INFO: Similarity_func: concatenation -2024-02-14 18:15:00, INFO: Layerwise_graph: False -2024-02-14 18:15:00, INFO: Skip_connection: True -2024-02-14 18:15:00, INFO: Number of layers: 1 -2024-02-14 18:15:00, INFO: Similarity_func: concatenation -2024-02-14 18:15:00, INFO: Layerwise_graph: False -2024-02-14 18:15:00, INFO: Skip_connection: True -2024-02-14 18:15:00, INFO: Number of layers: 1 -2024-02-14 18:15:00, INFO: Planning depth: 1 -2024-02-14 18:15:00, INFO: Planning width: 10 -2024-02-14 18:15:00, INFO: Sparse search: None -2024-02-14 18:15:03, INFO: human number: 10 -2024-02-14 18:15:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:07, INFO: Using device: cpu -2024-02-14 18:15:07, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:07, INFO: Similarity_func: concatenation -2024-02-14 18:15:07, INFO: Layerwise_graph: False -2024-02-14 18:15:07, INFO: Skip_connection: True -2024-02-14 18:15:07, INFO: Number of layers: 1 -2024-02-14 18:15:07, INFO: Similarity_func: concatenation -2024-02-14 18:15:07, INFO: Layerwise_graph: False -2024-02-14 18:15:07, INFO: Skip_connection: True -2024-02-14 18:15:07, INFO: Number of layers: 1 -2024-02-14 18:15:07, INFO: Planning depth: 1 -2024-02-14 18:15:07, INFO: Planning width: 10 -2024-02-14 18:15:07, INFO: Sparse search: None -2024-02-14 18:15:10, INFO: human number: 10 -2024-02-14 18:15:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:10, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:14, INFO: Using device: cpu -2024-02-14 18:15:14, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:14, INFO: Similarity_func: concatenation -2024-02-14 18:15:14, INFO: Layerwise_graph: False -2024-02-14 18:15:14, INFO: Skip_connection: True -2024-02-14 18:15:14, INFO: Number of layers: 1 -2024-02-14 18:15:14, INFO: Similarity_func: concatenation -2024-02-14 18:15:14, INFO: Layerwise_graph: False -2024-02-14 18:15:14, INFO: Skip_connection: True -2024-02-14 18:15:14, INFO: Number of layers: 1 -2024-02-14 18:15:14, INFO: Planning depth: 1 -2024-02-14 18:15:14, INFO: Planning width: 10 -2024-02-14 18:15:14, INFO: Sparse search: None -2024-02-14 18:15:17, INFO: human number: 10 -2024-02-14 18:15:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:21, INFO: Using device: cpu -2024-02-14 18:15:21, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:21, INFO: Similarity_func: concatenation -2024-02-14 18:15:21, INFO: Layerwise_graph: False -2024-02-14 18:15:21, INFO: Skip_connection: True -2024-02-14 18:15:21, INFO: Number of layers: 1 -2024-02-14 18:15:21, INFO: Similarity_func: concatenation -2024-02-14 18:15:21, INFO: Layerwise_graph: False -2024-02-14 18:15:21, INFO: Skip_connection: True -2024-02-14 18:15:21, INFO: Number of layers: 1 -2024-02-14 18:15:21, INFO: Planning depth: 1 -2024-02-14 18:15:21, INFO: Planning width: 10 -2024-02-14 18:15:21, INFO: Sparse search: None -2024-02-14 18:15:24, INFO: human number: 10 -2024-02-14 18:15:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:24, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:28, INFO: Using device: cpu -2024-02-14 18:15:28, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:28, INFO: Similarity_func: concatenation -2024-02-14 18:15:28, INFO: Layerwise_graph: False -2024-02-14 18:15:28, INFO: Skip_connection: True -2024-02-14 18:15:28, INFO: Number of layers: 1 -2024-02-14 18:15:28, INFO: Similarity_func: concatenation -2024-02-14 18:15:28, INFO: Layerwise_graph: False -2024-02-14 18:15:28, INFO: Skip_connection: True -2024-02-14 18:15:28, INFO: Number of layers: 1 -2024-02-14 18:15:28, INFO: Planning depth: 1 -2024-02-14 18:15:28, INFO: Planning width: 10 -2024-02-14 18:15:28, INFO: Sparse search: None -2024-02-14 18:15:31, INFO: human number: 10 -2024-02-14 18:15:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:31, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:35, INFO: Using device: cpu -2024-02-14 18:15:35, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:35, INFO: Similarity_func: concatenation -2024-02-14 18:15:35, INFO: Layerwise_graph: False -2024-02-14 18:15:35, INFO: Skip_connection: True -2024-02-14 18:15:35, INFO: Number of layers: 1 -2024-02-14 18:15:35, INFO: Similarity_func: concatenation -2024-02-14 18:15:35, INFO: Layerwise_graph: False -2024-02-14 18:15:35, INFO: Skip_connection: True -2024-02-14 18:15:35, INFO: Number of layers: 1 -2024-02-14 18:15:35, INFO: Planning depth: 1 -2024-02-14 18:15:35, INFO: Planning width: 10 -2024-02-14 18:15:35, INFO: Sparse search: None -2024-02-14 18:15:38, INFO: human number: 10 -2024-02-14 18:15:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:38, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:42, INFO: Using device: cpu -2024-02-14 18:15:42, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:42, INFO: Similarity_func: concatenation -2024-02-14 18:15:42, INFO: Layerwise_graph: False -2024-02-14 18:15:42, INFO: Skip_connection: True -2024-02-14 18:15:42, INFO: Number of layers: 1 -2024-02-14 18:15:42, INFO: Similarity_func: concatenation -2024-02-14 18:15:42, INFO: Layerwise_graph: False -2024-02-14 18:15:42, INFO: Skip_connection: True -2024-02-14 18:15:42, INFO: Number of layers: 1 -2024-02-14 18:15:42, INFO: Planning depth: 1 -2024-02-14 18:15:42, INFO: Planning width: 10 -2024-02-14 18:15:42, INFO: Sparse search: None -2024-02-14 18:15:45, INFO: human number: 10 -2024-02-14 18:15:45, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:45, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:45, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:49, INFO: Using device: cpu -2024-02-14 18:15:49, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:49, INFO: Similarity_func: concatenation -2024-02-14 18:15:49, INFO: Layerwise_graph: False -2024-02-14 18:15:49, INFO: Skip_connection: True -2024-02-14 18:15:49, INFO: Number of layers: 1 -2024-02-14 18:15:49, INFO: Similarity_func: concatenation -2024-02-14 18:15:49, INFO: Layerwise_graph: False -2024-02-14 18:15:49, INFO: Skip_connection: True -2024-02-14 18:15:49, INFO: Number of layers: 1 -2024-02-14 18:15:49, INFO: Planning depth: 1 -2024-02-14 18:15:49, INFO: Planning width: 10 -2024-02-14 18:15:49, INFO: Sparse search: None -2024-02-14 18:15:52, INFO: human number: 10 -2024-02-14 18:15:52, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:52, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:52, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:15:56, INFO: Using device: cpu -2024-02-14 18:15:56, INFO: Loaded RL weights with best VAL -2024-02-14 18:15:56, INFO: Similarity_func: concatenation -2024-02-14 18:15:56, INFO: Layerwise_graph: False -2024-02-14 18:15:56, INFO: Skip_connection: True -2024-02-14 18:15:56, INFO: Number of layers: 1 -2024-02-14 18:15:56, INFO: Similarity_func: concatenation -2024-02-14 18:15:56, INFO: Layerwise_graph: False -2024-02-14 18:15:56, INFO: Skip_connection: True -2024-02-14 18:15:56, INFO: Number of layers: 1 -2024-02-14 18:15:56, INFO: Planning depth: 1 -2024-02-14 18:15:56, INFO: Planning width: 10 -2024-02-14 18:15:56, INFO: Sparse search: None -2024-02-14 18:15:59, INFO: human number: 10 -2024-02-14 18:15:59, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:15:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:15:59, INFO: Square width: 10, circle width: 4 -2024-02-14 18:15:59, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:15:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:03, INFO: Using device: cpu -2024-02-14 18:16:03, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:03, INFO: Similarity_func: concatenation -2024-02-14 18:16:03, INFO: Layerwise_graph: False -2024-02-14 18:16:03, INFO: Skip_connection: True -2024-02-14 18:16:03, INFO: Number of layers: 1 -2024-02-14 18:16:03, INFO: Similarity_func: concatenation -2024-02-14 18:16:03, INFO: Layerwise_graph: False -2024-02-14 18:16:03, INFO: Skip_connection: True -2024-02-14 18:16:03, INFO: Number of layers: 1 -2024-02-14 18:16:03, INFO: Planning depth: 1 -2024-02-14 18:16:03, INFO: Planning width: 10 -2024-02-14 18:16:03, INFO: Sparse search: None -2024-02-14 18:16:06, INFO: human number: 10 -2024-02-14 18:16:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:06, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:10, INFO: Using device: cpu -2024-02-14 18:16:10, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:10, INFO: Similarity_func: concatenation -2024-02-14 18:16:10, INFO: Layerwise_graph: False -2024-02-14 18:16:10, INFO: Skip_connection: True -2024-02-14 18:16:10, INFO: Number of layers: 1 -2024-02-14 18:16:10, INFO: Similarity_func: concatenation -2024-02-14 18:16:10, INFO: Layerwise_graph: False -2024-02-14 18:16:10, INFO: Skip_connection: True -2024-02-14 18:16:10, INFO: Number of layers: 1 -2024-02-14 18:16:10, INFO: Planning depth: 1 -2024-02-14 18:16:10, INFO: Planning width: 10 -2024-02-14 18:16:10, INFO: Sparse search: None -2024-02-14 18:16:13, INFO: human number: 10 -2024-02-14 18:16:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:13, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:17, INFO: Using device: cpu -2024-02-14 18:16:17, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:17, INFO: Similarity_func: concatenation -2024-02-14 18:16:17, INFO: Layerwise_graph: False -2024-02-14 18:16:17, INFO: Skip_connection: True -2024-02-14 18:16:17, INFO: Number of layers: 1 -2024-02-14 18:16:17, INFO: Similarity_func: concatenation -2024-02-14 18:16:17, INFO: Layerwise_graph: False -2024-02-14 18:16:17, INFO: Skip_connection: True -2024-02-14 18:16:17, INFO: Number of layers: 1 -2024-02-14 18:16:17, INFO: Planning depth: 1 -2024-02-14 18:16:17, INFO: Planning width: 10 -2024-02-14 18:16:17, INFO: Sparse search: None -2024-02-14 18:16:20, INFO: human number: 10 -2024-02-14 18:16:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:20, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:24, INFO: Using device: cpu -2024-02-14 18:16:24, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:24, INFO: Similarity_func: concatenation -2024-02-14 18:16:24, INFO: Layerwise_graph: False -2024-02-14 18:16:24, INFO: Skip_connection: True -2024-02-14 18:16:24, INFO: Number of layers: 1 -2024-02-14 18:16:24, INFO: Similarity_func: concatenation -2024-02-14 18:16:24, INFO: Layerwise_graph: False -2024-02-14 18:16:24, INFO: Skip_connection: True -2024-02-14 18:16:24, INFO: Number of layers: 1 -2024-02-14 18:16:24, INFO: Planning depth: 1 -2024-02-14 18:16:24, INFO: Planning width: 10 -2024-02-14 18:16:24, INFO: Sparse search: None -2024-02-14 18:16:27, INFO: human number: 10 -2024-02-14 18:16:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:27, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:32, INFO: Using device: cpu -2024-02-14 18:16:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:32, INFO: Similarity_func: concatenation -2024-02-14 18:16:32, INFO: Layerwise_graph: False -2024-02-14 18:16:32, INFO: Skip_connection: True -2024-02-14 18:16:32, INFO: Number of layers: 1 -2024-02-14 18:16:32, INFO: Similarity_func: concatenation -2024-02-14 18:16:32, INFO: Layerwise_graph: False -2024-02-14 18:16:32, INFO: Skip_connection: True -2024-02-14 18:16:32, INFO: Number of layers: 1 -2024-02-14 18:16:32, INFO: Planning depth: 1 -2024-02-14 18:16:32, INFO: Planning width: 10 -2024-02-14 18:16:32, INFO: Sparse search: None -2024-02-14 18:16:34, INFO: human number: 10 -2024-02-14 18:16:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:34, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:39, INFO: Using device: cpu -2024-02-14 18:16:39, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:39, INFO: Similarity_func: concatenation -2024-02-14 18:16:39, INFO: Layerwise_graph: False -2024-02-14 18:16:39, INFO: Skip_connection: True -2024-02-14 18:16:39, INFO: Number of layers: 1 -2024-02-14 18:16:39, INFO: Similarity_func: concatenation -2024-02-14 18:16:39, INFO: Layerwise_graph: False -2024-02-14 18:16:39, INFO: Skip_connection: True -2024-02-14 18:16:39, INFO: Number of layers: 1 -2024-02-14 18:16:39, INFO: Planning depth: 1 -2024-02-14 18:16:39, INFO: Planning width: 10 -2024-02-14 18:16:39, INFO: Sparse search: None -2024-02-14 18:16:42, INFO: human number: 10 -2024-02-14 18:16:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:46, INFO: Using device: cpu -2024-02-14 18:16:46, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:46, INFO: Similarity_func: concatenation -2024-02-14 18:16:46, INFO: Layerwise_graph: False -2024-02-14 18:16:46, INFO: Skip_connection: True -2024-02-14 18:16:46, INFO: Number of layers: 1 -2024-02-14 18:16:46, INFO: Similarity_func: concatenation -2024-02-14 18:16:46, INFO: Layerwise_graph: False -2024-02-14 18:16:46, INFO: Skip_connection: True -2024-02-14 18:16:46, INFO: Number of layers: 1 -2024-02-14 18:16:46, INFO: Planning depth: 1 -2024-02-14 18:16:46, INFO: Planning width: 10 -2024-02-14 18:16:46, INFO: Sparse search: None -2024-02-14 18:16:49, INFO: human number: 10 -2024-02-14 18:16:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:16:53, INFO: Using device: cpu -2024-02-14 18:16:53, INFO: Loaded RL weights with best VAL -2024-02-14 18:16:53, INFO: Similarity_func: concatenation -2024-02-14 18:16:53, INFO: Layerwise_graph: False -2024-02-14 18:16:53, INFO: Skip_connection: True -2024-02-14 18:16:53, INFO: Number of layers: 1 -2024-02-14 18:16:53, INFO: Similarity_func: concatenation -2024-02-14 18:16:53, INFO: Layerwise_graph: False -2024-02-14 18:16:53, INFO: Skip_connection: True -2024-02-14 18:16:53, INFO: Number of layers: 1 -2024-02-14 18:16:53, INFO: Planning depth: 1 -2024-02-14 18:16:53, INFO: Planning width: 10 -2024-02-14 18:16:53, INFO: Sparse search: None -2024-02-14 18:16:56, INFO: human number: 10 -2024-02-14 18:16:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:16:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:16:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:16:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:16:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:00, INFO: Using device: cpu -2024-02-14 18:17:00, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:00, INFO: Similarity_func: concatenation -2024-02-14 18:17:00, INFO: Layerwise_graph: False -2024-02-14 18:17:00, INFO: Skip_connection: True -2024-02-14 18:17:00, INFO: Number of layers: 1 -2024-02-14 18:17:00, INFO: Similarity_func: concatenation -2024-02-14 18:17:00, INFO: Layerwise_graph: False -2024-02-14 18:17:00, INFO: Skip_connection: True -2024-02-14 18:17:00, INFO: Number of layers: 1 -2024-02-14 18:17:00, INFO: Planning depth: 1 -2024-02-14 18:17:00, INFO: Planning width: 10 -2024-02-14 18:17:00, INFO: Sparse search: None -2024-02-14 18:17:03, INFO: human number: 10 -2024-02-14 18:17:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:07, INFO: Using device: cpu -2024-02-14 18:17:07, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:07, INFO: Similarity_func: concatenation -2024-02-14 18:17:07, INFO: Layerwise_graph: False -2024-02-14 18:17:07, INFO: Skip_connection: True -2024-02-14 18:17:07, INFO: Number of layers: 1 -2024-02-14 18:17:07, INFO: Similarity_func: concatenation -2024-02-14 18:17:07, INFO: Layerwise_graph: False -2024-02-14 18:17:07, INFO: Skip_connection: True -2024-02-14 18:17:07, INFO: Number of layers: 1 -2024-02-14 18:17:07, INFO: Planning depth: 1 -2024-02-14 18:17:07, INFO: Planning width: 10 -2024-02-14 18:17:07, INFO: Sparse search: None -2024-02-14 18:17:10, INFO: human number: 10 -2024-02-14 18:17:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:10, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:15, INFO: Using device: cpu -2024-02-14 18:17:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:15, INFO: Similarity_func: concatenation -2024-02-14 18:17:15, INFO: Layerwise_graph: False -2024-02-14 18:17:15, INFO: Skip_connection: True -2024-02-14 18:17:15, INFO: Number of layers: 1 -2024-02-14 18:17:15, INFO: Similarity_func: concatenation -2024-02-14 18:17:15, INFO: Layerwise_graph: False -2024-02-14 18:17:15, INFO: Skip_connection: True -2024-02-14 18:17:15, INFO: Number of layers: 1 -2024-02-14 18:17:15, INFO: Planning depth: 1 -2024-02-14 18:17:15, INFO: Planning width: 10 -2024-02-14 18:17:15, INFO: Sparse search: None -2024-02-14 18:17:17, INFO: human number: 10 -2024-02-14 18:17:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:21, INFO: Using device: cpu -2024-02-14 18:17:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:22, INFO: Similarity_func: concatenation -2024-02-14 18:17:22, INFO: Layerwise_graph: False -2024-02-14 18:17:22, INFO: Skip_connection: True -2024-02-14 18:17:22, INFO: Number of layers: 1 -2024-02-14 18:17:22, INFO: Similarity_func: concatenation -2024-02-14 18:17:22, INFO: Layerwise_graph: False -2024-02-14 18:17:22, INFO: Skip_connection: True -2024-02-14 18:17:22, INFO: Number of layers: 1 -2024-02-14 18:17:22, INFO: Planning depth: 1 -2024-02-14 18:17:22, INFO: Planning width: 10 -2024-02-14 18:17:22, INFO: Sparse search: None -2024-02-14 18:17:24, INFO: human number: 10 -2024-02-14 18:17:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:24, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:29, INFO: Using device: cpu -2024-02-14 18:17:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:29, INFO: Similarity_func: concatenation -2024-02-14 18:17:29, INFO: Layerwise_graph: False -2024-02-14 18:17:29, INFO: Skip_connection: True -2024-02-14 18:17:29, INFO: Number of layers: 1 -2024-02-14 18:17:29, INFO: Similarity_func: concatenation -2024-02-14 18:17:29, INFO: Layerwise_graph: False -2024-02-14 18:17:29, INFO: Skip_connection: True -2024-02-14 18:17:29, INFO: Number of layers: 1 -2024-02-14 18:17:29, INFO: Planning depth: 1 -2024-02-14 18:17:29, INFO: Planning width: 10 -2024-02-14 18:17:29, INFO: Sparse search: None -2024-02-14 18:17:31, INFO: human number: 10 -2024-02-14 18:17:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:31, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:36, INFO: Using device: cpu -2024-02-14 18:17:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:36, INFO: Similarity_func: concatenation -2024-02-14 18:17:36, INFO: Layerwise_graph: False -2024-02-14 18:17:36, INFO: Skip_connection: True -2024-02-14 18:17:36, INFO: Number of layers: 1 -2024-02-14 18:17:36, INFO: Similarity_func: concatenation -2024-02-14 18:17:36, INFO: Layerwise_graph: False -2024-02-14 18:17:36, INFO: Skip_connection: True -2024-02-14 18:17:36, INFO: Number of layers: 1 -2024-02-14 18:17:36, INFO: Planning depth: 1 -2024-02-14 18:17:36, INFO: Planning width: 10 -2024-02-14 18:17:36, INFO: Sparse search: None -2024-02-14 18:17:38, INFO: human number: 10 -2024-02-14 18:17:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:38, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:43, INFO: Using device: cpu -2024-02-14 18:17:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:43, INFO: Similarity_func: concatenation -2024-02-14 18:17:43, INFO: Layerwise_graph: False -2024-02-14 18:17:43, INFO: Skip_connection: True -2024-02-14 18:17:43, INFO: Number of layers: 1 -2024-02-14 18:17:43, INFO: Similarity_func: concatenation -2024-02-14 18:17:43, INFO: Layerwise_graph: False -2024-02-14 18:17:43, INFO: Skip_connection: True -2024-02-14 18:17:43, INFO: Number of layers: 1 -2024-02-14 18:17:43, INFO: Planning depth: 1 -2024-02-14 18:17:43, INFO: Planning width: 10 -2024-02-14 18:17:43, INFO: Sparse search: None -2024-02-14 18:17:46, INFO: human number: 10 -2024-02-14 18:17:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:50, INFO: Using device: cpu -2024-02-14 18:17:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:50, INFO: Similarity_func: concatenation -2024-02-14 18:17:50, INFO: Layerwise_graph: False -2024-02-14 18:17:50, INFO: Skip_connection: True -2024-02-14 18:17:50, INFO: Number of layers: 1 -2024-02-14 18:17:50, INFO: Similarity_func: concatenation -2024-02-14 18:17:50, INFO: Layerwise_graph: False -2024-02-14 18:17:50, INFO: Skip_connection: True -2024-02-14 18:17:50, INFO: Number of layers: 1 -2024-02-14 18:17:50, INFO: Planning depth: 1 -2024-02-14 18:17:50, INFO: Planning width: 10 -2024-02-14 18:17:50, INFO: Sparse search: None -2024-02-14 18:17:53, INFO: human number: 10 -2024-02-14 18:17:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:17:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:17:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:17:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:17:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:17:57, INFO: Using device: cpu -2024-02-14 18:17:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:17:57, INFO: Similarity_func: concatenation -2024-02-14 18:17:57, INFO: Layerwise_graph: False -2024-02-14 18:17:57, INFO: Skip_connection: True -2024-02-14 18:17:57, INFO: Number of layers: 1 -2024-02-14 18:17:57, INFO: Similarity_func: concatenation -2024-02-14 18:17:57, INFO: Layerwise_graph: False -2024-02-14 18:17:57, INFO: Skip_connection: True -2024-02-14 18:17:57, INFO: Number of layers: 1 -2024-02-14 18:17:57, INFO: Planning depth: 1 -2024-02-14 18:17:57, INFO: Planning width: 10 -2024-02-14 18:17:57, INFO: Sparse search: None -2024-02-14 18:18:00, INFO: human number: 10 -2024-02-14 18:18:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:05, INFO: Using device: cpu -2024-02-14 18:18:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:05, INFO: Similarity_func: concatenation -2024-02-14 18:18:05, INFO: Layerwise_graph: False -2024-02-14 18:18:05, INFO: Skip_connection: True -2024-02-14 18:18:05, INFO: Number of layers: 1 -2024-02-14 18:18:05, INFO: Similarity_func: concatenation -2024-02-14 18:18:05, INFO: Layerwise_graph: False -2024-02-14 18:18:05, INFO: Skip_connection: True -2024-02-14 18:18:05, INFO: Number of layers: 1 -2024-02-14 18:18:05, INFO: Planning depth: 1 -2024-02-14 18:18:05, INFO: Planning width: 10 -2024-02-14 18:18:05, INFO: Sparse search: None -2024-02-14 18:18:07, INFO: human number: 10 -2024-02-14 18:18:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:12, INFO: Using device: cpu -2024-02-14 18:18:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:12, INFO: Similarity_func: concatenation -2024-02-14 18:18:12, INFO: Layerwise_graph: False -2024-02-14 18:18:12, INFO: Skip_connection: True -2024-02-14 18:18:12, INFO: Number of layers: 1 -2024-02-14 18:18:12, INFO: Similarity_func: concatenation -2024-02-14 18:18:12, INFO: Layerwise_graph: False -2024-02-14 18:18:12, INFO: Skip_connection: True -2024-02-14 18:18:12, INFO: Number of layers: 1 -2024-02-14 18:18:12, INFO: Planning depth: 1 -2024-02-14 18:18:12, INFO: Planning width: 10 -2024-02-14 18:18:12, INFO: Sparse search: None -2024-02-14 18:18:14, INFO: human number: 10 -2024-02-14 18:18:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:19, INFO: Using device: cpu -2024-02-14 18:18:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:19, INFO: Similarity_func: concatenation -2024-02-14 18:18:19, INFO: Layerwise_graph: False -2024-02-14 18:18:19, INFO: Skip_connection: True -2024-02-14 18:18:19, INFO: Number of layers: 1 -2024-02-14 18:18:19, INFO: Similarity_func: concatenation -2024-02-14 18:18:19, INFO: Layerwise_graph: False -2024-02-14 18:18:19, INFO: Skip_connection: True -2024-02-14 18:18:19, INFO: Number of layers: 1 -2024-02-14 18:18:19, INFO: Planning depth: 1 -2024-02-14 18:18:19, INFO: Planning width: 10 -2024-02-14 18:18:19, INFO: Sparse search: None -2024-02-14 18:18:21, INFO: human number: 10 -2024-02-14 18:18:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:25, INFO: Using device: cpu -2024-02-14 18:18:25, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:25, INFO: Similarity_func: concatenation -2024-02-14 18:18:25, INFO: Layerwise_graph: False -2024-02-14 18:18:25, INFO: Skip_connection: True -2024-02-14 18:18:25, INFO: Number of layers: 1 -2024-02-14 18:18:25, INFO: Similarity_func: concatenation -2024-02-14 18:18:25, INFO: Layerwise_graph: False -2024-02-14 18:18:25, INFO: Skip_connection: True -2024-02-14 18:18:25, INFO: Number of layers: 1 -2024-02-14 18:18:25, INFO: Planning depth: 1 -2024-02-14 18:18:25, INFO: Planning width: 10 -2024-02-14 18:18:25, INFO: Sparse search: None -2024-02-14 18:18:28, INFO: human number: 10 -2024-02-14 18:18:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:32, INFO: Using device: cpu -2024-02-14 18:18:32, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:32, INFO: Similarity_func: concatenation -2024-02-14 18:18:32, INFO: Layerwise_graph: False -2024-02-14 18:18:32, INFO: Skip_connection: True -2024-02-14 18:18:32, INFO: Number of layers: 1 -2024-02-14 18:18:32, INFO: Similarity_func: concatenation -2024-02-14 18:18:32, INFO: Layerwise_graph: False -2024-02-14 18:18:32, INFO: Skip_connection: True -2024-02-14 18:18:32, INFO: Number of layers: 1 -2024-02-14 18:18:32, INFO: Planning depth: 1 -2024-02-14 18:18:32, INFO: Planning width: 10 -2024-02-14 18:18:32, INFO: Sparse search: None -2024-02-14 18:18:35, INFO: human number: 10 -2024-02-14 18:18:35, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:35, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:35, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:39, INFO: Using device: cpu -2024-02-14 18:18:39, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:39, INFO: Similarity_func: concatenation -2024-02-14 18:18:39, INFO: Layerwise_graph: False -2024-02-14 18:18:39, INFO: Skip_connection: True -2024-02-14 18:18:39, INFO: Number of layers: 1 -2024-02-14 18:18:39, INFO: Similarity_func: concatenation -2024-02-14 18:18:39, INFO: Layerwise_graph: False -2024-02-14 18:18:39, INFO: Skip_connection: True -2024-02-14 18:18:39, INFO: Number of layers: 1 -2024-02-14 18:18:39, INFO: Planning depth: 1 -2024-02-14 18:18:39, INFO: Planning width: 10 -2024-02-14 18:18:39, INFO: Sparse search: None -2024-02-14 18:18:42, INFO: human number: 10 -2024-02-14 18:18:42, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:42, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:42, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:46, INFO: Using device: cpu -2024-02-14 18:18:46, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:46, INFO: Similarity_func: concatenation -2024-02-14 18:18:46, INFO: Layerwise_graph: False -2024-02-14 18:18:46, INFO: Skip_connection: True -2024-02-14 18:18:46, INFO: Number of layers: 1 -2024-02-14 18:18:46, INFO: Similarity_func: concatenation -2024-02-14 18:18:46, INFO: Layerwise_graph: False -2024-02-14 18:18:46, INFO: Skip_connection: True -2024-02-14 18:18:46, INFO: Number of layers: 1 -2024-02-14 18:18:46, INFO: Planning depth: 1 -2024-02-14 18:18:46, INFO: Planning width: 10 -2024-02-14 18:18:46, INFO: Sparse search: None -2024-02-14 18:18:49, INFO: human number: 10 -2024-02-14 18:18:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:18:53, INFO: Using device: cpu -2024-02-14 18:18:53, INFO: Loaded RL weights with best VAL -2024-02-14 18:18:53, INFO: Similarity_func: concatenation -2024-02-14 18:18:53, INFO: Layerwise_graph: False -2024-02-14 18:18:53, INFO: Skip_connection: True -2024-02-14 18:18:53, INFO: Number of layers: 1 -2024-02-14 18:18:53, INFO: Similarity_func: concatenation -2024-02-14 18:18:53, INFO: Layerwise_graph: False -2024-02-14 18:18:53, INFO: Skip_connection: True -2024-02-14 18:18:53, INFO: Number of layers: 1 -2024-02-14 18:18:53, INFO: Planning depth: 1 -2024-02-14 18:18:53, INFO: Planning width: 10 -2024-02-14 18:18:53, INFO: Sparse search: None -2024-02-14 18:18:56, INFO: human number: 10 -2024-02-14 18:18:56, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:18:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:18:56, INFO: Square width: 10, circle width: 4 -2024-02-14 18:18:56, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:18:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:00, INFO: Using device: cpu -2024-02-14 18:19:00, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:00, INFO: Similarity_func: concatenation -2024-02-14 18:19:00, INFO: Layerwise_graph: False -2024-02-14 18:19:00, INFO: Skip_connection: True -2024-02-14 18:19:00, INFO: Number of layers: 1 -2024-02-14 18:19:00, INFO: Similarity_func: concatenation -2024-02-14 18:19:00, INFO: Layerwise_graph: False -2024-02-14 18:19:00, INFO: Skip_connection: True -2024-02-14 18:19:00, INFO: Number of layers: 1 -2024-02-14 18:19:00, INFO: Planning depth: 1 -2024-02-14 18:19:00, INFO: Planning width: 10 -2024-02-14 18:19:00, INFO: Sparse search: None -2024-02-14 18:19:03, INFO: human number: 10 -2024-02-14 18:19:03, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:03, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:03, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:07, INFO: Using device: cpu -2024-02-14 18:19:07, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:07, INFO: Similarity_func: concatenation -2024-02-14 18:19:07, INFO: Layerwise_graph: False -2024-02-14 18:19:07, INFO: Skip_connection: True -2024-02-14 18:19:07, INFO: Number of layers: 1 -2024-02-14 18:19:07, INFO: Similarity_func: concatenation -2024-02-14 18:19:07, INFO: Layerwise_graph: False -2024-02-14 18:19:07, INFO: Skip_connection: True -2024-02-14 18:19:07, INFO: Number of layers: 1 -2024-02-14 18:19:07, INFO: Planning depth: 1 -2024-02-14 18:19:07, INFO: Planning width: 10 -2024-02-14 18:19:07, INFO: Sparse search: None -2024-02-14 18:19:10, INFO: human number: 10 -2024-02-14 18:19:10, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:10, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:10, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:14, INFO: Using device: cpu -2024-02-14 18:19:14, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:14, INFO: Similarity_func: concatenation -2024-02-14 18:19:14, INFO: Layerwise_graph: False -2024-02-14 18:19:14, INFO: Skip_connection: True -2024-02-14 18:19:14, INFO: Number of layers: 1 -2024-02-14 18:19:14, INFO: Similarity_func: concatenation -2024-02-14 18:19:14, INFO: Layerwise_graph: False -2024-02-14 18:19:14, INFO: Skip_connection: True -2024-02-14 18:19:14, INFO: Number of layers: 1 -2024-02-14 18:19:14, INFO: Planning depth: 1 -2024-02-14 18:19:14, INFO: Planning width: 10 -2024-02-14 18:19:14, INFO: Sparse search: None -2024-02-14 18:19:17, INFO: human number: 10 -2024-02-14 18:19:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:21, INFO: Using device: cpu -2024-02-14 18:19:21, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:21, INFO: Similarity_func: concatenation -2024-02-14 18:19:21, INFO: Layerwise_graph: False -2024-02-14 18:19:21, INFO: Skip_connection: True -2024-02-14 18:19:21, INFO: Number of layers: 1 -2024-02-14 18:19:21, INFO: Similarity_func: concatenation -2024-02-14 18:19:21, INFO: Layerwise_graph: False -2024-02-14 18:19:21, INFO: Skip_connection: True -2024-02-14 18:19:21, INFO: Number of layers: 1 -2024-02-14 18:19:21, INFO: Planning depth: 1 -2024-02-14 18:19:21, INFO: Planning width: 10 -2024-02-14 18:19:21, INFO: Sparse search: None -2024-02-14 18:19:24, INFO: human number: 10 -2024-02-14 18:19:24, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:24, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:24, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:28, INFO: Using device: cpu -2024-02-14 18:19:28, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:28, INFO: Similarity_func: concatenation -2024-02-14 18:19:28, INFO: Layerwise_graph: False -2024-02-14 18:19:28, INFO: Skip_connection: True -2024-02-14 18:19:28, INFO: Number of layers: 1 -2024-02-14 18:19:28, INFO: Similarity_func: concatenation -2024-02-14 18:19:28, INFO: Layerwise_graph: False -2024-02-14 18:19:28, INFO: Skip_connection: True -2024-02-14 18:19:28, INFO: Number of layers: 1 -2024-02-14 18:19:28, INFO: Planning depth: 1 -2024-02-14 18:19:28, INFO: Planning width: 10 -2024-02-14 18:19:28, INFO: Sparse search: None -2024-02-14 18:19:31, INFO: human number: 10 -2024-02-14 18:19:31, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:31, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:31, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:36, INFO: Using device: cpu -2024-02-14 18:19:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:36, INFO: Similarity_func: concatenation -2024-02-14 18:19:36, INFO: Layerwise_graph: False -2024-02-14 18:19:36, INFO: Skip_connection: True -2024-02-14 18:19:36, INFO: Number of layers: 1 -2024-02-14 18:19:36, INFO: Similarity_func: concatenation -2024-02-14 18:19:36, INFO: Layerwise_graph: False -2024-02-14 18:19:36, INFO: Skip_connection: True -2024-02-14 18:19:36, INFO: Number of layers: 1 -2024-02-14 18:19:36, INFO: Planning depth: 1 -2024-02-14 18:19:36, INFO: Planning width: 10 -2024-02-14 18:19:36, INFO: Sparse search: None -2024-02-14 18:19:39, INFO: human number: 10 -2024-02-14 18:19:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:44, INFO: Using device: cpu -2024-02-14 18:19:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:44, INFO: Similarity_func: concatenation -2024-02-14 18:19:44, INFO: Layerwise_graph: False -2024-02-14 18:19:44, INFO: Skip_connection: True -2024-02-14 18:19:44, INFO: Number of layers: 1 -2024-02-14 18:19:44, INFO: Similarity_func: concatenation -2024-02-14 18:19:44, INFO: Layerwise_graph: False -2024-02-14 18:19:44, INFO: Skip_connection: True -2024-02-14 18:19:44, INFO: Number of layers: 1 -2024-02-14 18:19:44, INFO: Planning depth: 1 -2024-02-14 18:19:44, INFO: Planning width: 10 -2024-02-14 18:19:44, INFO: Sparse search: None -2024-02-14 18:19:46, INFO: human number: 10 -2024-02-14 18:19:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:51, INFO: Using device: cpu -2024-02-14 18:19:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:51, INFO: Similarity_func: concatenation -2024-02-14 18:19:51, INFO: Layerwise_graph: False -2024-02-14 18:19:51, INFO: Skip_connection: True -2024-02-14 18:19:51, INFO: Number of layers: 1 -2024-02-14 18:19:51, INFO: Similarity_func: concatenation -2024-02-14 18:19:51, INFO: Layerwise_graph: False -2024-02-14 18:19:51, INFO: Skip_connection: True -2024-02-14 18:19:51, INFO: Number of layers: 1 -2024-02-14 18:19:51, INFO: Planning depth: 1 -2024-02-14 18:19:51, INFO: Planning width: 10 -2024-02-14 18:19:51, INFO: Sparse search: None -2024-02-14 18:19:53, INFO: human number: 10 -2024-02-14 18:19:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:19:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:19:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:19:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:19:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:19:58, INFO: Using device: cpu -2024-02-14 18:19:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:19:58, INFO: Similarity_func: concatenation -2024-02-14 18:19:58, INFO: Layerwise_graph: False -2024-02-14 18:19:58, INFO: Skip_connection: True -2024-02-14 18:19:58, INFO: Number of layers: 1 -2024-02-14 18:19:58, INFO: Similarity_func: concatenation -2024-02-14 18:19:58, INFO: Layerwise_graph: False -2024-02-14 18:19:58, INFO: Skip_connection: True -2024-02-14 18:19:58, INFO: Number of layers: 1 -2024-02-14 18:19:58, INFO: Planning depth: 1 -2024-02-14 18:19:58, INFO: Planning width: 10 -2024-02-14 18:19:58, INFO: Sparse search: None -2024-02-14 18:20:00, INFO: human number: 10 -2024-02-14 18:20:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:05, INFO: Using device: cpu -2024-02-14 18:20:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:05, INFO: Similarity_func: concatenation -2024-02-14 18:20:05, INFO: Layerwise_graph: False -2024-02-14 18:20:05, INFO: Skip_connection: True -2024-02-14 18:20:05, INFO: Number of layers: 1 -2024-02-14 18:20:05, INFO: Similarity_func: concatenation -2024-02-14 18:20:05, INFO: Layerwise_graph: False -2024-02-14 18:20:05, INFO: Skip_connection: True -2024-02-14 18:20:05, INFO: Number of layers: 1 -2024-02-14 18:20:05, INFO: Planning depth: 1 -2024-02-14 18:20:05, INFO: Planning width: 10 -2024-02-14 18:20:05, INFO: Sparse search: None -2024-02-14 18:20:07, INFO: human number: 10 -2024-02-14 18:20:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:12, INFO: Using device: cpu -2024-02-14 18:20:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:12, INFO: Similarity_func: concatenation -2024-02-14 18:20:12, INFO: Layerwise_graph: False -2024-02-14 18:20:12, INFO: Skip_connection: True -2024-02-14 18:20:12, INFO: Number of layers: 1 -2024-02-14 18:20:12, INFO: Similarity_func: concatenation -2024-02-14 18:20:12, INFO: Layerwise_graph: False -2024-02-14 18:20:12, INFO: Skip_connection: True -2024-02-14 18:20:12, INFO: Number of layers: 1 -2024-02-14 18:20:12, INFO: Planning depth: 1 -2024-02-14 18:20:12, INFO: Planning width: 10 -2024-02-14 18:20:12, INFO: Sparse search: None -2024-02-14 18:20:14, INFO: human number: 10 -2024-02-14 18:20:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:19, INFO: Using device: cpu -2024-02-14 18:20:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:19, INFO: Similarity_func: concatenation -2024-02-14 18:20:19, INFO: Layerwise_graph: False -2024-02-14 18:20:19, INFO: Skip_connection: True -2024-02-14 18:20:19, INFO: Number of layers: 1 -2024-02-14 18:20:19, INFO: Similarity_func: concatenation -2024-02-14 18:20:19, INFO: Layerwise_graph: False -2024-02-14 18:20:19, INFO: Skip_connection: True -2024-02-14 18:20:19, INFO: Number of layers: 1 -2024-02-14 18:20:19, INFO: Planning depth: 1 -2024-02-14 18:20:19, INFO: Planning width: 10 -2024-02-14 18:20:19, INFO: Sparse search: None -2024-02-14 18:20:21, INFO: human number: 10 -2024-02-14 18:20:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:26, INFO: Using device: cpu -2024-02-14 18:20:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:26, INFO: Similarity_func: concatenation -2024-02-14 18:20:26, INFO: Layerwise_graph: False -2024-02-14 18:20:26, INFO: Skip_connection: True -2024-02-14 18:20:26, INFO: Number of layers: 1 -2024-02-14 18:20:26, INFO: Similarity_func: concatenation -2024-02-14 18:20:26, INFO: Layerwise_graph: False -2024-02-14 18:20:26, INFO: Skip_connection: True -2024-02-14 18:20:26, INFO: Number of layers: 1 -2024-02-14 18:20:26, INFO: Planning depth: 1 -2024-02-14 18:20:26, INFO: Planning width: 10 -2024-02-14 18:20:26, INFO: Sparse search: None -2024-02-14 18:20:28, INFO: human number: 10 -2024-02-14 18:20:28, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:28, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:28, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:33, INFO: Using device: cpu -2024-02-14 18:20:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:33, INFO: Similarity_func: concatenation -2024-02-14 18:20:33, INFO: Layerwise_graph: False -2024-02-14 18:20:33, INFO: Skip_connection: True -2024-02-14 18:20:33, INFO: Number of layers: 1 -2024-02-14 18:20:33, INFO: Similarity_func: concatenation -2024-02-14 18:20:33, INFO: Layerwise_graph: False -2024-02-14 18:20:33, INFO: Skip_connection: True -2024-02-14 18:20:33, INFO: Number of layers: 1 -2024-02-14 18:20:33, INFO: Planning depth: 1 -2024-02-14 18:20:33, INFO: Planning width: 10 -2024-02-14 18:20:33, INFO: Sparse search: None -2024-02-14 18:20:36, INFO: human number: 10 -2024-02-14 18:20:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:40, INFO: Using device: cpu -2024-02-14 18:20:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:40, INFO: Similarity_func: concatenation -2024-02-14 18:20:40, INFO: Layerwise_graph: False -2024-02-14 18:20:40, INFO: Skip_connection: True -2024-02-14 18:20:40, INFO: Number of layers: 1 -2024-02-14 18:20:40, INFO: Similarity_func: concatenation -2024-02-14 18:20:40, INFO: Layerwise_graph: False -2024-02-14 18:20:40, INFO: Skip_connection: True -2024-02-14 18:20:40, INFO: Number of layers: 1 -2024-02-14 18:20:40, INFO: Planning depth: 1 -2024-02-14 18:20:40, INFO: Planning width: 10 -2024-02-14 18:20:40, INFO: Sparse search: None -2024-02-14 18:20:43, INFO: human number: 10 -2024-02-14 18:20:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:47, INFO: Using device: cpu -2024-02-14 18:20:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:47, INFO: Similarity_func: concatenation -2024-02-14 18:20:47, INFO: Layerwise_graph: False -2024-02-14 18:20:47, INFO: Skip_connection: True -2024-02-14 18:20:47, INFO: Number of layers: 1 -2024-02-14 18:20:47, INFO: Similarity_func: concatenation -2024-02-14 18:20:47, INFO: Layerwise_graph: False -2024-02-14 18:20:47, INFO: Skip_connection: True -2024-02-14 18:20:47, INFO: Number of layers: 1 -2024-02-14 18:20:47, INFO: Planning depth: 1 -2024-02-14 18:20:47, INFO: Planning width: 10 -2024-02-14 18:20:47, INFO: Sparse search: None -2024-02-14 18:20:50, INFO: human number: 10 -2024-02-14 18:20:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:20:54, INFO: Using device: cpu -2024-02-14 18:20:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:20:54, INFO: Similarity_func: concatenation -2024-02-14 18:20:54, INFO: Layerwise_graph: False -2024-02-14 18:20:54, INFO: Skip_connection: True -2024-02-14 18:20:54, INFO: Number of layers: 1 -2024-02-14 18:20:54, INFO: Similarity_func: concatenation -2024-02-14 18:20:54, INFO: Layerwise_graph: False -2024-02-14 18:20:54, INFO: Skip_connection: True -2024-02-14 18:20:54, INFO: Number of layers: 1 -2024-02-14 18:20:54, INFO: Planning depth: 1 -2024-02-14 18:20:54, INFO: Planning width: 10 -2024-02-14 18:20:54, INFO: Sparse search: None -2024-02-14 18:20:57, INFO: human number: 10 -2024-02-14 18:20:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:20:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:20:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:20:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:20:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:01, INFO: Using device: cpu -2024-02-14 18:21:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:01, INFO: Similarity_func: concatenation -2024-02-14 18:21:01, INFO: Layerwise_graph: False -2024-02-14 18:21:01, INFO: Skip_connection: True -2024-02-14 18:21:01, INFO: Number of layers: 1 -2024-02-14 18:21:01, INFO: Similarity_func: concatenation -2024-02-14 18:21:01, INFO: Layerwise_graph: False -2024-02-14 18:21:01, INFO: Skip_connection: True -2024-02-14 18:21:01, INFO: Number of layers: 1 -2024-02-14 18:21:01, INFO: Planning depth: 1 -2024-02-14 18:21:01, INFO: Planning width: 10 -2024-02-14 18:21:01, INFO: Sparse search: None -2024-02-14 18:21:04, INFO: human number: 10 -2024-02-14 18:21:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:08, INFO: Using device: cpu -2024-02-14 18:21:08, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:08, INFO: Similarity_func: concatenation -2024-02-14 18:21:08, INFO: Layerwise_graph: False -2024-02-14 18:21:08, INFO: Skip_connection: True -2024-02-14 18:21:08, INFO: Number of layers: 1 -2024-02-14 18:21:08, INFO: Similarity_func: concatenation -2024-02-14 18:21:08, INFO: Layerwise_graph: False -2024-02-14 18:21:08, INFO: Skip_connection: True -2024-02-14 18:21:08, INFO: Number of layers: 1 -2024-02-14 18:21:08, INFO: Planning depth: 1 -2024-02-14 18:21:08, INFO: Planning width: 10 -2024-02-14 18:21:08, INFO: Sparse search: None -2024-02-14 18:21:11, INFO: human number: 10 -2024-02-14 18:21:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:15, INFO: Using device: cpu -2024-02-14 18:21:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:15, INFO: Similarity_func: concatenation -2024-02-14 18:21:15, INFO: Layerwise_graph: False -2024-02-14 18:21:15, INFO: Skip_connection: True -2024-02-14 18:21:15, INFO: Number of layers: 1 -2024-02-14 18:21:15, INFO: Similarity_func: concatenation -2024-02-14 18:21:15, INFO: Layerwise_graph: False -2024-02-14 18:21:15, INFO: Skip_connection: True -2024-02-14 18:21:15, INFO: Number of layers: 1 -2024-02-14 18:21:15, INFO: Planning depth: 1 -2024-02-14 18:21:15, INFO: Planning width: 10 -2024-02-14 18:21:15, INFO: Sparse search: None -2024-02-14 18:21:18, INFO: human number: 10 -2024-02-14 18:21:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:22, INFO: Using device: cpu -2024-02-14 18:21:22, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:22, INFO: Similarity_func: concatenation -2024-02-14 18:21:22, INFO: Layerwise_graph: False -2024-02-14 18:21:22, INFO: Skip_connection: True -2024-02-14 18:21:22, INFO: Number of layers: 1 -2024-02-14 18:21:22, INFO: Similarity_func: concatenation -2024-02-14 18:21:22, INFO: Layerwise_graph: False -2024-02-14 18:21:22, INFO: Skip_connection: True -2024-02-14 18:21:22, INFO: Number of layers: 1 -2024-02-14 18:21:22, INFO: Planning depth: 1 -2024-02-14 18:21:22, INFO: Planning width: 10 -2024-02-14 18:21:22, INFO: Sparse search: None -2024-02-14 18:21:25, INFO: human number: 10 -2024-02-14 18:21:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:29, INFO: Using device: cpu -2024-02-14 18:21:29, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:29, INFO: Similarity_func: concatenation -2024-02-14 18:21:29, INFO: Layerwise_graph: False -2024-02-14 18:21:29, INFO: Skip_connection: True -2024-02-14 18:21:29, INFO: Number of layers: 1 -2024-02-14 18:21:29, INFO: Similarity_func: concatenation -2024-02-14 18:21:29, INFO: Layerwise_graph: False -2024-02-14 18:21:29, INFO: Skip_connection: True -2024-02-14 18:21:29, INFO: Number of layers: 1 -2024-02-14 18:21:29, INFO: Planning depth: 1 -2024-02-14 18:21:29, INFO: Planning width: 10 -2024-02-14 18:21:29, INFO: Sparse search: None -2024-02-14 18:21:32, INFO: human number: 10 -2024-02-14 18:21:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:36, INFO: Using device: cpu -2024-02-14 18:21:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:36, INFO: Similarity_func: concatenation -2024-02-14 18:21:36, INFO: Layerwise_graph: False -2024-02-14 18:21:36, INFO: Skip_connection: True -2024-02-14 18:21:36, INFO: Number of layers: 1 -2024-02-14 18:21:36, INFO: Similarity_func: concatenation -2024-02-14 18:21:36, INFO: Layerwise_graph: False -2024-02-14 18:21:36, INFO: Skip_connection: True -2024-02-14 18:21:36, INFO: Number of layers: 1 -2024-02-14 18:21:36, INFO: Planning depth: 1 -2024-02-14 18:21:36, INFO: Planning width: 10 -2024-02-14 18:21:36, INFO: Sparse search: None -2024-02-14 18:21:39, INFO: human number: 10 -2024-02-14 18:21:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:43, INFO: Using device: cpu -2024-02-14 18:21:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:43, INFO: Similarity_func: concatenation -2024-02-14 18:21:43, INFO: Layerwise_graph: False -2024-02-14 18:21:43, INFO: Skip_connection: True -2024-02-14 18:21:43, INFO: Number of layers: 1 -2024-02-14 18:21:43, INFO: Similarity_func: concatenation -2024-02-14 18:21:43, INFO: Layerwise_graph: False -2024-02-14 18:21:43, INFO: Skip_connection: True -2024-02-14 18:21:43, INFO: Number of layers: 1 -2024-02-14 18:21:43, INFO: Planning depth: 1 -2024-02-14 18:21:43, INFO: Planning width: 10 -2024-02-14 18:21:43, INFO: Sparse search: None -2024-02-14 18:21:46, INFO: human number: 10 -2024-02-14 18:21:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:50, INFO: Using device: cpu -2024-02-14 18:21:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:50, INFO: Similarity_func: concatenation -2024-02-14 18:21:50, INFO: Layerwise_graph: False -2024-02-14 18:21:50, INFO: Skip_connection: True -2024-02-14 18:21:50, INFO: Number of layers: 1 -2024-02-14 18:21:50, INFO: Similarity_func: concatenation -2024-02-14 18:21:50, INFO: Layerwise_graph: False -2024-02-14 18:21:50, INFO: Skip_connection: True -2024-02-14 18:21:50, INFO: Number of layers: 1 -2024-02-14 18:21:50, INFO: Planning depth: 1 -2024-02-14 18:21:50, INFO: Planning width: 10 -2024-02-14 18:21:50, INFO: Sparse search: None -2024-02-14 18:21:53, INFO: human number: 10 -2024-02-14 18:21:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:21:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:21:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:21:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:21:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:21:57, INFO: Using device: cpu -2024-02-14 18:21:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:21:57, INFO: Similarity_func: concatenation -2024-02-14 18:21:57, INFO: Layerwise_graph: False -2024-02-14 18:21:57, INFO: Skip_connection: True -2024-02-14 18:21:57, INFO: Number of layers: 1 -2024-02-14 18:21:57, INFO: Similarity_func: concatenation -2024-02-14 18:21:57, INFO: Layerwise_graph: False -2024-02-14 18:21:57, INFO: Skip_connection: True -2024-02-14 18:21:57, INFO: Number of layers: 1 -2024-02-14 18:21:57, INFO: Planning depth: 1 -2024-02-14 18:21:57, INFO: Planning width: 10 -2024-02-14 18:21:57, INFO: Sparse search: None -2024-02-14 18:22:00, INFO: human number: 10 -2024-02-14 18:22:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:04, INFO: Using device: cpu -2024-02-14 18:22:04, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:04, INFO: Similarity_func: concatenation -2024-02-14 18:22:04, INFO: Layerwise_graph: False -2024-02-14 18:22:04, INFO: Skip_connection: True -2024-02-14 18:22:04, INFO: Number of layers: 1 -2024-02-14 18:22:04, INFO: Similarity_func: concatenation -2024-02-14 18:22:04, INFO: Layerwise_graph: False -2024-02-14 18:22:04, INFO: Skip_connection: True -2024-02-14 18:22:04, INFO: Number of layers: 1 -2024-02-14 18:22:04, INFO: Planning depth: 1 -2024-02-14 18:22:04, INFO: Planning width: 10 -2024-02-14 18:22:04, INFO: Sparse search: None -2024-02-14 18:22:06, INFO: human number: 10 -2024-02-14 18:22:06, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:06, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:06, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:11, INFO: Using device: cpu -2024-02-14 18:22:11, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:11, INFO: Similarity_func: concatenation -2024-02-14 18:22:11, INFO: Layerwise_graph: False -2024-02-14 18:22:11, INFO: Skip_connection: True -2024-02-14 18:22:11, INFO: Number of layers: 1 -2024-02-14 18:22:11, INFO: Similarity_func: concatenation -2024-02-14 18:22:11, INFO: Layerwise_graph: False -2024-02-14 18:22:11, INFO: Skip_connection: True -2024-02-14 18:22:11, INFO: Number of layers: 1 -2024-02-14 18:22:11, INFO: Planning depth: 1 -2024-02-14 18:22:11, INFO: Planning width: 10 -2024-02-14 18:22:11, INFO: Sparse search: None -2024-02-14 18:22:13, INFO: human number: 10 -2024-02-14 18:22:13, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:13, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:13, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:18, INFO: Using device: cpu -2024-02-14 18:22:18, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:18, INFO: Similarity_func: concatenation -2024-02-14 18:22:18, INFO: Layerwise_graph: False -2024-02-14 18:22:18, INFO: Skip_connection: True -2024-02-14 18:22:18, INFO: Number of layers: 1 -2024-02-14 18:22:18, INFO: Similarity_func: concatenation -2024-02-14 18:22:18, INFO: Layerwise_graph: False -2024-02-14 18:22:18, INFO: Skip_connection: True -2024-02-14 18:22:18, INFO: Number of layers: 1 -2024-02-14 18:22:18, INFO: Planning depth: 1 -2024-02-14 18:22:18, INFO: Planning width: 10 -2024-02-14 18:22:18, INFO: Sparse search: None -2024-02-14 18:22:20, INFO: human number: 10 -2024-02-14 18:22:20, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:20, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:20, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:24, INFO: Using device: cpu -2024-02-14 18:22:24, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:24, INFO: Similarity_func: concatenation -2024-02-14 18:22:24, INFO: Layerwise_graph: False -2024-02-14 18:22:24, INFO: Skip_connection: True -2024-02-14 18:22:24, INFO: Number of layers: 1 -2024-02-14 18:22:24, INFO: Similarity_func: concatenation -2024-02-14 18:22:24, INFO: Layerwise_graph: False -2024-02-14 18:22:24, INFO: Skip_connection: True -2024-02-14 18:22:24, INFO: Number of layers: 1 -2024-02-14 18:22:24, INFO: Planning depth: 1 -2024-02-14 18:22:24, INFO: Planning width: 10 -2024-02-14 18:22:24, INFO: Sparse search: None -2024-02-14 18:22:27, INFO: human number: 10 -2024-02-14 18:22:27, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:27, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:27, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:31, INFO: Using device: cpu -2024-02-14 18:22:31, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:31, INFO: Similarity_func: concatenation -2024-02-14 18:22:31, INFO: Layerwise_graph: False -2024-02-14 18:22:31, INFO: Skip_connection: True -2024-02-14 18:22:31, INFO: Number of layers: 1 -2024-02-14 18:22:31, INFO: Similarity_func: concatenation -2024-02-14 18:22:31, INFO: Layerwise_graph: False -2024-02-14 18:22:31, INFO: Skip_connection: True -2024-02-14 18:22:31, INFO: Number of layers: 1 -2024-02-14 18:22:31, INFO: Planning depth: 1 -2024-02-14 18:22:31, INFO: Planning width: 10 -2024-02-14 18:22:31, INFO: Sparse search: None -2024-02-14 18:22:34, INFO: human number: 10 -2024-02-14 18:22:34, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:34, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:34, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:38, INFO: Using device: cpu -2024-02-14 18:22:38, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:38, INFO: Similarity_func: concatenation -2024-02-14 18:22:38, INFO: Layerwise_graph: False -2024-02-14 18:22:38, INFO: Skip_connection: True -2024-02-14 18:22:38, INFO: Number of layers: 1 -2024-02-14 18:22:38, INFO: Similarity_func: concatenation -2024-02-14 18:22:38, INFO: Layerwise_graph: False -2024-02-14 18:22:38, INFO: Skip_connection: True -2024-02-14 18:22:38, INFO: Number of layers: 1 -2024-02-14 18:22:38, INFO: Planning depth: 1 -2024-02-14 18:22:38, INFO: Planning width: 10 -2024-02-14 18:22:38, INFO: Sparse search: None -2024-02-14 18:22:41, INFO: human number: 10 -2024-02-14 18:22:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:41, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:45, INFO: Using device: cpu -2024-02-14 18:22:45, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:45, INFO: Similarity_func: concatenation -2024-02-14 18:22:45, INFO: Layerwise_graph: False -2024-02-14 18:22:45, INFO: Skip_connection: True -2024-02-14 18:22:45, INFO: Number of layers: 1 -2024-02-14 18:22:45, INFO: Similarity_func: concatenation -2024-02-14 18:22:45, INFO: Layerwise_graph: False -2024-02-14 18:22:45, INFO: Skip_connection: True -2024-02-14 18:22:45, INFO: Number of layers: 1 -2024-02-14 18:22:45, INFO: Planning depth: 1 -2024-02-14 18:22:45, INFO: Planning width: 10 -2024-02-14 18:22:45, INFO: Sparse search: None -2024-02-14 18:22:48, INFO: human number: 10 -2024-02-14 18:22:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:48, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:52, INFO: Using device: cpu -2024-02-14 18:22:52, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:52, INFO: Similarity_func: concatenation -2024-02-14 18:22:52, INFO: Layerwise_graph: False -2024-02-14 18:22:52, INFO: Skip_connection: True -2024-02-14 18:22:52, INFO: Number of layers: 1 -2024-02-14 18:22:52, INFO: Similarity_func: concatenation -2024-02-14 18:22:52, INFO: Layerwise_graph: False -2024-02-14 18:22:52, INFO: Skip_connection: True -2024-02-14 18:22:52, INFO: Number of layers: 1 -2024-02-14 18:22:52, INFO: Planning depth: 1 -2024-02-14 18:22:52, INFO: Planning width: 10 -2024-02-14 18:22:52, INFO: Sparse search: None -2024-02-14 18:22:55, INFO: human number: 10 -2024-02-14 18:22:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:22:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:22:55, INFO: Square width: 10, circle width: 4 -2024-02-14 18:22:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:22:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:22:59, INFO: Using device: cpu -2024-02-14 18:22:59, INFO: Loaded RL weights with best VAL -2024-02-14 18:22:59, INFO: Similarity_func: concatenation -2024-02-14 18:22:59, INFO: Layerwise_graph: False -2024-02-14 18:22:59, INFO: Skip_connection: True -2024-02-14 18:22:59, INFO: Number of layers: 1 -2024-02-14 18:22:59, INFO: Similarity_func: concatenation -2024-02-14 18:22:59, INFO: Layerwise_graph: False -2024-02-14 18:22:59, INFO: Skip_connection: True -2024-02-14 18:22:59, INFO: Number of layers: 1 -2024-02-14 18:22:59, INFO: Planning depth: 1 -2024-02-14 18:22:59, INFO: Planning width: 10 -2024-02-14 18:22:59, INFO: Sparse search: None -2024-02-14 18:23:01, INFO: human number: 10 -2024-02-14 18:23:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:05, INFO: Using device: cpu -2024-02-14 18:23:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:05, INFO: Similarity_func: concatenation -2024-02-14 18:23:05, INFO: Layerwise_graph: False -2024-02-14 18:23:05, INFO: Skip_connection: True -2024-02-14 18:23:05, INFO: Number of layers: 1 -2024-02-14 18:23:05, INFO: Similarity_func: concatenation -2024-02-14 18:23:05, INFO: Layerwise_graph: False -2024-02-14 18:23:05, INFO: Skip_connection: True -2024-02-14 18:23:05, INFO: Number of layers: 1 -2024-02-14 18:23:05, INFO: Planning depth: 1 -2024-02-14 18:23:05, INFO: Planning width: 10 -2024-02-14 18:23:05, INFO: Sparse search: None -2024-02-14 18:23:08, INFO: human number: 10 -2024-02-14 18:23:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:13, INFO: Using device: cpu -2024-02-14 18:23:13, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:13, INFO: Similarity_func: concatenation -2024-02-14 18:23:13, INFO: Layerwise_graph: False -2024-02-14 18:23:13, INFO: Skip_connection: True -2024-02-14 18:23:13, INFO: Number of layers: 1 -2024-02-14 18:23:13, INFO: Similarity_func: concatenation -2024-02-14 18:23:13, INFO: Layerwise_graph: False -2024-02-14 18:23:13, INFO: Skip_connection: True -2024-02-14 18:23:13, INFO: Number of layers: 1 -2024-02-14 18:23:13, INFO: Planning depth: 1 -2024-02-14 18:23:13, INFO: Planning width: 10 -2024-02-14 18:23:13, INFO: Sparse search: None -2024-02-14 18:23:16, INFO: human number: 10 -2024-02-14 18:23:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:16, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:20, INFO: Using device: cpu -2024-02-14 18:23:20, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:20, INFO: Similarity_func: concatenation -2024-02-14 18:23:20, INFO: Layerwise_graph: False -2024-02-14 18:23:20, INFO: Skip_connection: True -2024-02-14 18:23:20, INFO: Number of layers: 1 -2024-02-14 18:23:20, INFO: Similarity_func: concatenation -2024-02-14 18:23:20, INFO: Layerwise_graph: False -2024-02-14 18:23:20, INFO: Skip_connection: True -2024-02-14 18:23:20, INFO: Number of layers: 1 -2024-02-14 18:23:20, INFO: Planning depth: 1 -2024-02-14 18:23:20, INFO: Planning width: 10 -2024-02-14 18:23:20, INFO: Sparse search: None -2024-02-14 18:23:23, INFO: human number: 10 -2024-02-14 18:23:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:27, INFO: Using device: cpu -2024-02-14 18:23:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:27, INFO: Similarity_func: concatenation -2024-02-14 18:23:27, INFO: Layerwise_graph: False -2024-02-14 18:23:27, INFO: Skip_connection: True -2024-02-14 18:23:27, INFO: Number of layers: 1 -2024-02-14 18:23:27, INFO: Similarity_func: concatenation -2024-02-14 18:23:27, INFO: Layerwise_graph: False -2024-02-14 18:23:27, INFO: Skip_connection: True -2024-02-14 18:23:27, INFO: Number of layers: 1 -2024-02-14 18:23:27, INFO: Planning depth: 1 -2024-02-14 18:23:27, INFO: Planning width: 10 -2024-02-14 18:23:27, INFO: Sparse search: None -2024-02-14 18:23:30, INFO: human number: 10 -2024-02-14 18:23:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:34, INFO: Using device: cpu -2024-02-14 18:23:34, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:34, INFO: Similarity_func: concatenation -2024-02-14 18:23:34, INFO: Layerwise_graph: False -2024-02-14 18:23:34, INFO: Skip_connection: True -2024-02-14 18:23:34, INFO: Number of layers: 1 -2024-02-14 18:23:34, INFO: Similarity_func: concatenation -2024-02-14 18:23:34, INFO: Layerwise_graph: False -2024-02-14 18:23:34, INFO: Skip_connection: True -2024-02-14 18:23:34, INFO: Number of layers: 1 -2024-02-14 18:23:34, INFO: Planning depth: 1 -2024-02-14 18:23:34, INFO: Planning width: 10 -2024-02-14 18:23:34, INFO: Sparse search: None -2024-02-14 18:23:37, INFO: human number: 10 -2024-02-14 18:23:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:41, INFO: Using device: cpu -2024-02-14 18:23:41, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:41, INFO: Similarity_func: concatenation -2024-02-14 18:23:41, INFO: Layerwise_graph: False -2024-02-14 18:23:41, INFO: Skip_connection: True -2024-02-14 18:23:41, INFO: Number of layers: 1 -2024-02-14 18:23:41, INFO: Similarity_func: concatenation -2024-02-14 18:23:41, INFO: Layerwise_graph: False -2024-02-14 18:23:41, INFO: Skip_connection: True -2024-02-14 18:23:41, INFO: Number of layers: 1 -2024-02-14 18:23:41, INFO: Planning depth: 1 -2024-02-14 18:23:41, INFO: Planning width: 10 -2024-02-14 18:23:41, INFO: Sparse search: None -2024-02-14 18:23:44, INFO: human number: 10 -2024-02-14 18:23:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:44, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:48, INFO: Using device: cpu -2024-02-14 18:23:48, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:48, INFO: Similarity_func: concatenation -2024-02-14 18:23:48, INFO: Layerwise_graph: False -2024-02-14 18:23:48, INFO: Skip_connection: True -2024-02-14 18:23:48, INFO: Number of layers: 1 -2024-02-14 18:23:48, INFO: Similarity_func: concatenation -2024-02-14 18:23:48, INFO: Layerwise_graph: False -2024-02-14 18:23:48, INFO: Skip_connection: True -2024-02-14 18:23:48, INFO: Number of layers: 1 -2024-02-14 18:23:48, INFO: Planning depth: 1 -2024-02-14 18:23:48, INFO: Planning width: 10 -2024-02-14 18:23:48, INFO: Sparse search: None -2024-02-14 18:23:51, INFO: human number: 10 -2024-02-14 18:23:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:51, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:23:55, INFO: Using device: cpu -2024-02-14 18:23:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:23:55, INFO: Similarity_func: concatenation -2024-02-14 18:23:55, INFO: Layerwise_graph: False -2024-02-14 18:23:55, INFO: Skip_connection: True -2024-02-14 18:23:55, INFO: Number of layers: 1 -2024-02-14 18:23:55, INFO: Similarity_func: concatenation -2024-02-14 18:23:55, INFO: Layerwise_graph: False -2024-02-14 18:23:55, INFO: Skip_connection: True -2024-02-14 18:23:55, INFO: Number of layers: 1 -2024-02-14 18:23:55, INFO: Planning depth: 1 -2024-02-14 18:23:55, INFO: Planning width: 10 -2024-02-14 18:23:55, INFO: Sparse search: None -2024-02-14 18:23:57, INFO: human number: 10 -2024-02-14 18:23:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:23:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:23:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:23:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:23:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:02, INFO: Using device: cpu -2024-02-14 18:24:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:02, INFO: Similarity_func: concatenation -2024-02-14 18:24:02, INFO: Layerwise_graph: False -2024-02-14 18:24:02, INFO: Skip_connection: True -2024-02-14 18:24:02, INFO: Number of layers: 1 -2024-02-14 18:24:02, INFO: Similarity_func: concatenation -2024-02-14 18:24:02, INFO: Layerwise_graph: False -2024-02-14 18:24:02, INFO: Skip_connection: True -2024-02-14 18:24:02, INFO: Number of layers: 1 -2024-02-14 18:24:02, INFO: Planning depth: 1 -2024-02-14 18:24:02, INFO: Planning width: 10 -2024-02-14 18:24:02, INFO: Sparse search: None -2024-02-14 18:24:05, INFO: human number: 10 -2024-02-14 18:24:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:05, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:09, INFO: Using device: cpu -2024-02-14 18:24:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:09, INFO: Similarity_func: concatenation -2024-02-14 18:24:09, INFO: Layerwise_graph: False -2024-02-14 18:24:09, INFO: Skip_connection: True -2024-02-14 18:24:09, INFO: Number of layers: 1 -2024-02-14 18:24:09, INFO: Similarity_func: concatenation -2024-02-14 18:24:09, INFO: Layerwise_graph: False -2024-02-14 18:24:09, INFO: Skip_connection: True -2024-02-14 18:24:09, INFO: Number of layers: 1 -2024-02-14 18:24:09, INFO: Planning depth: 1 -2024-02-14 18:24:09, INFO: Planning width: 10 -2024-02-14 18:24:09, INFO: Sparse search: None -2024-02-14 18:24:11, INFO: human number: 10 -2024-02-14 18:24:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:16, INFO: Using device: cpu -2024-02-14 18:24:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:16, INFO: Similarity_func: concatenation -2024-02-14 18:24:16, INFO: Layerwise_graph: False -2024-02-14 18:24:16, INFO: Skip_connection: True -2024-02-14 18:24:16, INFO: Number of layers: 1 -2024-02-14 18:24:16, INFO: Similarity_func: concatenation -2024-02-14 18:24:16, INFO: Layerwise_graph: False -2024-02-14 18:24:16, INFO: Skip_connection: True -2024-02-14 18:24:16, INFO: Number of layers: 1 -2024-02-14 18:24:16, INFO: Planning depth: 1 -2024-02-14 18:24:16, INFO: Planning width: 10 -2024-02-14 18:24:16, INFO: Sparse search: None -2024-02-14 18:24:19, INFO: human number: 10 -2024-02-14 18:24:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:23, INFO: Using device: cpu -2024-02-14 18:24:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:23, INFO: Similarity_func: concatenation -2024-02-14 18:24:23, INFO: Layerwise_graph: False -2024-02-14 18:24:23, INFO: Skip_connection: True -2024-02-14 18:24:23, INFO: Number of layers: 1 -2024-02-14 18:24:23, INFO: Similarity_func: concatenation -2024-02-14 18:24:23, INFO: Layerwise_graph: False -2024-02-14 18:24:23, INFO: Skip_connection: True -2024-02-14 18:24:23, INFO: Number of layers: 1 -2024-02-14 18:24:23, INFO: Planning depth: 1 -2024-02-14 18:24:23, INFO: Planning width: 10 -2024-02-14 18:24:23, INFO: Sparse search: None -2024-02-14 18:24:26, INFO: human number: 10 -2024-02-14 18:24:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:30, INFO: Using device: cpu -2024-02-14 18:24:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:30, INFO: Similarity_func: concatenation -2024-02-14 18:24:30, INFO: Layerwise_graph: False -2024-02-14 18:24:30, INFO: Skip_connection: True -2024-02-14 18:24:30, INFO: Number of layers: 1 -2024-02-14 18:24:30, INFO: Similarity_func: concatenation -2024-02-14 18:24:30, INFO: Layerwise_graph: False -2024-02-14 18:24:30, INFO: Skip_connection: True -2024-02-14 18:24:30, INFO: Number of layers: 1 -2024-02-14 18:24:30, INFO: Planning depth: 1 -2024-02-14 18:24:30, INFO: Planning width: 10 -2024-02-14 18:24:30, INFO: Sparse search: None -2024-02-14 18:24:33, INFO: human number: 10 -2024-02-14 18:24:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:37, INFO: Using device: cpu -2024-02-14 18:24:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:37, INFO: Similarity_func: concatenation -2024-02-14 18:24:37, INFO: Layerwise_graph: False -2024-02-14 18:24:37, INFO: Skip_connection: True -2024-02-14 18:24:37, INFO: Number of layers: 1 -2024-02-14 18:24:37, INFO: Similarity_func: concatenation -2024-02-14 18:24:37, INFO: Layerwise_graph: False -2024-02-14 18:24:37, INFO: Skip_connection: True -2024-02-14 18:24:37, INFO: Number of layers: 1 -2024-02-14 18:24:37, INFO: Planning depth: 1 -2024-02-14 18:24:37, INFO: Planning width: 10 -2024-02-14 18:24:37, INFO: Sparse search: None -2024-02-14 18:24:40, INFO: human number: 10 -2024-02-14 18:24:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:44, INFO: Using device: cpu -2024-02-14 18:24:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:44, INFO: Similarity_func: concatenation -2024-02-14 18:24:44, INFO: Layerwise_graph: False -2024-02-14 18:24:44, INFO: Skip_connection: True -2024-02-14 18:24:44, INFO: Number of layers: 1 -2024-02-14 18:24:44, INFO: Similarity_func: concatenation -2024-02-14 18:24:44, INFO: Layerwise_graph: False -2024-02-14 18:24:44, INFO: Skip_connection: True -2024-02-14 18:24:44, INFO: Number of layers: 1 -2024-02-14 18:24:44, INFO: Planning depth: 1 -2024-02-14 18:24:44, INFO: Planning width: 10 -2024-02-14 18:24:44, INFO: Sparse search: None -2024-02-14 18:24:47, INFO: human number: 10 -2024-02-14 18:24:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:51, INFO: Using device: cpu -2024-02-14 18:24:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:51, INFO: Similarity_func: concatenation -2024-02-14 18:24:51, INFO: Layerwise_graph: False -2024-02-14 18:24:51, INFO: Skip_connection: True -2024-02-14 18:24:51, INFO: Number of layers: 1 -2024-02-14 18:24:51, INFO: Similarity_func: concatenation -2024-02-14 18:24:51, INFO: Layerwise_graph: False -2024-02-14 18:24:51, INFO: Skip_connection: True -2024-02-14 18:24:51, INFO: Number of layers: 1 -2024-02-14 18:24:51, INFO: Planning depth: 1 -2024-02-14 18:24:51, INFO: Planning width: 10 -2024-02-14 18:24:51, INFO: Sparse search: None -2024-02-14 18:24:53, INFO: human number: 10 -2024-02-14 18:24:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:24:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:24:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:24:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:24:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:24:58, INFO: Using device: cpu -2024-02-14 18:24:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:24:58, INFO: Similarity_func: concatenation -2024-02-14 18:24:58, INFO: Layerwise_graph: False -2024-02-14 18:24:58, INFO: Skip_connection: True -2024-02-14 18:24:58, INFO: Number of layers: 1 -2024-02-14 18:24:58, INFO: Similarity_func: concatenation -2024-02-14 18:24:58, INFO: Layerwise_graph: False -2024-02-14 18:24:58, INFO: Skip_connection: True -2024-02-14 18:24:58, INFO: Number of layers: 1 -2024-02-14 18:24:58, INFO: Planning depth: 1 -2024-02-14 18:24:58, INFO: Planning width: 10 -2024-02-14 18:24:58, INFO: Sparse search: None -2024-02-14 18:25:00, INFO: human number: 10 -2024-02-14 18:25:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:05, INFO: Using device: cpu -2024-02-14 18:25:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:05, INFO: Similarity_func: concatenation -2024-02-14 18:25:05, INFO: Layerwise_graph: False -2024-02-14 18:25:05, INFO: Skip_connection: True -2024-02-14 18:25:05, INFO: Number of layers: 1 -2024-02-14 18:25:05, INFO: Similarity_func: concatenation -2024-02-14 18:25:05, INFO: Layerwise_graph: False -2024-02-14 18:25:05, INFO: Skip_connection: True -2024-02-14 18:25:05, INFO: Number of layers: 1 -2024-02-14 18:25:05, INFO: Planning depth: 1 -2024-02-14 18:25:05, INFO: Planning width: 10 -2024-02-14 18:25:05, INFO: Sparse search: None -2024-02-14 18:25:07, INFO: human number: 10 -2024-02-14 18:25:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:12, INFO: Using device: cpu -2024-02-14 18:25:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:12, INFO: Similarity_func: concatenation -2024-02-14 18:25:12, INFO: Layerwise_graph: False -2024-02-14 18:25:12, INFO: Skip_connection: True -2024-02-14 18:25:12, INFO: Number of layers: 1 -2024-02-14 18:25:12, INFO: Similarity_func: concatenation -2024-02-14 18:25:12, INFO: Layerwise_graph: False -2024-02-14 18:25:12, INFO: Skip_connection: True -2024-02-14 18:25:12, INFO: Number of layers: 1 -2024-02-14 18:25:12, INFO: Planning depth: 1 -2024-02-14 18:25:12, INFO: Planning width: 10 -2024-02-14 18:25:12, INFO: Sparse search: None -2024-02-14 18:25:14, INFO: human number: 10 -2024-02-14 18:25:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:19, INFO: Using device: cpu -2024-02-14 18:25:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:19, INFO: Similarity_func: concatenation -2024-02-14 18:25:19, INFO: Layerwise_graph: False -2024-02-14 18:25:19, INFO: Skip_connection: True -2024-02-14 18:25:19, INFO: Number of layers: 1 -2024-02-14 18:25:19, INFO: Similarity_func: concatenation -2024-02-14 18:25:19, INFO: Layerwise_graph: False -2024-02-14 18:25:19, INFO: Skip_connection: True -2024-02-14 18:25:19, INFO: Number of layers: 1 -2024-02-14 18:25:19, INFO: Planning depth: 1 -2024-02-14 18:25:19, INFO: Planning width: 10 -2024-02-14 18:25:19, INFO: Sparse search: None -2024-02-14 18:25:22, INFO: human number: 10 -2024-02-14 18:25:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:26, INFO: Using device: cpu -2024-02-14 18:25:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:26, INFO: Similarity_func: concatenation -2024-02-14 18:25:26, INFO: Layerwise_graph: False -2024-02-14 18:25:26, INFO: Skip_connection: True -2024-02-14 18:25:26, INFO: Number of layers: 1 -2024-02-14 18:25:26, INFO: Similarity_func: concatenation -2024-02-14 18:25:26, INFO: Layerwise_graph: False -2024-02-14 18:25:26, INFO: Skip_connection: True -2024-02-14 18:25:26, INFO: Number of layers: 1 -2024-02-14 18:25:26, INFO: Planning depth: 1 -2024-02-14 18:25:26, INFO: Planning width: 10 -2024-02-14 18:25:26, INFO: Sparse search: None -2024-02-14 18:25:29, INFO: human number: 10 -2024-02-14 18:25:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:33, INFO: Using device: cpu -2024-02-14 18:25:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:33, INFO: Similarity_func: concatenation -2024-02-14 18:25:33, INFO: Layerwise_graph: False -2024-02-14 18:25:33, INFO: Skip_connection: True -2024-02-14 18:25:33, INFO: Number of layers: 1 -2024-02-14 18:25:33, INFO: Similarity_func: concatenation -2024-02-14 18:25:33, INFO: Layerwise_graph: False -2024-02-14 18:25:33, INFO: Skip_connection: True -2024-02-14 18:25:33, INFO: Number of layers: 1 -2024-02-14 18:25:33, INFO: Planning depth: 1 -2024-02-14 18:25:33, INFO: Planning width: 10 -2024-02-14 18:25:33, INFO: Sparse search: None -2024-02-14 18:25:36, INFO: human number: 10 -2024-02-14 18:25:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:40, INFO: Using device: cpu -2024-02-14 18:25:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:40, INFO: Similarity_func: concatenation -2024-02-14 18:25:40, INFO: Layerwise_graph: False -2024-02-14 18:25:40, INFO: Skip_connection: True -2024-02-14 18:25:40, INFO: Number of layers: 1 -2024-02-14 18:25:40, INFO: Similarity_func: concatenation -2024-02-14 18:25:40, INFO: Layerwise_graph: False -2024-02-14 18:25:40, INFO: Skip_connection: True -2024-02-14 18:25:40, INFO: Number of layers: 1 -2024-02-14 18:25:40, INFO: Planning depth: 1 -2024-02-14 18:25:40, INFO: Planning width: 10 -2024-02-14 18:25:40, INFO: Sparse search: None -2024-02-14 18:25:43, INFO: human number: 10 -2024-02-14 18:25:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:47, INFO: Using device: cpu -2024-02-14 18:25:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:47, INFO: Similarity_func: concatenation -2024-02-14 18:25:47, INFO: Layerwise_graph: False -2024-02-14 18:25:47, INFO: Skip_connection: True -2024-02-14 18:25:47, INFO: Number of layers: 1 -2024-02-14 18:25:47, INFO: Similarity_func: concatenation -2024-02-14 18:25:47, INFO: Layerwise_graph: False -2024-02-14 18:25:47, INFO: Skip_connection: True -2024-02-14 18:25:47, INFO: Number of layers: 1 -2024-02-14 18:25:47, INFO: Planning depth: 1 -2024-02-14 18:25:47, INFO: Planning width: 10 -2024-02-14 18:25:47, INFO: Sparse search: None -2024-02-14 18:25:49, INFO: human number: 10 -2024-02-14 18:25:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:25:55, INFO: Using device: cpu -2024-02-14 18:25:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:25:55, INFO: Similarity_func: concatenation -2024-02-14 18:25:55, INFO: Layerwise_graph: False -2024-02-14 18:25:55, INFO: Skip_connection: True -2024-02-14 18:25:55, INFO: Number of layers: 1 -2024-02-14 18:25:55, INFO: Similarity_func: concatenation -2024-02-14 18:25:55, INFO: Layerwise_graph: False -2024-02-14 18:25:55, INFO: Skip_connection: True -2024-02-14 18:25:55, INFO: Number of layers: 1 -2024-02-14 18:25:55, INFO: Planning depth: 1 -2024-02-14 18:25:55, INFO: Planning width: 10 -2024-02-14 18:25:55, INFO: Sparse search: None -2024-02-14 18:25:58, INFO: human number: 10 -2024-02-14 18:25:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:25:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:25:58, INFO: Square width: 10, circle width: 4 -2024-02-14 18:25:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:25:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:02, INFO: Using device: cpu -2024-02-14 18:26:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:02, INFO: Similarity_func: concatenation -2024-02-14 18:26:02, INFO: Layerwise_graph: False -2024-02-14 18:26:02, INFO: Skip_connection: True -2024-02-14 18:26:02, INFO: Number of layers: 1 -2024-02-14 18:26:02, INFO: Similarity_func: concatenation -2024-02-14 18:26:02, INFO: Layerwise_graph: False -2024-02-14 18:26:02, INFO: Skip_connection: True -2024-02-14 18:26:02, INFO: Number of layers: 1 -2024-02-14 18:26:02, INFO: Planning depth: 1 -2024-02-14 18:26:02, INFO: Planning width: 10 -2024-02-14 18:26:02, INFO: Sparse search: None -2024-02-14 18:26:04, INFO: human number: 10 -2024-02-14 18:26:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:09, INFO: Using device: cpu -2024-02-14 18:26:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:09, INFO: Similarity_func: concatenation -2024-02-14 18:26:09, INFO: Layerwise_graph: False -2024-02-14 18:26:09, INFO: Skip_connection: True -2024-02-14 18:26:09, INFO: Number of layers: 1 -2024-02-14 18:26:09, INFO: Similarity_func: concatenation -2024-02-14 18:26:09, INFO: Layerwise_graph: False -2024-02-14 18:26:09, INFO: Skip_connection: True -2024-02-14 18:26:09, INFO: Number of layers: 1 -2024-02-14 18:26:09, INFO: Planning depth: 1 -2024-02-14 18:26:09, INFO: Planning width: 10 -2024-02-14 18:26:09, INFO: Sparse search: None -2024-02-14 18:26:11, INFO: human number: 10 -2024-02-14 18:26:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:16, INFO: Using device: cpu -2024-02-14 18:26:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:16, INFO: Similarity_func: concatenation -2024-02-14 18:26:16, INFO: Layerwise_graph: False -2024-02-14 18:26:16, INFO: Skip_connection: True -2024-02-14 18:26:16, INFO: Number of layers: 1 -2024-02-14 18:26:16, INFO: Similarity_func: concatenation -2024-02-14 18:26:16, INFO: Layerwise_graph: False -2024-02-14 18:26:16, INFO: Skip_connection: True -2024-02-14 18:26:16, INFO: Number of layers: 1 -2024-02-14 18:26:16, INFO: Planning depth: 1 -2024-02-14 18:26:16, INFO: Planning width: 10 -2024-02-14 18:26:16, INFO: Sparse search: None -2024-02-14 18:26:19, INFO: human number: 10 -2024-02-14 18:26:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:23, INFO: Using device: cpu -2024-02-14 18:26:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:23, INFO: Similarity_func: concatenation -2024-02-14 18:26:23, INFO: Layerwise_graph: False -2024-02-14 18:26:23, INFO: Skip_connection: True -2024-02-14 18:26:23, INFO: Number of layers: 1 -2024-02-14 18:26:23, INFO: Similarity_func: concatenation -2024-02-14 18:26:23, INFO: Layerwise_graph: False -2024-02-14 18:26:23, INFO: Skip_connection: True -2024-02-14 18:26:23, INFO: Number of layers: 1 -2024-02-14 18:26:23, INFO: Planning depth: 1 -2024-02-14 18:26:23, INFO: Planning width: 10 -2024-02-14 18:26:23, INFO: Sparse search: None -2024-02-14 18:26:26, INFO: human number: 10 -2024-02-14 18:26:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:30, INFO: Using device: cpu -2024-02-14 18:26:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:30, INFO: Similarity_func: concatenation -2024-02-14 18:26:30, INFO: Layerwise_graph: False -2024-02-14 18:26:30, INFO: Skip_connection: True -2024-02-14 18:26:30, INFO: Number of layers: 1 -2024-02-14 18:26:30, INFO: Similarity_func: concatenation -2024-02-14 18:26:30, INFO: Layerwise_graph: False -2024-02-14 18:26:30, INFO: Skip_connection: True -2024-02-14 18:26:30, INFO: Number of layers: 1 -2024-02-14 18:26:30, INFO: Planning depth: 1 -2024-02-14 18:26:30, INFO: Planning width: 10 -2024-02-14 18:26:30, INFO: Sparse search: None -2024-02-14 18:26:33, INFO: human number: 10 -2024-02-14 18:26:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:38, INFO: Using device: cpu -2024-02-14 18:26:38, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:38, INFO: Similarity_func: concatenation -2024-02-14 18:26:38, INFO: Layerwise_graph: False -2024-02-14 18:26:38, INFO: Skip_connection: True -2024-02-14 18:26:38, INFO: Number of layers: 1 -2024-02-14 18:26:38, INFO: Similarity_func: concatenation -2024-02-14 18:26:38, INFO: Layerwise_graph: False -2024-02-14 18:26:38, INFO: Skip_connection: True -2024-02-14 18:26:38, INFO: Number of layers: 1 -2024-02-14 18:26:38, INFO: Planning depth: 1 -2024-02-14 18:26:38, INFO: Planning width: 10 -2024-02-14 18:26:38, INFO: Sparse search: None -2024-02-14 18:26:40, INFO: human number: 10 -2024-02-14 18:26:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:45, INFO: Using device: cpu -2024-02-14 18:26:45, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:45, INFO: Similarity_func: concatenation -2024-02-14 18:26:45, INFO: Layerwise_graph: False -2024-02-14 18:26:45, INFO: Skip_connection: True -2024-02-14 18:26:45, INFO: Number of layers: 1 -2024-02-14 18:26:45, INFO: Similarity_func: concatenation -2024-02-14 18:26:45, INFO: Layerwise_graph: False -2024-02-14 18:26:45, INFO: Skip_connection: True -2024-02-14 18:26:45, INFO: Number of layers: 1 -2024-02-14 18:26:45, INFO: Planning depth: 1 -2024-02-14 18:26:45, INFO: Planning width: 10 -2024-02-14 18:26:45, INFO: Sparse search: None -2024-02-14 18:26:47, INFO: human number: 10 -2024-02-14 18:26:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:51, INFO: Using device: cpu -2024-02-14 18:26:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:51, INFO: Similarity_func: concatenation -2024-02-14 18:26:51, INFO: Layerwise_graph: False -2024-02-14 18:26:51, INFO: Skip_connection: True -2024-02-14 18:26:51, INFO: Number of layers: 1 -2024-02-14 18:26:51, INFO: Similarity_func: concatenation -2024-02-14 18:26:51, INFO: Layerwise_graph: False -2024-02-14 18:26:51, INFO: Skip_connection: True -2024-02-14 18:26:51, INFO: Number of layers: 1 -2024-02-14 18:26:51, INFO: Planning depth: 1 -2024-02-14 18:26:51, INFO: Planning width: 10 -2024-02-14 18:26:51, INFO: Sparse search: None -2024-02-14 18:26:54, INFO: human number: 10 -2024-02-14 18:26:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:26:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:26:54, INFO: Square width: 10, circle width: 4 -2024-02-14 18:26:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:26:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:26:58, INFO: Using device: cpu -2024-02-14 18:26:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:26:58, INFO: Similarity_func: concatenation -2024-02-14 18:26:58, INFO: Layerwise_graph: False -2024-02-14 18:26:58, INFO: Skip_connection: True -2024-02-14 18:26:58, INFO: Number of layers: 1 -2024-02-14 18:26:58, INFO: Similarity_func: concatenation -2024-02-14 18:26:58, INFO: Layerwise_graph: False -2024-02-14 18:26:58, INFO: Skip_connection: True -2024-02-14 18:26:58, INFO: Number of layers: 1 -2024-02-14 18:26:58, INFO: Planning depth: 1 -2024-02-14 18:26:58, INFO: Planning width: 10 -2024-02-14 18:26:58, INFO: Sparse search: None -2024-02-14 18:27:01, INFO: human number: 10 -2024-02-14 18:27:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:05, INFO: Using device: cpu -2024-02-14 18:27:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:05, INFO: Similarity_func: concatenation -2024-02-14 18:27:05, INFO: Layerwise_graph: False -2024-02-14 18:27:05, INFO: Skip_connection: True -2024-02-14 18:27:05, INFO: Number of layers: 1 -2024-02-14 18:27:05, INFO: Similarity_func: concatenation -2024-02-14 18:27:05, INFO: Layerwise_graph: False -2024-02-14 18:27:05, INFO: Skip_connection: True -2024-02-14 18:27:05, INFO: Number of layers: 1 -2024-02-14 18:27:05, INFO: Planning depth: 1 -2024-02-14 18:27:05, INFO: Planning width: 10 -2024-02-14 18:27:05, INFO: Sparse search: None -2024-02-14 18:27:07, INFO: human number: 10 -2024-02-14 18:27:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:12, INFO: Using device: cpu -2024-02-14 18:27:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:12, INFO: Similarity_func: concatenation -2024-02-14 18:27:12, INFO: Layerwise_graph: False -2024-02-14 18:27:12, INFO: Skip_connection: True -2024-02-14 18:27:12, INFO: Number of layers: 1 -2024-02-14 18:27:12, INFO: Similarity_func: concatenation -2024-02-14 18:27:12, INFO: Layerwise_graph: False -2024-02-14 18:27:12, INFO: Skip_connection: True -2024-02-14 18:27:12, INFO: Number of layers: 1 -2024-02-14 18:27:12, INFO: Planning depth: 1 -2024-02-14 18:27:12, INFO: Planning width: 10 -2024-02-14 18:27:12, INFO: Sparse search: None -2024-02-14 18:27:15, INFO: human number: 10 -2024-02-14 18:27:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:19, INFO: Using device: cpu -2024-02-14 18:27:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:19, INFO: Similarity_func: concatenation -2024-02-14 18:27:19, INFO: Layerwise_graph: False -2024-02-14 18:27:19, INFO: Skip_connection: True -2024-02-14 18:27:19, INFO: Number of layers: 1 -2024-02-14 18:27:19, INFO: Similarity_func: concatenation -2024-02-14 18:27:19, INFO: Layerwise_graph: False -2024-02-14 18:27:19, INFO: Skip_connection: True -2024-02-14 18:27:19, INFO: Number of layers: 1 -2024-02-14 18:27:19, INFO: Planning depth: 1 -2024-02-14 18:27:19, INFO: Planning width: 10 -2024-02-14 18:27:19, INFO: Sparse search: None -2024-02-14 18:27:21, INFO: human number: 10 -2024-02-14 18:27:21, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:21, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:21, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:26, INFO: Using device: cpu -2024-02-14 18:27:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:26, INFO: Similarity_func: concatenation -2024-02-14 18:27:26, INFO: Layerwise_graph: False -2024-02-14 18:27:26, INFO: Skip_connection: True -2024-02-14 18:27:26, INFO: Number of layers: 1 -2024-02-14 18:27:26, INFO: Similarity_func: concatenation -2024-02-14 18:27:26, INFO: Layerwise_graph: False -2024-02-14 18:27:26, INFO: Skip_connection: True -2024-02-14 18:27:26, INFO: Number of layers: 1 -2024-02-14 18:27:26, INFO: Planning depth: 1 -2024-02-14 18:27:26, INFO: Planning width: 10 -2024-02-14 18:27:26, INFO: Sparse search: None -2024-02-14 18:27:29, INFO: human number: 10 -2024-02-14 18:27:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:33, INFO: Using device: cpu -2024-02-14 18:27:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:33, INFO: Similarity_func: concatenation -2024-02-14 18:27:33, INFO: Layerwise_graph: False -2024-02-14 18:27:33, INFO: Skip_connection: True -2024-02-14 18:27:33, INFO: Number of layers: 1 -2024-02-14 18:27:33, INFO: Similarity_func: concatenation -2024-02-14 18:27:33, INFO: Layerwise_graph: False -2024-02-14 18:27:33, INFO: Skip_connection: True -2024-02-14 18:27:33, INFO: Number of layers: 1 -2024-02-14 18:27:33, INFO: Planning depth: 1 -2024-02-14 18:27:33, INFO: Planning width: 10 -2024-02-14 18:27:33, INFO: Sparse search: None -2024-02-14 18:27:36, INFO: human number: 10 -2024-02-14 18:27:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:40, INFO: Using device: cpu -2024-02-14 18:27:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:40, INFO: Similarity_func: concatenation -2024-02-14 18:27:40, INFO: Layerwise_graph: False -2024-02-14 18:27:40, INFO: Skip_connection: True -2024-02-14 18:27:40, INFO: Number of layers: 1 -2024-02-14 18:27:40, INFO: Similarity_func: concatenation -2024-02-14 18:27:40, INFO: Layerwise_graph: False -2024-02-14 18:27:40, INFO: Skip_connection: True -2024-02-14 18:27:40, INFO: Number of layers: 1 -2024-02-14 18:27:40, INFO: Planning depth: 1 -2024-02-14 18:27:40, INFO: Planning width: 10 -2024-02-14 18:27:40, INFO: Sparse search: None -2024-02-14 18:27:43, INFO: human number: 10 -2024-02-14 18:27:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:47, INFO: Using device: cpu -2024-02-14 18:27:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:47, INFO: Similarity_func: concatenation -2024-02-14 18:27:47, INFO: Layerwise_graph: False -2024-02-14 18:27:47, INFO: Skip_connection: True -2024-02-14 18:27:47, INFO: Number of layers: 1 -2024-02-14 18:27:47, INFO: Similarity_func: concatenation -2024-02-14 18:27:47, INFO: Layerwise_graph: False -2024-02-14 18:27:47, INFO: Skip_connection: True -2024-02-14 18:27:47, INFO: Number of layers: 1 -2024-02-14 18:27:47, INFO: Planning depth: 1 -2024-02-14 18:27:47, INFO: Planning width: 10 -2024-02-14 18:27:47, INFO: Sparse search: None -2024-02-14 18:27:49, INFO: human number: 10 -2024-02-14 18:27:49, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:49, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:49, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:27:55, INFO: Using device: cpu -2024-02-14 18:27:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:27:55, INFO: Similarity_func: concatenation -2024-02-14 18:27:55, INFO: Layerwise_graph: False -2024-02-14 18:27:55, INFO: Skip_connection: True -2024-02-14 18:27:55, INFO: Number of layers: 1 -2024-02-14 18:27:55, INFO: Similarity_func: concatenation -2024-02-14 18:27:55, INFO: Layerwise_graph: False -2024-02-14 18:27:55, INFO: Skip_connection: True -2024-02-14 18:27:55, INFO: Number of layers: 1 -2024-02-14 18:27:55, INFO: Planning depth: 1 -2024-02-14 18:27:55, INFO: Planning width: 10 -2024-02-14 18:27:55, INFO: Sparse search: None -2024-02-14 18:27:57, INFO: human number: 10 -2024-02-14 18:27:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:27:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:27:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:27:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:27:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:01, INFO: Using device: cpu -2024-02-14 18:28:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:01, INFO: Similarity_func: concatenation -2024-02-14 18:28:01, INFO: Layerwise_graph: False -2024-02-14 18:28:01, INFO: Skip_connection: True -2024-02-14 18:28:01, INFO: Number of layers: 1 -2024-02-14 18:28:01, INFO: Similarity_func: concatenation -2024-02-14 18:28:01, INFO: Layerwise_graph: False -2024-02-14 18:28:01, INFO: Skip_connection: True -2024-02-14 18:28:01, INFO: Number of layers: 1 -2024-02-14 18:28:01, INFO: Planning depth: 1 -2024-02-14 18:28:01, INFO: Planning width: 10 -2024-02-14 18:28:01, INFO: Sparse search: None -2024-02-14 18:28:04, INFO: human number: 10 -2024-02-14 18:28:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:09, INFO: Using device: cpu -2024-02-14 18:28:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:09, INFO: Similarity_func: concatenation -2024-02-14 18:28:09, INFO: Layerwise_graph: False -2024-02-14 18:28:09, INFO: Skip_connection: True -2024-02-14 18:28:09, INFO: Number of layers: 1 -2024-02-14 18:28:09, INFO: Similarity_func: concatenation -2024-02-14 18:28:09, INFO: Layerwise_graph: False -2024-02-14 18:28:09, INFO: Skip_connection: True -2024-02-14 18:28:09, INFO: Number of layers: 1 -2024-02-14 18:28:09, INFO: Planning depth: 1 -2024-02-14 18:28:09, INFO: Planning width: 10 -2024-02-14 18:28:09, INFO: Sparse search: None -2024-02-14 18:28:11, INFO: human number: 10 -2024-02-14 18:28:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:16, INFO: Using device: cpu -2024-02-14 18:28:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:16, INFO: Similarity_func: concatenation -2024-02-14 18:28:16, INFO: Layerwise_graph: False -2024-02-14 18:28:16, INFO: Skip_connection: True -2024-02-14 18:28:16, INFO: Number of layers: 1 -2024-02-14 18:28:16, INFO: Similarity_func: concatenation -2024-02-14 18:28:16, INFO: Layerwise_graph: False -2024-02-14 18:28:16, INFO: Skip_connection: True -2024-02-14 18:28:16, INFO: Number of layers: 1 -2024-02-14 18:28:16, INFO: Planning depth: 1 -2024-02-14 18:28:16, INFO: Planning width: 10 -2024-02-14 18:28:16, INFO: Sparse search: None -2024-02-14 18:28:19, INFO: human number: 10 -2024-02-14 18:28:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:23, INFO: Using device: cpu -2024-02-14 18:28:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:23, INFO: Similarity_func: concatenation -2024-02-14 18:28:23, INFO: Layerwise_graph: False -2024-02-14 18:28:23, INFO: Skip_connection: True -2024-02-14 18:28:23, INFO: Number of layers: 1 -2024-02-14 18:28:23, INFO: Similarity_func: concatenation -2024-02-14 18:28:23, INFO: Layerwise_graph: False -2024-02-14 18:28:23, INFO: Skip_connection: True -2024-02-14 18:28:23, INFO: Number of layers: 1 -2024-02-14 18:28:23, INFO: Planning depth: 1 -2024-02-14 18:28:23, INFO: Planning width: 10 -2024-02-14 18:28:23, INFO: Sparse search: None -2024-02-14 18:28:26, INFO: human number: 10 -2024-02-14 18:28:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:30, INFO: Using device: cpu -2024-02-14 18:28:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:30, INFO: Similarity_func: concatenation -2024-02-14 18:28:30, INFO: Layerwise_graph: False -2024-02-14 18:28:30, INFO: Skip_connection: True -2024-02-14 18:28:30, INFO: Number of layers: 1 -2024-02-14 18:28:30, INFO: Similarity_func: concatenation -2024-02-14 18:28:30, INFO: Layerwise_graph: False -2024-02-14 18:28:30, INFO: Skip_connection: True -2024-02-14 18:28:30, INFO: Number of layers: 1 -2024-02-14 18:28:30, INFO: Planning depth: 1 -2024-02-14 18:28:30, INFO: Planning width: 10 -2024-02-14 18:28:30, INFO: Sparse search: None -2024-02-14 18:28:33, INFO: human number: 10 -2024-02-14 18:28:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:38, INFO: Using device: cpu -2024-02-14 18:28:38, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:38, INFO: Similarity_func: concatenation -2024-02-14 18:28:38, INFO: Layerwise_graph: False -2024-02-14 18:28:38, INFO: Skip_connection: True -2024-02-14 18:28:38, INFO: Number of layers: 1 -2024-02-14 18:28:38, INFO: Similarity_func: concatenation -2024-02-14 18:28:38, INFO: Layerwise_graph: False -2024-02-14 18:28:38, INFO: Skip_connection: True -2024-02-14 18:28:38, INFO: Number of layers: 1 -2024-02-14 18:28:38, INFO: Planning depth: 1 -2024-02-14 18:28:38, INFO: Planning width: 10 -2024-02-14 18:28:38, INFO: Sparse search: None -2024-02-14 18:28:40, INFO: human number: 10 -2024-02-14 18:28:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:44, INFO: Using device: cpu -2024-02-14 18:28:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:44, INFO: Similarity_func: concatenation -2024-02-14 18:28:44, INFO: Layerwise_graph: False -2024-02-14 18:28:44, INFO: Skip_connection: True -2024-02-14 18:28:44, INFO: Number of layers: 1 -2024-02-14 18:28:44, INFO: Similarity_func: concatenation -2024-02-14 18:28:44, INFO: Layerwise_graph: False -2024-02-14 18:28:44, INFO: Skip_connection: True -2024-02-14 18:28:44, INFO: Number of layers: 1 -2024-02-14 18:28:44, INFO: Planning depth: 1 -2024-02-14 18:28:44, INFO: Planning width: 10 -2024-02-14 18:28:44, INFO: Sparse search: None -2024-02-14 18:28:47, INFO: human number: 10 -2024-02-14 18:28:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:51, INFO: Using device: cpu -2024-02-14 18:28:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:51, INFO: Similarity_func: concatenation -2024-02-14 18:28:51, INFO: Layerwise_graph: False -2024-02-14 18:28:51, INFO: Skip_connection: True -2024-02-14 18:28:51, INFO: Number of layers: 1 -2024-02-14 18:28:51, INFO: Similarity_func: concatenation -2024-02-14 18:28:51, INFO: Layerwise_graph: False -2024-02-14 18:28:51, INFO: Skip_connection: True -2024-02-14 18:28:51, INFO: Number of layers: 1 -2024-02-14 18:28:51, INFO: Planning depth: 1 -2024-02-14 18:28:51, INFO: Planning width: 10 -2024-02-14 18:28:51, INFO: Sparse search: None -2024-02-14 18:28:54, INFO: human number: 10 -2024-02-14 18:28:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:28:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:28:54, INFO: Square width: 10, circle width: 4 -2024-02-14 18:28:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:28:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:28:59, INFO: Using device: cpu -2024-02-14 18:28:59, INFO: Loaded RL weights with best VAL -2024-02-14 18:28:59, INFO: Similarity_func: concatenation -2024-02-14 18:28:59, INFO: Layerwise_graph: False -2024-02-14 18:28:59, INFO: Skip_connection: True -2024-02-14 18:28:59, INFO: Number of layers: 1 -2024-02-14 18:28:59, INFO: Similarity_func: concatenation -2024-02-14 18:28:59, INFO: Layerwise_graph: False -2024-02-14 18:28:59, INFO: Skip_connection: True -2024-02-14 18:28:59, INFO: Number of layers: 1 -2024-02-14 18:28:59, INFO: Planning depth: 1 -2024-02-14 18:28:59, INFO: Planning width: 10 -2024-02-14 18:28:59, INFO: Sparse search: None -2024-02-14 18:29:01, INFO: human number: 10 -2024-02-14 18:29:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:06, INFO: Using device: cpu -2024-02-14 18:29:06, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:06, INFO: Similarity_func: concatenation -2024-02-14 18:29:06, INFO: Layerwise_graph: False -2024-02-14 18:29:06, INFO: Skip_connection: True -2024-02-14 18:29:06, INFO: Number of layers: 1 -2024-02-14 18:29:06, INFO: Similarity_func: concatenation -2024-02-14 18:29:06, INFO: Layerwise_graph: False -2024-02-14 18:29:06, INFO: Skip_connection: True -2024-02-14 18:29:06, INFO: Number of layers: 1 -2024-02-14 18:29:06, INFO: Planning depth: 1 -2024-02-14 18:29:06, INFO: Planning width: 10 -2024-02-14 18:29:06, INFO: Sparse search: None -2024-02-14 18:29:09, INFO: human number: 10 -2024-02-14 18:29:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:09, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:13, INFO: Using device: cpu -2024-02-14 18:29:13, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:13, INFO: Similarity_func: concatenation -2024-02-14 18:29:13, INFO: Layerwise_graph: False -2024-02-14 18:29:13, INFO: Skip_connection: True -2024-02-14 18:29:13, INFO: Number of layers: 1 -2024-02-14 18:29:13, INFO: Similarity_func: concatenation -2024-02-14 18:29:13, INFO: Layerwise_graph: False -2024-02-14 18:29:13, INFO: Skip_connection: True -2024-02-14 18:29:13, INFO: Number of layers: 1 -2024-02-14 18:29:13, INFO: Planning depth: 1 -2024-02-14 18:29:13, INFO: Planning width: 10 -2024-02-14 18:29:13, INFO: Sparse search: None -2024-02-14 18:29:16, INFO: human number: 10 -2024-02-14 18:29:16, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:16, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:16, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:20, INFO: Using device: cpu -2024-02-14 18:29:20, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:20, INFO: Similarity_func: concatenation -2024-02-14 18:29:20, INFO: Layerwise_graph: False -2024-02-14 18:29:20, INFO: Skip_connection: True -2024-02-14 18:29:20, INFO: Number of layers: 1 -2024-02-14 18:29:20, INFO: Similarity_func: concatenation -2024-02-14 18:29:20, INFO: Layerwise_graph: False -2024-02-14 18:29:20, INFO: Skip_connection: True -2024-02-14 18:29:20, INFO: Number of layers: 1 -2024-02-14 18:29:20, INFO: Planning depth: 1 -2024-02-14 18:29:20, INFO: Planning width: 10 -2024-02-14 18:29:20, INFO: Sparse search: None -2024-02-14 18:29:23, INFO: human number: 10 -2024-02-14 18:29:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:27, INFO: Using device: cpu -2024-02-14 18:29:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:27, INFO: Similarity_func: concatenation -2024-02-14 18:29:27, INFO: Layerwise_graph: False -2024-02-14 18:29:27, INFO: Skip_connection: True -2024-02-14 18:29:27, INFO: Number of layers: 1 -2024-02-14 18:29:27, INFO: Similarity_func: concatenation -2024-02-14 18:29:27, INFO: Layerwise_graph: False -2024-02-14 18:29:27, INFO: Skip_connection: True -2024-02-14 18:29:27, INFO: Number of layers: 1 -2024-02-14 18:29:27, INFO: Planning depth: 1 -2024-02-14 18:29:27, INFO: Planning width: 10 -2024-02-14 18:29:27, INFO: Sparse search: None -2024-02-14 18:29:30, INFO: human number: 10 -2024-02-14 18:29:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:35, INFO: Using device: cpu -2024-02-14 18:29:35, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:35, INFO: Similarity_func: concatenation -2024-02-14 18:29:35, INFO: Layerwise_graph: False -2024-02-14 18:29:35, INFO: Skip_connection: True -2024-02-14 18:29:35, INFO: Number of layers: 1 -2024-02-14 18:29:35, INFO: Similarity_func: concatenation -2024-02-14 18:29:35, INFO: Layerwise_graph: False -2024-02-14 18:29:35, INFO: Skip_connection: True -2024-02-14 18:29:35, INFO: Number of layers: 1 -2024-02-14 18:29:35, INFO: Planning depth: 1 -2024-02-14 18:29:35, INFO: Planning width: 10 -2024-02-14 18:29:35, INFO: Sparse search: None -2024-02-14 18:29:37, INFO: human number: 10 -2024-02-14 18:29:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:41, INFO: Using device: cpu -2024-02-14 18:29:41, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:41, INFO: Similarity_func: concatenation -2024-02-14 18:29:41, INFO: Layerwise_graph: False -2024-02-14 18:29:41, INFO: Skip_connection: True -2024-02-14 18:29:41, INFO: Number of layers: 1 -2024-02-14 18:29:41, INFO: Similarity_func: concatenation -2024-02-14 18:29:41, INFO: Layerwise_graph: False -2024-02-14 18:29:41, INFO: Skip_connection: True -2024-02-14 18:29:41, INFO: Number of layers: 1 -2024-02-14 18:29:41, INFO: Planning depth: 1 -2024-02-14 18:29:41, INFO: Planning width: 10 -2024-02-14 18:29:41, INFO: Sparse search: None -2024-02-14 18:29:44, INFO: human number: 10 -2024-02-14 18:29:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:44, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:49, INFO: Using device: cpu -2024-02-14 18:29:49, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:49, INFO: Similarity_func: concatenation -2024-02-14 18:29:49, INFO: Layerwise_graph: False -2024-02-14 18:29:49, INFO: Skip_connection: True -2024-02-14 18:29:49, INFO: Number of layers: 1 -2024-02-14 18:29:49, INFO: Similarity_func: concatenation -2024-02-14 18:29:49, INFO: Layerwise_graph: False -2024-02-14 18:29:49, INFO: Skip_connection: True -2024-02-14 18:29:49, INFO: Number of layers: 1 -2024-02-14 18:29:49, INFO: Planning depth: 1 -2024-02-14 18:29:49, INFO: Planning width: 10 -2024-02-14 18:29:49, INFO: Sparse search: None -2024-02-14 18:29:51, INFO: human number: 10 -2024-02-14 18:29:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:51, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:29:55, INFO: Using device: cpu -2024-02-14 18:29:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:29:55, INFO: Similarity_func: concatenation -2024-02-14 18:29:55, INFO: Layerwise_graph: False -2024-02-14 18:29:55, INFO: Skip_connection: True -2024-02-14 18:29:55, INFO: Number of layers: 1 -2024-02-14 18:29:55, INFO: Similarity_func: concatenation -2024-02-14 18:29:55, INFO: Layerwise_graph: False -2024-02-14 18:29:55, INFO: Skip_connection: True -2024-02-14 18:29:55, INFO: Number of layers: 1 -2024-02-14 18:29:55, INFO: Planning depth: 1 -2024-02-14 18:29:55, INFO: Planning width: 10 -2024-02-14 18:29:55, INFO: Sparse search: None -2024-02-14 18:29:58, INFO: human number: 10 -2024-02-14 18:29:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:29:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:29:58, INFO: Square width: 10, circle width: 4 -2024-02-14 18:29:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:29:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:02, INFO: Using device: cpu -2024-02-14 18:30:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:02, INFO: Similarity_func: concatenation -2024-02-14 18:30:02, INFO: Layerwise_graph: False -2024-02-14 18:30:02, INFO: Skip_connection: True -2024-02-14 18:30:02, INFO: Number of layers: 1 -2024-02-14 18:30:02, INFO: Similarity_func: concatenation -2024-02-14 18:30:02, INFO: Layerwise_graph: False -2024-02-14 18:30:02, INFO: Skip_connection: True -2024-02-14 18:30:02, INFO: Number of layers: 1 -2024-02-14 18:30:02, INFO: Planning depth: 1 -2024-02-14 18:30:02, INFO: Planning width: 10 -2024-02-14 18:30:02, INFO: Sparse search: None -2024-02-14 18:30:05, INFO: human number: 10 -2024-02-14 18:30:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:05, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:09, INFO: Using device: cpu -2024-02-14 18:30:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:09, INFO: Similarity_func: concatenation -2024-02-14 18:30:09, INFO: Layerwise_graph: False -2024-02-14 18:30:09, INFO: Skip_connection: True -2024-02-14 18:30:09, INFO: Number of layers: 1 -2024-02-14 18:30:09, INFO: Similarity_func: concatenation -2024-02-14 18:30:09, INFO: Layerwise_graph: False -2024-02-14 18:30:09, INFO: Skip_connection: True -2024-02-14 18:30:09, INFO: Number of layers: 1 -2024-02-14 18:30:09, INFO: Planning depth: 1 -2024-02-14 18:30:09, INFO: Planning width: 10 -2024-02-14 18:30:09, INFO: Sparse search: None -2024-02-14 18:30:12, INFO: human number: 10 -2024-02-14 18:30:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:12, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:17, INFO: Using device: cpu -2024-02-14 18:30:17, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:17, INFO: Similarity_func: concatenation -2024-02-14 18:30:17, INFO: Layerwise_graph: False -2024-02-14 18:30:17, INFO: Skip_connection: True -2024-02-14 18:30:17, INFO: Number of layers: 1 -2024-02-14 18:30:17, INFO: Similarity_func: concatenation -2024-02-14 18:30:17, INFO: Layerwise_graph: False -2024-02-14 18:30:17, INFO: Skip_connection: True -2024-02-14 18:30:17, INFO: Number of layers: 1 -2024-02-14 18:30:17, INFO: Planning depth: 1 -2024-02-14 18:30:17, INFO: Planning width: 10 -2024-02-14 18:30:17, INFO: Sparse search: None -2024-02-14 18:30:19, INFO: human number: 10 -2024-02-14 18:30:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:24, INFO: Using device: cpu -2024-02-14 18:30:24, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:24, INFO: Similarity_func: concatenation -2024-02-14 18:30:24, INFO: Layerwise_graph: False -2024-02-14 18:30:24, INFO: Skip_connection: True -2024-02-14 18:30:24, INFO: Number of layers: 1 -2024-02-14 18:30:24, INFO: Similarity_func: concatenation -2024-02-14 18:30:24, INFO: Layerwise_graph: False -2024-02-14 18:30:24, INFO: Skip_connection: True -2024-02-14 18:30:24, INFO: Number of layers: 1 -2024-02-14 18:30:24, INFO: Planning depth: 1 -2024-02-14 18:30:24, INFO: Planning width: 10 -2024-02-14 18:30:24, INFO: Sparse search: None -2024-02-14 18:30:26, INFO: human number: 10 -2024-02-14 18:30:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:31, INFO: Using device: cpu -2024-02-14 18:30:31, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:31, INFO: Similarity_func: concatenation -2024-02-14 18:30:31, INFO: Layerwise_graph: False -2024-02-14 18:30:31, INFO: Skip_connection: True -2024-02-14 18:30:31, INFO: Number of layers: 1 -2024-02-14 18:30:31, INFO: Similarity_func: concatenation -2024-02-14 18:30:31, INFO: Layerwise_graph: False -2024-02-14 18:30:31, INFO: Skip_connection: True -2024-02-14 18:30:31, INFO: Number of layers: 1 -2024-02-14 18:30:31, INFO: Planning depth: 1 -2024-02-14 18:30:31, INFO: Planning width: 10 -2024-02-14 18:30:31, INFO: Sparse search: None -2024-02-14 18:30:33, INFO: human number: 10 -2024-02-14 18:30:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:38, INFO: Using device: cpu -2024-02-14 18:30:38, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:38, INFO: Similarity_func: concatenation -2024-02-14 18:30:38, INFO: Layerwise_graph: False -2024-02-14 18:30:38, INFO: Skip_connection: True -2024-02-14 18:30:38, INFO: Number of layers: 1 -2024-02-14 18:30:38, INFO: Similarity_func: concatenation -2024-02-14 18:30:38, INFO: Layerwise_graph: False -2024-02-14 18:30:38, INFO: Skip_connection: True -2024-02-14 18:30:38, INFO: Number of layers: 1 -2024-02-14 18:30:38, INFO: Planning depth: 1 -2024-02-14 18:30:38, INFO: Planning width: 10 -2024-02-14 18:30:38, INFO: Sparse search: None -2024-02-14 18:30:41, INFO: human number: 10 -2024-02-14 18:30:41, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:41, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:41, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:45, INFO: Using device: cpu -2024-02-14 18:30:45, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:45, INFO: Similarity_func: concatenation -2024-02-14 18:30:45, INFO: Layerwise_graph: False -2024-02-14 18:30:45, INFO: Skip_connection: True -2024-02-14 18:30:45, INFO: Number of layers: 1 -2024-02-14 18:30:45, INFO: Similarity_func: concatenation -2024-02-14 18:30:45, INFO: Layerwise_graph: False -2024-02-14 18:30:45, INFO: Skip_connection: True -2024-02-14 18:30:45, INFO: Number of layers: 1 -2024-02-14 18:30:45, INFO: Planning depth: 1 -2024-02-14 18:30:45, INFO: Planning width: 10 -2024-02-14 18:30:45, INFO: Sparse search: None -2024-02-14 18:30:48, INFO: human number: 10 -2024-02-14 18:30:48, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:48, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:48, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:52, INFO: Using device: cpu -2024-02-14 18:30:52, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:52, INFO: Similarity_func: concatenation -2024-02-14 18:30:52, INFO: Layerwise_graph: False -2024-02-14 18:30:52, INFO: Skip_connection: True -2024-02-14 18:30:52, INFO: Number of layers: 1 -2024-02-14 18:30:52, INFO: Similarity_func: concatenation -2024-02-14 18:30:52, INFO: Layerwise_graph: False -2024-02-14 18:30:52, INFO: Skip_connection: True -2024-02-14 18:30:52, INFO: Number of layers: 1 -2024-02-14 18:30:52, INFO: Planning depth: 1 -2024-02-14 18:30:52, INFO: Planning width: 10 -2024-02-14 18:30:52, INFO: Sparse search: None -2024-02-14 18:30:55, INFO: human number: 10 -2024-02-14 18:30:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:30:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:30:55, INFO: Square width: 10, circle width: 4 -2024-02-14 18:30:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:30:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:30:59, INFO: Using device: cpu -2024-02-14 18:30:59, INFO: Loaded RL weights with best VAL -2024-02-14 18:30:59, INFO: Similarity_func: concatenation -2024-02-14 18:30:59, INFO: Layerwise_graph: False -2024-02-14 18:30:59, INFO: Skip_connection: True -2024-02-14 18:30:59, INFO: Number of layers: 1 -2024-02-14 18:30:59, INFO: Similarity_func: concatenation -2024-02-14 18:30:59, INFO: Layerwise_graph: False -2024-02-14 18:30:59, INFO: Skip_connection: True -2024-02-14 18:30:59, INFO: Number of layers: 1 -2024-02-14 18:30:59, INFO: Planning depth: 1 -2024-02-14 18:30:59, INFO: Planning width: 10 -2024-02-14 18:30:59, INFO: Sparse search: None -2024-02-14 18:31:01, INFO: human number: 10 -2024-02-14 18:31:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:06, INFO: Using device: cpu -2024-02-14 18:31:06, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:06, INFO: Similarity_func: concatenation -2024-02-14 18:31:06, INFO: Layerwise_graph: False -2024-02-14 18:31:06, INFO: Skip_connection: True -2024-02-14 18:31:06, INFO: Number of layers: 1 -2024-02-14 18:31:06, INFO: Similarity_func: concatenation -2024-02-14 18:31:06, INFO: Layerwise_graph: False -2024-02-14 18:31:06, INFO: Skip_connection: True -2024-02-14 18:31:06, INFO: Number of layers: 1 -2024-02-14 18:31:06, INFO: Planning depth: 1 -2024-02-14 18:31:06, INFO: Planning width: 10 -2024-02-14 18:31:06, INFO: Sparse search: None -2024-02-14 18:31:08, INFO: human number: 10 -2024-02-14 18:31:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:13, INFO: Using device: cpu -2024-02-14 18:31:13, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:13, INFO: Similarity_func: concatenation -2024-02-14 18:31:13, INFO: Layerwise_graph: False -2024-02-14 18:31:13, INFO: Skip_connection: True -2024-02-14 18:31:13, INFO: Number of layers: 1 -2024-02-14 18:31:13, INFO: Similarity_func: concatenation -2024-02-14 18:31:13, INFO: Layerwise_graph: False -2024-02-14 18:31:13, INFO: Skip_connection: True -2024-02-14 18:31:13, INFO: Number of layers: 1 -2024-02-14 18:31:13, INFO: Planning depth: 1 -2024-02-14 18:31:13, INFO: Planning width: 10 -2024-02-14 18:31:13, INFO: Sparse search: None -2024-02-14 18:31:15, INFO: human number: 10 -2024-02-14 18:31:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:20, INFO: Using device: cpu -2024-02-14 18:31:20, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:20, INFO: Similarity_func: concatenation -2024-02-14 18:31:20, INFO: Layerwise_graph: False -2024-02-14 18:31:20, INFO: Skip_connection: True -2024-02-14 18:31:20, INFO: Number of layers: 1 -2024-02-14 18:31:20, INFO: Similarity_func: concatenation -2024-02-14 18:31:20, INFO: Layerwise_graph: False -2024-02-14 18:31:20, INFO: Skip_connection: True -2024-02-14 18:31:20, INFO: Number of layers: 1 -2024-02-14 18:31:20, INFO: Planning depth: 1 -2024-02-14 18:31:20, INFO: Planning width: 10 -2024-02-14 18:31:20, INFO: Sparse search: None -2024-02-14 18:31:23, INFO: human number: 10 -2024-02-14 18:31:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:27, INFO: Using device: cpu -2024-02-14 18:31:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:27, INFO: Similarity_func: concatenation -2024-02-14 18:31:27, INFO: Layerwise_graph: False -2024-02-14 18:31:27, INFO: Skip_connection: True -2024-02-14 18:31:27, INFO: Number of layers: 1 -2024-02-14 18:31:27, INFO: Similarity_func: concatenation -2024-02-14 18:31:27, INFO: Layerwise_graph: False -2024-02-14 18:31:27, INFO: Skip_connection: True -2024-02-14 18:31:27, INFO: Number of layers: 1 -2024-02-14 18:31:27, INFO: Planning depth: 1 -2024-02-14 18:31:27, INFO: Planning width: 10 -2024-02-14 18:31:27, INFO: Sparse search: None -2024-02-14 18:31:30, INFO: human number: 10 -2024-02-14 18:31:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:34, INFO: Using device: cpu -2024-02-14 18:31:34, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:34, INFO: Similarity_func: concatenation -2024-02-14 18:31:34, INFO: Layerwise_graph: False -2024-02-14 18:31:34, INFO: Skip_connection: True -2024-02-14 18:31:34, INFO: Number of layers: 1 -2024-02-14 18:31:34, INFO: Similarity_func: concatenation -2024-02-14 18:31:34, INFO: Layerwise_graph: False -2024-02-14 18:31:34, INFO: Skip_connection: True -2024-02-14 18:31:34, INFO: Number of layers: 1 -2024-02-14 18:31:34, INFO: Planning depth: 1 -2024-02-14 18:31:34, INFO: Planning width: 10 -2024-02-14 18:31:34, INFO: Sparse search: None -2024-02-14 18:31:37, INFO: human number: 10 -2024-02-14 18:31:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:41, INFO: Using device: cpu -2024-02-14 18:31:41, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:41, INFO: Similarity_func: concatenation -2024-02-14 18:31:41, INFO: Layerwise_graph: False -2024-02-14 18:31:41, INFO: Skip_connection: True -2024-02-14 18:31:41, INFO: Number of layers: 1 -2024-02-14 18:31:41, INFO: Similarity_func: concatenation -2024-02-14 18:31:41, INFO: Layerwise_graph: False -2024-02-14 18:31:41, INFO: Skip_connection: True -2024-02-14 18:31:41, INFO: Number of layers: 1 -2024-02-14 18:31:41, INFO: Planning depth: 1 -2024-02-14 18:31:41, INFO: Planning width: 10 -2024-02-14 18:31:41, INFO: Sparse search: None -2024-02-14 18:31:44, INFO: human number: 10 -2024-02-14 18:31:44, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:44, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:44, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:48, INFO: Using device: cpu -2024-02-14 18:31:48, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:48, INFO: Similarity_func: concatenation -2024-02-14 18:31:48, INFO: Layerwise_graph: False -2024-02-14 18:31:48, INFO: Skip_connection: True -2024-02-14 18:31:48, INFO: Number of layers: 1 -2024-02-14 18:31:48, INFO: Similarity_func: concatenation -2024-02-14 18:31:48, INFO: Layerwise_graph: False -2024-02-14 18:31:48, INFO: Skip_connection: True -2024-02-14 18:31:48, INFO: Number of layers: 1 -2024-02-14 18:31:48, INFO: Planning depth: 1 -2024-02-14 18:31:48, INFO: Planning width: 10 -2024-02-14 18:31:48, INFO: Sparse search: None -2024-02-14 18:31:51, INFO: human number: 10 -2024-02-14 18:31:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:51, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:31:55, INFO: Using device: cpu -2024-02-14 18:31:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:31:55, INFO: Similarity_func: concatenation -2024-02-14 18:31:55, INFO: Layerwise_graph: False -2024-02-14 18:31:55, INFO: Skip_connection: True -2024-02-14 18:31:55, INFO: Number of layers: 1 -2024-02-14 18:31:55, INFO: Similarity_func: concatenation -2024-02-14 18:31:55, INFO: Layerwise_graph: False -2024-02-14 18:31:55, INFO: Skip_connection: True -2024-02-14 18:31:55, INFO: Number of layers: 1 -2024-02-14 18:31:55, INFO: Planning depth: 1 -2024-02-14 18:31:55, INFO: Planning width: 10 -2024-02-14 18:31:55, INFO: Sparse search: None -2024-02-14 18:31:57, INFO: human number: 10 -2024-02-14 18:31:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:31:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:31:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:31:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:31:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:02, INFO: Using device: cpu -2024-02-14 18:32:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:02, INFO: Similarity_func: concatenation -2024-02-14 18:32:02, INFO: Layerwise_graph: False -2024-02-14 18:32:02, INFO: Skip_connection: True -2024-02-14 18:32:02, INFO: Number of layers: 1 -2024-02-14 18:32:02, INFO: Similarity_func: concatenation -2024-02-14 18:32:02, INFO: Layerwise_graph: False -2024-02-14 18:32:02, INFO: Skip_connection: True -2024-02-14 18:32:02, INFO: Number of layers: 1 -2024-02-14 18:32:02, INFO: Planning depth: 1 -2024-02-14 18:32:02, INFO: Planning width: 10 -2024-02-14 18:32:02, INFO: Sparse search: None -2024-02-14 18:32:04, INFO: human number: 10 -2024-02-14 18:32:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:08, INFO: Using device: cpu -2024-02-14 18:32:08, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:08, INFO: Similarity_func: concatenation -2024-02-14 18:32:08, INFO: Layerwise_graph: False -2024-02-14 18:32:08, INFO: Skip_connection: True -2024-02-14 18:32:08, INFO: Number of layers: 1 -2024-02-14 18:32:08, INFO: Similarity_func: concatenation -2024-02-14 18:32:08, INFO: Layerwise_graph: False -2024-02-14 18:32:08, INFO: Skip_connection: True -2024-02-14 18:32:08, INFO: Number of layers: 1 -2024-02-14 18:32:08, INFO: Planning depth: 1 -2024-02-14 18:32:08, INFO: Planning width: 10 -2024-02-14 18:32:08, INFO: Sparse search: None -2024-02-14 18:32:11, INFO: human number: 10 -2024-02-14 18:32:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:16, INFO: Using device: cpu -2024-02-14 18:32:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:16, INFO: Similarity_func: concatenation -2024-02-14 18:32:16, INFO: Layerwise_graph: False -2024-02-14 18:32:16, INFO: Skip_connection: True -2024-02-14 18:32:16, INFO: Number of layers: 1 -2024-02-14 18:32:16, INFO: Similarity_func: concatenation -2024-02-14 18:32:16, INFO: Layerwise_graph: False -2024-02-14 18:32:16, INFO: Skip_connection: True -2024-02-14 18:32:16, INFO: Number of layers: 1 -2024-02-14 18:32:16, INFO: Planning depth: 1 -2024-02-14 18:32:16, INFO: Planning width: 10 -2024-02-14 18:32:16, INFO: Sparse search: None -2024-02-14 18:32:19, INFO: human number: 10 -2024-02-14 18:32:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:23, INFO: Using device: cpu -2024-02-14 18:32:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:23, INFO: Similarity_func: concatenation -2024-02-14 18:32:23, INFO: Layerwise_graph: False -2024-02-14 18:32:23, INFO: Skip_connection: True -2024-02-14 18:32:23, INFO: Number of layers: 1 -2024-02-14 18:32:23, INFO: Similarity_func: concatenation -2024-02-14 18:32:23, INFO: Layerwise_graph: False -2024-02-14 18:32:23, INFO: Skip_connection: True -2024-02-14 18:32:23, INFO: Number of layers: 1 -2024-02-14 18:32:23, INFO: Planning depth: 1 -2024-02-14 18:32:23, INFO: Planning width: 10 -2024-02-14 18:32:23, INFO: Sparse search: None -2024-02-14 18:32:26, INFO: human number: 10 -2024-02-14 18:32:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:30, INFO: Using device: cpu -2024-02-14 18:32:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:30, INFO: Similarity_func: concatenation -2024-02-14 18:32:30, INFO: Layerwise_graph: False -2024-02-14 18:32:30, INFO: Skip_connection: True -2024-02-14 18:32:30, INFO: Number of layers: 1 -2024-02-14 18:32:30, INFO: Similarity_func: concatenation -2024-02-14 18:32:30, INFO: Layerwise_graph: False -2024-02-14 18:32:30, INFO: Skip_connection: True -2024-02-14 18:32:30, INFO: Number of layers: 1 -2024-02-14 18:32:30, INFO: Planning depth: 1 -2024-02-14 18:32:30, INFO: Planning width: 10 -2024-02-14 18:32:30, INFO: Sparse search: None -2024-02-14 18:32:33, INFO: human number: 10 -2024-02-14 18:32:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:37, INFO: Using device: cpu -2024-02-14 18:32:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:37, INFO: Similarity_func: concatenation -2024-02-14 18:32:37, INFO: Layerwise_graph: False -2024-02-14 18:32:37, INFO: Skip_connection: True -2024-02-14 18:32:37, INFO: Number of layers: 1 -2024-02-14 18:32:37, INFO: Similarity_func: concatenation -2024-02-14 18:32:37, INFO: Layerwise_graph: False -2024-02-14 18:32:37, INFO: Skip_connection: True -2024-02-14 18:32:37, INFO: Number of layers: 1 -2024-02-14 18:32:37, INFO: Planning depth: 1 -2024-02-14 18:32:37, INFO: Planning width: 10 -2024-02-14 18:32:37, INFO: Sparse search: None -2024-02-14 18:32:40, INFO: human number: 10 -2024-02-14 18:32:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:44, INFO: Using device: cpu -2024-02-14 18:32:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:44, INFO: Similarity_func: concatenation -2024-02-14 18:32:44, INFO: Layerwise_graph: False -2024-02-14 18:32:44, INFO: Skip_connection: True -2024-02-14 18:32:44, INFO: Number of layers: 1 -2024-02-14 18:32:44, INFO: Similarity_func: concatenation -2024-02-14 18:32:44, INFO: Layerwise_graph: False -2024-02-14 18:32:44, INFO: Skip_connection: True -2024-02-14 18:32:44, INFO: Number of layers: 1 -2024-02-14 18:32:44, INFO: Planning depth: 1 -2024-02-14 18:32:44, INFO: Planning width: 10 -2024-02-14 18:32:44, INFO: Sparse search: None -2024-02-14 18:32:47, INFO: human number: 10 -2024-02-14 18:32:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:51, INFO: Using device: cpu -2024-02-14 18:32:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:51, INFO: Similarity_func: concatenation -2024-02-14 18:32:51, INFO: Layerwise_graph: False -2024-02-14 18:32:51, INFO: Skip_connection: True -2024-02-14 18:32:51, INFO: Number of layers: 1 -2024-02-14 18:32:51, INFO: Similarity_func: concatenation -2024-02-14 18:32:51, INFO: Layerwise_graph: False -2024-02-14 18:32:51, INFO: Skip_connection: True -2024-02-14 18:32:51, INFO: Number of layers: 1 -2024-02-14 18:32:51, INFO: Planning depth: 1 -2024-02-14 18:32:51, INFO: Planning width: 10 -2024-02-14 18:32:51, INFO: Sparse search: None -2024-02-14 18:32:54, INFO: human number: 10 -2024-02-14 18:32:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:32:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:32:54, INFO: Square width: 10, circle width: 4 -2024-02-14 18:32:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:32:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:32:58, INFO: Using device: cpu -2024-02-14 18:32:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:32:58, INFO: Similarity_func: concatenation -2024-02-14 18:32:58, INFO: Layerwise_graph: False -2024-02-14 18:32:58, INFO: Skip_connection: True -2024-02-14 18:32:58, INFO: Number of layers: 1 -2024-02-14 18:32:58, INFO: Similarity_func: concatenation -2024-02-14 18:32:58, INFO: Layerwise_graph: False -2024-02-14 18:32:58, INFO: Skip_connection: True -2024-02-14 18:32:58, INFO: Number of layers: 1 -2024-02-14 18:32:58, INFO: Planning depth: 1 -2024-02-14 18:32:58, INFO: Planning width: 10 -2024-02-14 18:32:58, INFO: Sparse search: None -2024-02-14 18:33:01, INFO: human number: 10 -2024-02-14 18:33:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:05, INFO: Using device: cpu -2024-02-14 18:33:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:05, INFO: Similarity_func: concatenation -2024-02-14 18:33:05, INFO: Layerwise_graph: False -2024-02-14 18:33:05, INFO: Skip_connection: True -2024-02-14 18:33:05, INFO: Number of layers: 1 -2024-02-14 18:33:05, INFO: Similarity_func: concatenation -2024-02-14 18:33:05, INFO: Layerwise_graph: False -2024-02-14 18:33:05, INFO: Skip_connection: True -2024-02-14 18:33:05, INFO: Number of layers: 1 -2024-02-14 18:33:05, INFO: Planning depth: 1 -2024-02-14 18:33:05, INFO: Planning width: 10 -2024-02-14 18:33:05, INFO: Sparse search: None -2024-02-14 18:33:08, INFO: human number: 10 -2024-02-14 18:33:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:12, INFO: Using device: cpu -2024-02-14 18:33:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:12, INFO: Similarity_func: concatenation -2024-02-14 18:33:12, INFO: Layerwise_graph: False -2024-02-14 18:33:12, INFO: Skip_connection: True -2024-02-14 18:33:12, INFO: Number of layers: 1 -2024-02-14 18:33:12, INFO: Similarity_func: concatenation -2024-02-14 18:33:12, INFO: Layerwise_graph: False -2024-02-14 18:33:12, INFO: Skip_connection: True -2024-02-14 18:33:12, INFO: Number of layers: 1 -2024-02-14 18:33:12, INFO: Planning depth: 1 -2024-02-14 18:33:12, INFO: Planning width: 10 -2024-02-14 18:33:12, INFO: Sparse search: None -2024-02-14 18:33:15, INFO: human number: 10 -2024-02-14 18:33:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:19, INFO: Using device: cpu -2024-02-14 18:33:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:19, INFO: Similarity_func: concatenation -2024-02-14 18:33:19, INFO: Layerwise_graph: False -2024-02-14 18:33:19, INFO: Skip_connection: True -2024-02-14 18:33:19, INFO: Number of layers: 1 -2024-02-14 18:33:19, INFO: Similarity_func: concatenation -2024-02-14 18:33:19, INFO: Layerwise_graph: False -2024-02-14 18:33:19, INFO: Skip_connection: True -2024-02-14 18:33:19, INFO: Number of layers: 1 -2024-02-14 18:33:19, INFO: Planning depth: 1 -2024-02-14 18:33:19, INFO: Planning width: 10 -2024-02-14 18:33:19, INFO: Sparse search: None -2024-02-14 18:33:22, INFO: human number: 10 -2024-02-14 18:33:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:27, INFO: Using device: cpu -2024-02-14 18:33:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:27, INFO: Similarity_func: concatenation -2024-02-14 18:33:27, INFO: Layerwise_graph: False -2024-02-14 18:33:27, INFO: Skip_connection: True -2024-02-14 18:33:27, INFO: Number of layers: 1 -2024-02-14 18:33:27, INFO: Similarity_func: concatenation -2024-02-14 18:33:27, INFO: Layerwise_graph: False -2024-02-14 18:33:27, INFO: Skip_connection: True -2024-02-14 18:33:27, INFO: Number of layers: 1 -2024-02-14 18:33:27, INFO: Planning depth: 1 -2024-02-14 18:33:27, INFO: Planning width: 10 -2024-02-14 18:33:27, INFO: Sparse search: None -2024-02-14 18:33:29, INFO: human number: 10 -2024-02-14 18:33:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:33, INFO: Using device: cpu -2024-02-14 18:33:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:33, INFO: Similarity_func: concatenation -2024-02-14 18:33:33, INFO: Layerwise_graph: False -2024-02-14 18:33:33, INFO: Skip_connection: True -2024-02-14 18:33:33, INFO: Number of layers: 1 -2024-02-14 18:33:33, INFO: Similarity_func: concatenation -2024-02-14 18:33:33, INFO: Layerwise_graph: False -2024-02-14 18:33:33, INFO: Skip_connection: True -2024-02-14 18:33:33, INFO: Number of layers: 1 -2024-02-14 18:33:33, INFO: Planning depth: 1 -2024-02-14 18:33:33, INFO: Planning width: 10 -2024-02-14 18:33:33, INFO: Sparse search: None -2024-02-14 18:33:36, INFO: human number: 10 -2024-02-14 18:33:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:41, INFO: Using device: cpu -2024-02-14 18:33:41, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:41, INFO: Similarity_func: concatenation -2024-02-14 18:33:41, INFO: Layerwise_graph: False -2024-02-14 18:33:41, INFO: Skip_connection: True -2024-02-14 18:33:41, INFO: Number of layers: 1 -2024-02-14 18:33:41, INFO: Similarity_func: concatenation -2024-02-14 18:33:41, INFO: Layerwise_graph: False -2024-02-14 18:33:41, INFO: Skip_connection: True -2024-02-14 18:33:41, INFO: Number of layers: 1 -2024-02-14 18:33:41, INFO: Planning depth: 1 -2024-02-14 18:33:41, INFO: Planning width: 10 -2024-02-14 18:33:41, INFO: Sparse search: None -2024-02-14 18:33:43, INFO: human number: 10 -2024-02-14 18:33:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:48, INFO: Using device: cpu -2024-02-14 18:33:48, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:48, INFO: Similarity_func: concatenation -2024-02-14 18:33:48, INFO: Layerwise_graph: False -2024-02-14 18:33:48, INFO: Skip_connection: True -2024-02-14 18:33:48, INFO: Number of layers: 1 -2024-02-14 18:33:48, INFO: Similarity_func: concatenation -2024-02-14 18:33:48, INFO: Layerwise_graph: False -2024-02-14 18:33:48, INFO: Skip_connection: True -2024-02-14 18:33:48, INFO: Number of layers: 1 -2024-02-14 18:33:48, INFO: Planning depth: 1 -2024-02-14 18:33:48, INFO: Planning width: 10 -2024-02-14 18:33:48, INFO: Sparse search: None -2024-02-14 18:33:51, INFO: human number: 10 -2024-02-14 18:33:51, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:51, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:51, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:33:55, INFO: Using device: cpu -2024-02-14 18:33:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:33:55, INFO: Similarity_func: concatenation -2024-02-14 18:33:55, INFO: Layerwise_graph: False -2024-02-14 18:33:55, INFO: Skip_connection: True -2024-02-14 18:33:55, INFO: Number of layers: 1 -2024-02-14 18:33:55, INFO: Similarity_func: concatenation -2024-02-14 18:33:55, INFO: Layerwise_graph: False -2024-02-14 18:33:55, INFO: Skip_connection: True -2024-02-14 18:33:55, INFO: Number of layers: 1 -2024-02-14 18:33:55, INFO: Planning depth: 1 -2024-02-14 18:33:55, INFO: Planning width: 10 -2024-02-14 18:33:55, INFO: Sparse search: None -2024-02-14 18:33:58, INFO: human number: 10 -2024-02-14 18:33:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:33:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:33:58, INFO: Square width: 10, circle width: 4 -2024-02-14 18:33:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:33:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:02, INFO: Using device: cpu -2024-02-14 18:34:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:02, INFO: Similarity_func: concatenation -2024-02-14 18:34:02, INFO: Layerwise_graph: False -2024-02-14 18:34:02, INFO: Skip_connection: True -2024-02-14 18:34:02, INFO: Number of layers: 1 -2024-02-14 18:34:02, INFO: Similarity_func: concatenation -2024-02-14 18:34:02, INFO: Layerwise_graph: False -2024-02-14 18:34:02, INFO: Skip_connection: True -2024-02-14 18:34:02, INFO: Number of layers: 1 -2024-02-14 18:34:02, INFO: Planning depth: 1 -2024-02-14 18:34:02, INFO: Planning width: 10 -2024-02-14 18:34:02, INFO: Sparse search: None -2024-02-14 18:34:05, INFO: human number: 10 -2024-02-14 18:34:05, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:05, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:05, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:09, INFO: Using device: cpu -2024-02-14 18:34:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:09, INFO: Similarity_func: concatenation -2024-02-14 18:34:09, INFO: Layerwise_graph: False -2024-02-14 18:34:09, INFO: Skip_connection: True -2024-02-14 18:34:09, INFO: Number of layers: 1 -2024-02-14 18:34:09, INFO: Similarity_func: concatenation -2024-02-14 18:34:09, INFO: Layerwise_graph: False -2024-02-14 18:34:09, INFO: Skip_connection: True -2024-02-14 18:34:09, INFO: Number of layers: 1 -2024-02-14 18:34:09, INFO: Planning depth: 1 -2024-02-14 18:34:09, INFO: Planning width: 10 -2024-02-14 18:34:09, INFO: Sparse search: None -2024-02-14 18:34:12, INFO: human number: 10 -2024-02-14 18:34:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:12, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:16, INFO: Using device: cpu -2024-02-14 18:34:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:16, INFO: Similarity_func: concatenation -2024-02-14 18:34:16, INFO: Layerwise_graph: False -2024-02-14 18:34:16, INFO: Skip_connection: True -2024-02-14 18:34:16, INFO: Number of layers: 1 -2024-02-14 18:34:16, INFO: Similarity_func: concatenation -2024-02-14 18:34:16, INFO: Layerwise_graph: False -2024-02-14 18:34:16, INFO: Skip_connection: True -2024-02-14 18:34:16, INFO: Number of layers: 1 -2024-02-14 18:34:16, INFO: Planning depth: 1 -2024-02-14 18:34:16, INFO: Planning width: 10 -2024-02-14 18:34:16, INFO: Sparse search: None -2024-02-14 18:34:19, INFO: human number: 10 -2024-02-14 18:34:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:23, INFO: Using device: cpu -2024-02-14 18:34:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:23, INFO: Similarity_func: concatenation -2024-02-14 18:34:23, INFO: Layerwise_graph: False -2024-02-14 18:34:23, INFO: Skip_connection: True -2024-02-14 18:34:23, INFO: Number of layers: 1 -2024-02-14 18:34:23, INFO: Similarity_func: concatenation -2024-02-14 18:34:23, INFO: Layerwise_graph: False -2024-02-14 18:34:23, INFO: Skip_connection: True -2024-02-14 18:34:23, INFO: Number of layers: 1 -2024-02-14 18:34:23, INFO: Planning depth: 1 -2024-02-14 18:34:23, INFO: Planning width: 10 -2024-02-14 18:34:23, INFO: Sparse search: None -2024-02-14 18:34:26, INFO: human number: 10 -2024-02-14 18:34:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:30, INFO: Using device: cpu -2024-02-14 18:34:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:30, INFO: Similarity_func: concatenation -2024-02-14 18:34:30, INFO: Layerwise_graph: False -2024-02-14 18:34:30, INFO: Skip_connection: True -2024-02-14 18:34:30, INFO: Number of layers: 1 -2024-02-14 18:34:30, INFO: Similarity_func: concatenation -2024-02-14 18:34:30, INFO: Layerwise_graph: False -2024-02-14 18:34:30, INFO: Skip_connection: True -2024-02-14 18:34:30, INFO: Number of layers: 1 -2024-02-14 18:34:30, INFO: Planning depth: 1 -2024-02-14 18:34:30, INFO: Planning width: 10 -2024-02-14 18:34:30, INFO: Sparse search: None -2024-02-14 18:34:33, INFO: human number: 10 -2024-02-14 18:34:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:37, INFO: Using device: cpu -2024-02-14 18:34:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:37, INFO: Similarity_func: concatenation -2024-02-14 18:34:37, INFO: Layerwise_graph: False -2024-02-14 18:34:37, INFO: Skip_connection: True -2024-02-14 18:34:37, INFO: Number of layers: 1 -2024-02-14 18:34:37, INFO: Similarity_func: concatenation -2024-02-14 18:34:37, INFO: Layerwise_graph: False -2024-02-14 18:34:37, INFO: Skip_connection: True -2024-02-14 18:34:37, INFO: Number of layers: 1 -2024-02-14 18:34:37, INFO: Planning depth: 1 -2024-02-14 18:34:37, INFO: Planning width: 10 -2024-02-14 18:34:37, INFO: Sparse search: None -2024-02-14 18:34:40, INFO: human number: 10 -2024-02-14 18:34:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:44, INFO: Using device: cpu -2024-02-14 18:34:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:44, INFO: Similarity_func: concatenation -2024-02-14 18:34:44, INFO: Layerwise_graph: False -2024-02-14 18:34:44, INFO: Skip_connection: True -2024-02-14 18:34:44, INFO: Number of layers: 1 -2024-02-14 18:34:44, INFO: Similarity_func: concatenation -2024-02-14 18:34:44, INFO: Layerwise_graph: False -2024-02-14 18:34:44, INFO: Skip_connection: True -2024-02-14 18:34:44, INFO: Number of layers: 1 -2024-02-14 18:34:44, INFO: Planning depth: 1 -2024-02-14 18:34:44, INFO: Planning width: 10 -2024-02-14 18:34:44, INFO: Sparse search: None -2024-02-14 18:34:47, INFO: human number: 10 -2024-02-14 18:34:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:51, INFO: Using device: cpu -2024-02-14 18:34:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:51, INFO: Similarity_func: concatenation -2024-02-14 18:34:51, INFO: Layerwise_graph: False -2024-02-14 18:34:51, INFO: Skip_connection: True -2024-02-14 18:34:51, INFO: Number of layers: 1 -2024-02-14 18:34:51, INFO: Similarity_func: concatenation -2024-02-14 18:34:51, INFO: Layerwise_graph: False -2024-02-14 18:34:51, INFO: Skip_connection: True -2024-02-14 18:34:51, INFO: Number of layers: 1 -2024-02-14 18:34:51, INFO: Planning depth: 1 -2024-02-14 18:34:51, INFO: Planning width: 10 -2024-02-14 18:34:51, INFO: Sparse search: None -2024-02-14 18:34:54, INFO: human number: 10 -2024-02-14 18:34:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:34:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:34:54, INFO: Square width: 10, circle width: 4 -2024-02-14 18:34:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:34:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:34:58, INFO: Using device: cpu -2024-02-14 18:34:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:34:58, INFO: Similarity_func: concatenation -2024-02-14 18:34:58, INFO: Layerwise_graph: False -2024-02-14 18:34:58, INFO: Skip_connection: True -2024-02-14 18:34:58, INFO: Number of layers: 1 -2024-02-14 18:34:58, INFO: Similarity_func: concatenation -2024-02-14 18:34:58, INFO: Layerwise_graph: False -2024-02-14 18:34:58, INFO: Skip_connection: True -2024-02-14 18:34:58, INFO: Number of layers: 1 -2024-02-14 18:34:58, INFO: Planning depth: 1 -2024-02-14 18:34:58, INFO: Planning width: 10 -2024-02-14 18:34:58, INFO: Sparse search: None -2024-02-14 18:35:01, INFO: human number: 10 -2024-02-14 18:35:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:05, INFO: Using device: cpu -2024-02-14 18:35:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:05, INFO: Similarity_func: concatenation -2024-02-14 18:35:05, INFO: Layerwise_graph: False -2024-02-14 18:35:05, INFO: Skip_connection: True -2024-02-14 18:35:05, INFO: Number of layers: 1 -2024-02-14 18:35:05, INFO: Similarity_func: concatenation -2024-02-14 18:35:05, INFO: Layerwise_graph: False -2024-02-14 18:35:05, INFO: Skip_connection: True -2024-02-14 18:35:05, INFO: Number of layers: 1 -2024-02-14 18:35:05, INFO: Planning depth: 1 -2024-02-14 18:35:05, INFO: Planning width: 10 -2024-02-14 18:35:05, INFO: Sparse search: None -2024-02-14 18:35:08, INFO: human number: 10 -2024-02-14 18:35:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:12, INFO: Using device: cpu -2024-02-14 18:35:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:12, INFO: Similarity_func: concatenation -2024-02-14 18:35:12, INFO: Layerwise_graph: False -2024-02-14 18:35:12, INFO: Skip_connection: True -2024-02-14 18:35:12, INFO: Number of layers: 1 -2024-02-14 18:35:12, INFO: Similarity_func: concatenation -2024-02-14 18:35:12, INFO: Layerwise_graph: False -2024-02-14 18:35:12, INFO: Skip_connection: True -2024-02-14 18:35:12, INFO: Number of layers: 1 -2024-02-14 18:35:12, INFO: Planning depth: 1 -2024-02-14 18:35:12, INFO: Planning width: 10 -2024-02-14 18:35:12, INFO: Sparse search: None -2024-02-14 18:35:15, INFO: human number: 10 -2024-02-14 18:35:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:19, INFO: Using device: cpu -2024-02-14 18:35:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:19, INFO: Similarity_func: concatenation -2024-02-14 18:35:19, INFO: Layerwise_graph: False -2024-02-14 18:35:19, INFO: Skip_connection: True -2024-02-14 18:35:19, INFO: Number of layers: 1 -2024-02-14 18:35:19, INFO: Similarity_func: concatenation -2024-02-14 18:35:19, INFO: Layerwise_graph: False -2024-02-14 18:35:19, INFO: Skip_connection: True -2024-02-14 18:35:19, INFO: Number of layers: 1 -2024-02-14 18:35:19, INFO: Planning depth: 1 -2024-02-14 18:35:19, INFO: Planning width: 10 -2024-02-14 18:35:19, INFO: Sparse search: None -2024-02-14 18:35:22, INFO: human number: 10 -2024-02-14 18:35:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:26, INFO: Using device: cpu -2024-02-14 18:35:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:26, INFO: Similarity_func: concatenation -2024-02-14 18:35:26, INFO: Layerwise_graph: False -2024-02-14 18:35:26, INFO: Skip_connection: True -2024-02-14 18:35:26, INFO: Number of layers: 1 -2024-02-14 18:35:26, INFO: Similarity_func: concatenation -2024-02-14 18:35:26, INFO: Layerwise_graph: False -2024-02-14 18:35:26, INFO: Skip_connection: True -2024-02-14 18:35:26, INFO: Number of layers: 1 -2024-02-14 18:35:26, INFO: Planning depth: 1 -2024-02-14 18:35:26, INFO: Planning width: 10 -2024-02-14 18:35:26, INFO: Sparse search: None -2024-02-14 18:35:29, INFO: human number: 10 -2024-02-14 18:35:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:33, INFO: Using device: cpu -2024-02-14 18:35:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:33, INFO: Similarity_func: concatenation -2024-02-14 18:35:33, INFO: Layerwise_graph: False -2024-02-14 18:35:33, INFO: Skip_connection: True -2024-02-14 18:35:33, INFO: Number of layers: 1 -2024-02-14 18:35:33, INFO: Similarity_func: concatenation -2024-02-14 18:35:33, INFO: Layerwise_graph: False -2024-02-14 18:35:33, INFO: Skip_connection: True -2024-02-14 18:35:33, INFO: Number of layers: 1 -2024-02-14 18:35:33, INFO: Planning depth: 1 -2024-02-14 18:35:33, INFO: Planning width: 10 -2024-02-14 18:35:33, INFO: Sparse search: None -2024-02-14 18:35:36, INFO: human number: 10 -2024-02-14 18:35:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:40, INFO: Using device: cpu -2024-02-14 18:35:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:40, INFO: Similarity_func: concatenation -2024-02-14 18:35:40, INFO: Layerwise_graph: False -2024-02-14 18:35:40, INFO: Skip_connection: True -2024-02-14 18:35:40, INFO: Number of layers: 1 -2024-02-14 18:35:40, INFO: Similarity_func: concatenation -2024-02-14 18:35:40, INFO: Layerwise_graph: False -2024-02-14 18:35:40, INFO: Skip_connection: True -2024-02-14 18:35:40, INFO: Number of layers: 1 -2024-02-14 18:35:40, INFO: Planning depth: 1 -2024-02-14 18:35:40, INFO: Planning width: 10 -2024-02-14 18:35:40, INFO: Sparse search: None -2024-02-14 18:35:43, INFO: human number: 10 -2024-02-14 18:35:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:47, INFO: Using device: cpu -2024-02-14 18:35:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:47, INFO: Similarity_func: concatenation -2024-02-14 18:35:47, INFO: Layerwise_graph: False -2024-02-14 18:35:47, INFO: Skip_connection: True -2024-02-14 18:35:47, INFO: Number of layers: 1 -2024-02-14 18:35:47, INFO: Similarity_func: concatenation -2024-02-14 18:35:47, INFO: Layerwise_graph: False -2024-02-14 18:35:47, INFO: Skip_connection: True -2024-02-14 18:35:47, INFO: Number of layers: 1 -2024-02-14 18:35:47, INFO: Planning depth: 1 -2024-02-14 18:35:47, INFO: Planning width: 10 -2024-02-14 18:35:47, INFO: Sparse search: None -2024-02-14 18:35:50, INFO: human number: 10 -2024-02-14 18:35:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:35:54, INFO: Using device: cpu -2024-02-14 18:35:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:35:54, INFO: Similarity_func: concatenation -2024-02-14 18:35:54, INFO: Layerwise_graph: False -2024-02-14 18:35:54, INFO: Skip_connection: True -2024-02-14 18:35:54, INFO: Number of layers: 1 -2024-02-14 18:35:54, INFO: Similarity_func: concatenation -2024-02-14 18:35:54, INFO: Layerwise_graph: False -2024-02-14 18:35:54, INFO: Skip_connection: True -2024-02-14 18:35:54, INFO: Number of layers: 1 -2024-02-14 18:35:54, INFO: Planning depth: 1 -2024-02-14 18:35:54, INFO: Planning width: 10 -2024-02-14 18:35:54, INFO: Sparse search: None -2024-02-14 18:35:57, INFO: human number: 10 -2024-02-14 18:35:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:35:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:35:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:35:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:35:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:02, INFO: Using device: cpu -2024-02-14 18:36:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:02, INFO: Similarity_func: concatenation -2024-02-14 18:36:02, INFO: Layerwise_graph: False -2024-02-14 18:36:02, INFO: Skip_connection: True -2024-02-14 18:36:02, INFO: Number of layers: 1 -2024-02-14 18:36:02, INFO: Similarity_func: concatenation -2024-02-14 18:36:02, INFO: Layerwise_graph: False -2024-02-14 18:36:02, INFO: Skip_connection: True -2024-02-14 18:36:02, INFO: Number of layers: 1 -2024-02-14 18:36:02, INFO: Planning depth: 1 -2024-02-14 18:36:02, INFO: Planning width: 10 -2024-02-14 18:36:02, INFO: Sparse search: None -2024-02-14 18:36:04, INFO: human number: 10 -2024-02-14 18:36:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:09, INFO: Using device: cpu -2024-02-14 18:36:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:09, INFO: Similarity_func: concatenation -2024-02-14 18:36:09, INFO: Layerwise_graph: False -2024-02-14 18:36:09, INFO: Skip_connection: True -2024-02-14 18:36:09, INFO: Number of layers: 1 -2024-02-14 18:36:09, INFO: Similarity_func: concatenation -2024-02-14 18:36:09, INFO: Layerwise_graph: False -2024-02-14 18:36:09, INFO: Skip_connection: True -2024-02-14 18:36:09, INFO: Number of layers: 1 -2024-02-14 18:36:09, INFO: Planning depth: 1 -2024-02-14 18:36:09, INFO: Planning width: 10 -2024-02-14 18:36:09, INFO: Sparse search: None -2024-02-14 18:36:11, INFO: human number: 10 -2024-02-14 18:36:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:15, INFO: Using device: cpu -2024-02-14 18:36:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:15, INFO: Similarity_func: concatenation -2024-02-14 18:36:15, INFO: Layerwise_graph: False -2024-02-14 18:36:15, INFO: Skip_connection: True -2024-02-14 18:36:15, INFO: Number of layers: 1 -2024-02-14 18:36:15, INFO: Similarity_func: concatenation -2024-02-14 18:36:15, INFO: Layerwise_graph: False -2024-02-14 18:36:15, INFO: Skip_connection: True -2024-02-14 18:36:15, INFO: Number of layers: 1 -2024-02-14 18:36:15, INFO: Planning depth: 1 -2024-02-14 18:36:15, INFO: Planning width: 10 -2024-02-14 18:36:15, INFO: Sparse search: None -2024-02-14 18:36:18, INFO: human number: 10 -2024-02-14 18:36:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:23, INFO: Using device: cpu -2024-02-14 18:36:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:23, INFO: Similarity_func: concatenation -2024-02-14 18:36:23, INFO: Layerwise_graph: False -2024-02-14 18:36:23, INFO: Skip_connection: True -2024-02-14 18:36:23, INFO: Number of layers: 1 -2024-02-14 18:36:23, INFO: Similarity_func: concatenation -2024-02-14 18:36:23, INFO: Layerwise_graph: False -2024-02-14 18:36:23, INFO: Skip_connection: True -2024-02-14 18:36:23, INFO: Number of layers: 1 -2024-02-14 18:36:23, INFO: Planning depth: 1 -2024-02-14 18:36:23, INFO: Planning width: 10 -2024-02-14 18:36:23, INFO: Sparse search: None -2024-02-14 18:36:26, INFO: human number: 10 -2024-02-14 18:36:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:30, INFO: Using device: cpu -2024-02-14 18:36:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:30, INFO: Similarity_func: concatenation -2024-02-14 18:36:30, INFO: Layerwise_graph: False -2024-02-14 18:36:30, INFO: Skip_connection: True -2024-02-14 18:36:30, INFO: Number of layers: 1 -2024-02-14 18:36:30, INFO: Similarity_func: concatenation -2024-02-14 18:36:30, INFO: Layerwise_graph: False -2024-02-14 18:36:30, INFO: Skip_connection: True -2024-02-14 18:36:30, INFO: Number of layers: 1 -2024-02-14 18:36:30, INFO: Planning depth: 1 -2024-02-14 18:36:30, INFO: Planning width: 10 -2024-02-14 18:36:30, INFO: Sparse search: None -2024-02-14 18:36:33, INFO: human number: 10 -2024-02-14 18:36:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:37, INFO: Using device: cpu -2024-02-14 18:36:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:37, INFO: Similarity_func: concatenation -2024-02-14 18:36:37, INFO: Layerwise_graph: False -2024-02-14 18:36:37, INFO: Skip_connection: True -2024-02-14 18:36:37, INFO: Number of layers: 1 -2024-02-14 18:36:37, INFO: Similarity_func: concatenation -2024-02-14 18:36:37, INFO: Layerwise_graph: False -2024-02-14 18:36:37, INFO: Skip_connection: True -2024-02-14 18:36:37, INFO: Number of layers: 1 -2024-02-14 18:36:37, INFO: Planning depth: 1 -2024-02-14 18:36:37, INFO: Planning width: 10 -2024-02-14 18:36:37, INFO: Sparse search: None -2024-02-14 18:36:40, INFO: human number: 10 -2024-02-14 18:36:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:44, INFO: Using device: cpu -2024-02-14 18:36:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:44, INFO: Similarity_func: concatenation -2024-02-14 18:36:44, INFO: Layerwise_graph: False -2024-02-14 18:36:44, INFO: Skip_connection: True -2024-02-14 18:36:44, INFO: Number of layers: 1 -2024-02-14 18:36:44, INFO: Similarity_func: concatenation -2024-02-14 18:36:44, INFO: Layerwise_graph: False -2024-02-14 18:36:44, INFO: Skip_connection: True -2024-02-14 18:36:44, INFO: Number of layers: 1 -2024-02-14 18:36:44, INFO: Planning depth: 1 -2024-02-14 18:36:44, INFO: Planning width: 10 -2024-02-14 18:36:44, INFO: Sparse search: None -2024-02-14 18:36:47, INFO: human number: 10 -2024-02-14 18:36:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:52, INFO: Using device: cpu -2024-02-14 18:36:52, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:52, INFO: Similarity_func: concatenation -2024-02-14 18:36:52, INFO: Layerwise_graph: False -2024-02-14 18:36:52, INFO: Skip_connection: True -2024-02-14 18:36:52, INFO: Number of layers: 1 -2024-02-14 18:36:52, INFO: Similarity_func: concatenation -2024-02-14 18:36:52, INFO: Layerwise_graph: False -2024-02-14 18:36:52, INFO: Skip_connection: True -2024-02-14 18:36:52, INFO: Number of layers: 1 -2024-02-14 18:36:52, INFO: Planning depth: 1 -2024-02-14 18:36:52, INFO: Planning width: 10 -2024-02-14 18:36:52, INFO: Sparse search: None -2024-02-14 18:36:55, INFO: human number: 10 -2024-02-14 18:36:55, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:36:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:36:55, INFO: Square width: 10, circle width: 4 -2024-02-14 18:36:55, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:36:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:36:59, INFO: Using device: cpu -2024-02-14 18:36:59, INFO: Loaded RL weights with best VAL -2024-02-14 18:36:59, INFO: Similarity_func: concatenation -2024-02-14 18:36:59, INFO: Layerwise_graph: False -2024-02-14 18:36:59, INFO: Skip_connection: True -2024-02-14 18:36:59, INFO: Number of layers: 1 -2024-02-14 18:36:59, INFO: Similarity_func: concatenation -2024-02-14 18:36:59, INFO: Layerwise_graph: False -2024-02-14 18:36:59, INFO: Skip_connection: True -2024-02-14 18:36:59, INFO: Number of layers: 1 -2024-02-14 18:36:59, INFO: Planning depth: 1 -2024-02-14 18:36:59, INFO: Planning width: 10 -2024-02-14 18:36:59, INFO: Sparse search: None -2024-02-14 18:37:02, INFO: human number: 10 -2024-02-14 18:37:02, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:02, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:02, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:06, INFO: Using device: cpu -2024-02-14 18:37:06, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:06, INFO: Similarity_func: concatenation -2024-02-14 18:37:06, INFO: Layerwise_graph: False -2024-02-14 18:37:06, INFO: Skip_connection: True -2024-02-14 18:37:06, INFO: Number of layers: 1 -2024-02-14 18:37:06, INFO: Similarity_func: concatenation -2024-02-14 18:37:06, INFO: Layerwise_graph: False -2024-02-14 18:37:06, INFO: Skip_connection: True -2024-02-14 18:37:06, INFO: Number of layers: 1 -2024-02-14 18:37:06, INFO: Planning depth: 1 -2024-02-14 18:37:06, INFO: Planning width: 10 -2024-02-14 18:37:06, INFO: Sparse search: None -2024-02-14 18:37:09, INFO: human number: 10 -2024-02-14 18:37:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:09, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:14, INFO: Using device: cpu -2024-02-14 18:37:14, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:14, INFO: Similarity_func: concatenation -2024-02-14 18:37:14, INFO: Layerwise_graph: False -2024-02-14 18:37:14, INFO: Skip_connection: True -2024-02-14 18:37:14, INFO: Number of layers: 1 -2024-02-14 18:37:14, INFO: Similarity_func: concatenation -2024-02-14 18:37:14, INFO: Layerwise_graph: False -2024-02-14 18:37:14, INFO: Skip_connection: True -2024-02-14 18:37:14, INFO: Number of layers: 1 -2024-02-14 18:37:14, INFO: Planning depth: 1 -2024-02-14 18:37:14, INFO: Planning width: 10 -2024-02-14 18:37:14, INFO: Sparse search: None -2024-02-14 18:37:17, INFO: human number: 10 -2024-02-14 18:37:17, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:17, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:17, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:21, INFO: Using device: cpu -2024-02-14 18:37:21, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:21, INFO: Similarity_func: concatenation -2024-02-14 18:37:21, INFO: Layerwise_graph: False -2024-02-14 18:37:21, INFO: Skip_connection: True -2024-02-14 18:37:21, INFO: Number of layers: 1 -2024-02-14 18:37:21, INFO: Similarity_func: concatenation -2024-02-14 18:37:21, INFO: Layerwise_graph: False -2024-02-14 18:37:21, INFO: Skip_connection: True -2024-02-14 18:37:21, INFO: Number of layers: 1 -2024-02-14 18:37:21, INFO: Planning depth: 1 -2024-02-14 18:37:21, INFO: Planning width: 10 -2024-02-14 18:37:21, INFO: Sparse search: None -2024-02-14 18:37:23, INFO: human number: 10 -2024-02-14 18:37:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:28, INFO: Using device: cpu -2024-02-14 18:37:28, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:28, INFO: Similarity_func: concatenation -2024-02-14 18:37:28, INFO: Layerwise_graph: False -2024-02-14 18:37:28, INFO: Skip_connection: True -2024-02-14 18:37:28, INFO: Number of layers: 1 -2024-02-14 18:37:28, INFO: Similarity_func: concatenation -2024-02-14 18:37:28, INFO: Layerwise_graph: False -2024-02-14 18:37:28, INFO: Skip_connection: True -2024-02-14 18:37:28, INFO: Number of layers: 1 -2024-02-14 18:37:28, INFO: Planning depth: 1 -2024-02-14 18:37:28, INFO: Planning width: 10 -2024-02-14 18:37:28, INFO: Sparse search: None -2024-02-14 18:37:30, INFO: human number: 10 -2024-02-14 18:37:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:36, INFO: Using device: cpu -2024-02-14 18:37:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:36, INFO: Similarity_func: concatenation -2024-02-14 18:37:36, INFO: Layerwise_graph: False -2024-02-14 18:37:36, INFO: Skip_connection: True -2024-02-14 18:37:36, INFO: Number of layers: 1 -2024-02-14 18:37:36, INFO: Similarity_func: concatenation -2024-02-14 18:37:36, INFO: Layerwise_graph: False -2024-02-14 18:37:36, INFO: Skip_connection: True -2024-02-14 18:37:36, INFO: Number of layers: 1 -2024-02-14 18:37:36, INFO: Planning depth: 1 -2024-02-14 18:37:36, INFO: Planning width: 10 -2024-02-14 18:37:36, INFO: Sparse search: None -2024-02-14 18:37:38, INFO: human number: 10 -2024-02-14 18:37:38, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:38, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:38, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:43, INFO: Using device: cpu -2024-02-14 18:37:43, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:43, INFO: Similarity_func: concatenation -2024-02-14 18:37:43, INFO: Layerwise_graph: False -2024-02-14 18:37:43, INFO: Skip_connection: True -2024-02-14 18:37:43, INFO: Number of layers: 1 -2024-02-14 18:37:43, INFO: Similarity_func: concatenation -2024-02-14 18:37:43, INFO: Layerwise_graph: False -2024-02-14 18:37:43, INFO: Skip_connection: True -2024-02-14 18:37:43, INFO: Number of layers: 1 -2024-02-14 18:37:43, INFO: Planning depth: 1 -2024-02-14 18:37:43, INFO: Planning width: 10 -2024-02-14 18:37:43, INFO: Sparse search: None -2024-02-14 18:37:46, INFO: human number: 10 -2024-02-14 18:37:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:50, INFO: Using device: cpu -2024-02-14 18:37:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:50, INFO: Similarity_func: concatenation -2024-02-14 18:37:50, INFO: Layerwise_graph: False -2024-02-14 18:37:50, INFO: Skip_connection: True -2024-02-14 18:37:50, INFO: Number of layers: 1 -2024-02-14 18:37:50, INFO: Similarity_func: concatenation -2024-02-14 18:37:50, INFO: Layerwise_graph: False -2024-02-14 18:37:50, INFO: Skip_connection: True -2024-02-14 18:37:50, INFO: Number of layers: 1 -2024-02-14 18:37:50, INFO: Planning depth: 1 -2024-02-14 18:37:50, INFO: Planning width: 10 -2024-02-14 18:37:50, INFO: Sparse search: None -2024-02-14 18:37:53, INFO: human number: 10 -2024-02-14 18:37:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:37:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:37:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:37:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:37:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:37:57, INFO: Using device: cpu -2024-02-14 18:37:57, INFO: Loaded RL weights with best VAL -2024-02-14 18:37:57, INFO: Similarity_func: concatenation -2024-02-14 18:37:57, INFO: Layerwise_graph: False -2024-02-14 18:37:57, INFO: Skip_connection: True -2024-02-14 18:37:57, INFO: Number of layers: 1 -2024-02-14 18:37:57, INFO: Similarity_func: concatenation -2024-02-14 18:37:57, INFO: Layerwise_graph: False -2024-02-14 18:37:57, INFO: Skip_connection: True -2024-02-14 18:37:57, INFO: Number of layers: 1 -2024-02-14 18:37:57, INFO: Planning depth: 1 -2024-02-14 18:37:57, INFO: Planning width: 10 -2024-02-14 18:37:57, INFO: Sparse search: None -2024-02-14 18:38:00, INFO: human number: 10 -2024-02-14 18:38:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:05, INFO: Using device: cpu -2024-02-14 18:38:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:05, INFO: Similarity_func: concatenation -2024-02-14 18:38:05, INFO: Layerwise_graph: False -2024-02-14 18:38:05, INFO: Skip_connection: True -2024-02-14 18:38:05, INFO: Number of layers: 1 -2024-02-14 18:38:05, INFO: Similarity_func: concatenation -2024-02-14 18:38:05, INFO: Layerwise_graph: False -2024-02-14 18:38:05, INFO: Skip_connection: True -2024-02-14 18:38:05, INFO: Number of layers: 1 -2024-02-14 18:38:05, INFO: Planning depth: 1 -2024-02-14 18:38:05, INFO: Planning width: 10 -2024-02-14 18:38:05, INFO: Sparse search: None -2024-02-14 18:38:08, INFO: human number: 10 -2024-02-14 18:38:08, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:08, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:08, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:12, INFO: Using device: cpu -2024-02-14 18:38:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:12, INFO: Similarity_func: concatenation -2024-02-14 18:38:12, INFO: Layerwise_graph: False -2024-02-14 18:38:12, INFO: Skip_connection: True -2024-02-14 18:38:12, INFO: Number of layers: 1 -2024-02-14 18:38:12, INFO: Similarity_func: concatenation -2024-02-14 18:38:12, INFO: Layerwise_graph: False -2024-02-14 18:38:12, INFO: Skip_connection: True -2024-02-14 18:38:12, INFO: Number of layers: 1 -2024-02-14 18:38:12, INFO: Planning depth: 1 -2024-02-14 18:38:12, INFO: Planning width: 10 -2024-02-14 18:38:12, INFO: Sparse search: None -2024-02-14 18:38:14, INFO: human number: 10 -2024-02-14 18:38:14, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:14, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:14, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:19, INFO: Using device: cpu -2024-02-14 18:38:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:19, INFO: Similarity_func: concatenation -2024-02-14 18:38:19, INFO: Layerwise_graph: False -2024-02-14 18:38:19, INFO: Skip_connection: True -2024-02-14 18:38:19, INFO: Number of layers: 1 -2024-02-14 18:38:19, INFO: Similarity_func: concatenation -2024-02-14 18:38:19, INFO: Layerwise_graph: False -2024-02-14 18:38:19, INFO: Skip_connection: True -2024-02-14 18:38:19, INFO: Number of layers: 1 -2024-02-14 18:38:19, INFO: Planning depth: 1 -2024-02-14 18:38:19, INFO: Planning width: 10 -2024-02-14 18:38:19, INFO: Sparse search: None -2024-02-14 18:38:22, INFO: human number: 10 -2024-02-14 18:38:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:26, INFO: Using device: cpu -2024-02-14 18:38:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:26, INFO: Similarity_func: concatenation -2024-02-14 18:38:26, INFO: Layerwise_graph: False -2024-02-14 18:38:26, INFO: Skip_connection: True -2024-02-14 18:38:26, INFO: Number of layers: 1 -2024-02-14 18:38:26, INFO: Similarity_func: concatenation -2024-02-14 18:38:26, INFO: Layerwise_graph: False -2024-02-14 18:38:26, INFO: Skip_connection: True -2024-02-14 18:38:26, INFO: Number of layers: 1 -2024-02-14 18:38:26, INFO: Planning depth: 1 -2024-02-14 18:38:26, INFO: Planning width: 10 -2024-02-14 18:38:26, INFO: Sparse search: None -2024-02-14 18:38:29, INFO: human number: 10 -2024-02-14 18:38:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:33, INFO: Using device: cpu -2024-02-14 18:38:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:33, INFO: Similarity_func: concatenation -2024-02-14 18:38:33, INFO: Layerwise_graph: False -2024-02-14 18:38:33, INFO: Skip_connection: True -2024-02-14 18:38:33, INFO: Number of layers: 1 -2024-02-14 18:38:33, INFO: Similarity_func: concatenation -2024-02-14 18:38:33, INFO: Layerwise_graph: False -2024-02-14 18:38:33, INFO: Skip_connection: True -2024-02-14 18:38:33, INFO: Number of layers: 1 -2024-02-14 18:38:33, INFO: Planning depth: 1 -2024-02-14 18:38:33, INFO: Planning width: 10 -2024-02-14 18:38:33, INFO: Sparse search: None -2024-02-14 18:38:36, INFO: human number: 10 -2024-02-14 18:38:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:40, INFO: Using device: cpu -2024-02-14 18:38:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:40, INFO: Similarity_func: concatenation -2024-02-14 18:38:40, INFO: Layerwise_graph: False -2024-02-14 18:38:40, INFO: Skip_connection: True -2024-02-14 18:38:40, INFO: Number of layers: 1 -2024-02-14 18:38:40, INFO: Similarity_func: concatenation -2024-02-14 18:38:40, INFO: Layerwise_graph: False -2024-02-14 18:38:40, INFO: Skip_connection: True -2024-02-14 18:38:40, INFO: Number of layers: 1 -2024-02-14 18:38:40, INFO: Planning depth: 1 -2024-02-14 18:38:40, INFO: Planning width: 10 -2024-02-14 18:38:40, INFO: Sparse search: None -2024-02-14 18:38:43, INFO: human number: 10 -2024-02-14 18:38:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:47, INFO: Using device: cpu -2024-02-14 18:38:47, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:47, INFO: Similarity_func: concatenation -2024-02-14 18:38:47, INFO: Layerwise_graph: False -2024-02-14 18:38:47, INFO: Skip_connection: True -2024-02-14 18:38:47, INFO: Number of layers: 1 -2024-02-14 18:38:47, INFO: Similarity_func: concatenation -2024-02-14 18:38:47, INFO: Layerwise_graph: False -2024-02-14 18:38:47, INFO: Skip_connection: True -2024-02-14 18:38:47, INFO: Number of layers: 1 -2024-02-14 18:38:47, INFO: Planning depth: 1 -2024-02-14 18:38:47, INFO: Planning width: 10 -2024-02-14 18:38:47, INFO: Sparse search: None -2024-02-14 18:38:50, INFO: human number: 10 -2024-02-14 18:38:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:38:55, INFO: Using device: cpu -2024-02-14 18:38:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:38:55, INFO: Similarity_func: concatenation -2024-02-14 18:38:55, INFO: Layerwise_graph: False -2024-02-14 18:38:55, INFO: Skip_connection: True -2024-02-14 18:38:55, INFO: Number of layers: 1 -2024-02-14 18:38:55, INFO: Similarity_func: concatenation -2024-02-14 18:38:55, INFO: Layerwise_graph: False -2024-02-14 18:38:55, INFO: Skip_connection: True -2024-02-14 18:38:55, INFO: Number of layers: 1 -2024-02-14 18:38:55, INFO: Planning depth: 1 -2024-02-14 18:38:55, INFO: Planning width: 10 -2024-02-14 18:38:55, INFO: Sparse search: None -2024-02-14 18:38:57, INFO: human number: 10 -2024-02-14 18:38:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:38:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:38:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:38:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:38:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:02, INFO: Using device: cpu -2024-02-14 18:39:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:02, INFO: Similarity_func: concatenation -2024-02-14 18:39:02, INFO: Layerwise_graph: False -2024-02-14 18:39:02, INFO: Skip_connection: True -2024-02-14 18:39:02, INFO: Number of layers: 1 -2024-02-14 18:39:02, INFO: Similarity_func: concatenation -2024-02-14 18:39:02, INFO: Layerwise_graph: False -2024-02-14 18:39:02, INFO: Skip_connection: True -2024-02-14 18:39:02, INFO: Number of layers: 1 -2024-02-14 18:39:02, INFO: Planning depth: 1 -2024-02-14 18:39:02, INFO: Planning width: 10 -2024-02-14 18:39:02, INFO: Sparse search: None -2024-02-14 18:39:04, INFO: human number: 10 -2024-02-14 18:39:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:09, INFO: Using device: cpu -2024-02-14 18:39:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:09, INFO: Similarity_func: concatenation -2024-02-14 18:39:09, INFO: Layerwise_graph: False -2024-02-14 18:39:09, INFO: Skip_connection: True -2024-02-14 18:39:09, INFO: Number of layers: 1 -2024-02-14 18:39:09, INFO: Similarity_func: concatenation -2024-02-14 18:39:09, INFO: Layerwise_graph: False -2024-02-14 18:39:09, INFO: Skip_connection: True -2024-02-14 18:39:09, INFO: Number of layers: 1 -2024-02-14 18:39:09, INFO: Planning depth: 1 -2024-02-14 18:39:09, INFO: Planning width: 10 -2024-02-14 18:39:09, INFO: Sparse search: None -2024-02-14 18:39:12, INFO: human number: 10 -2024-02-14 18:39:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:12, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:16, INFO: Using device: cpu -2024-02-14 18:39:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:16, INFO: Similarity_func: concatenation -2024-02-14 18:39:16, INFO: Layerwise_graph: False -2024-02-14 18:39:16, INFO: Skip_connection: True -2024-02-14 18:39:16, INFO: Number of layers: 1 -2024-02-14 18:39:16, INFO: Similarity_func: concatenation -2024-02-14 18:39:16, INFO: Layerwise_graph: False -2024-02-14 18:39:16, INFO: Skip_connection: True -2024-02-14 18:39:16, INFO: Number of layers: 1 -2024-02-14 18:39:16, INFO: Planning depth: 1 -2024-02-14 18:39:16, INFO: Planning width: 10 -2024-02-14 18:39:16, INFO: Sparse search: None -2024-02-14 18:39:19, INFO: human number: 10 -2024-02-14 18:39:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:23, INFO: Using device: cpu -2024-02-14 18:39:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:23, INFO: Similarity_func: concatenation -2024-02-14 18:39:23, INFO: Layerwise_graph: False -2024-02-14 18:39:23, INFO: Skip_connection: True -2024-02-14 18:39:23, INFO: Number of layers: 1 -2024-02-14 18:39:23, INFO: Similarity_func: concatenation -2024-02-14 18:39:23, INFO: Layerwise_graph: False -2024-02-14 18:39:23, INFO: Skip_connection: True -2024-02-14 18:39:23, INFO: Number of layers: 1 -2024-02-14 18:39:23, INFO: Planning depth: 1 -2024-02-14 18:39:23, INFO: Planning width: 10 -2024-02-14 18:39:23, INFO: Sparse search: None -2024-02-14 18:39:26, INFO: human number: 10 -2024-02-14 18:39:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:30, INFO: Using device: cpu -2024-02-14 18:39:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:30, INFO: Similarity_func: concatenation -2024-02-14 18:39:30, INFO: Layerwise_graph: False -2024-02-14 18:39:30, INFO: Skip_connection: True -2024-02-14 18:39:30, INFO: Number of layers: 1 -2024-02-14 18:39:30, INFO: Similarity_func: concatenation -2024-02-14 18:39:30, INFO: Layerwise_graph: False -2024-02-14 18:39:30, INFO: Skip_connection: True -2024-02-14 18:39:30, INFO: Number of layers: 1 -2024-02-14 18:39:30, INFO: Planning depth: 1 -2024-02-14 18:39:30, INFO: Planning width: 10 -2024-02-14 18:39:30, INFO: Sparse search: None -2024-02-14 18:39:33, INFO: human number: 10 -2024-02-14 18:39:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:37, INFO: Using device: cpu -2024-02-14 18:39:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:37, INFO: Similarity_func: concatenation -2024-02-14 18:39:37, INFO: Layerwise_graph: False -2024-02-14 18:39:37, INFO: Skip_connection: True -2024-02-14 18:39:37, INFO: Number of layers: 1 -2024-02-14 18:39:37, INFO: Similarity_func: concatenation -2024-02-14 18:39:37, INFO: Layerwise_graph: False -2024-02-14 18:39:37, INFO: Skip_connection: True -2024-02-14 18:39:37, INFO: Number of layers: 1 -2024-02-14 18:39:37, INFO: Planning depth: 1 -2024-02-14 18:39:37, INFO: Planning width: 10 -2024-02-14 18:39:37, INFO: Sparse search: None -2024-02-14 18:39:40, INFO: human number: 10 -2024-02-14 18:39:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:44, INFO: Using device: cpu -2024-02-14 18:39:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:44, INFO: Similarity_func: concatenation -2024-02-14 18:39:44, INFO: Layerwise_graph: False -2024-02-14 18:39:44, INFO: Skip_connection: True -2024-02-14 18:39:44, INFO: Number of layers: 1 -2024-02-14 18:39:44, INFO: Similarity_func: concatenation -2024-02-14 18:39:44, INFO: Layerwise_graph: False -2024-02-14 18:39:44, INFO: Skip_connection: True -2024-02-14 18:39:44, INFO: Number of layers: 1 -2024-02-14 18:39:44, INFO: Planning depth: 1 -2024-02-14 18:39:44, INFO: Planning width: 10 -2024-02-14 18:39:44, INFO: Sparse search: None -2024-02-14 18:39:47, INFO: human number: 10 -2024-02-14 18:39:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:52, INFO: Using device: cpu -2024-02-14 18:39:52, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:52, INFO: Similarity_func: concatenation -2024-02-14 18:39:52, INFO: Layerwise_graph: False -2024-02-14 18:39:52, INFO: Skip_connection: True -2024-02-14 18:39:52, INFO: Number of layers: 1 -2024-02-14 18:39:52, INFO: Similarity_func: concatenation -2024-02-14 18:39:52, INFO: Layerwise_graph: False -2024-02-14 18:39:52, INFO: Skip_connection: True -2024-02-14 18:39:52, INFO: Number of layers: 1 -2024-02-14 18:39:52, INFO: Planning depth: 1 -2024-02-14 18:39:52, INFO: Planning width: 10 -2024-02-14 18:39:52, INFO: Sparse search: None -2024-02-14 18:39:54, INFO: human number: 10 -2024-02-14 18:39:54, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:39:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:39:54, INFO: Square width: 10, circle width: 4 -2024-02-14 18:39:54, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:39:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:39:58, INFO: Using device: cpu -2024-02-14 18:39:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:39:58, INFO: Similarity_func: concatenation -2024-02-14 18:39:58, INFO: Layerwise_graph: False -2024-02-14 18:39:58, INFO: Skip_connection: True -2024-02-14 18:39:58, INFO: Number of layers: 1 -2024-02-14 18:39:58, INFO: Similarity_func: concatenation -2024-02-14 18:39:58, INFO: Layerwise_graph: False -2024-02-14 18:39:58, INFO: Skip_connection: True -2024-02-14 18:39:58, INFO: Number of layers: 1 -2024-02-14 18:39:58, INFO: Planning depth: 1 -2024-02-14 18:39:58, INFO: Planning width: 10 -2024-02-14 18:39:58, INFO: Sparse search: None -2024-02-14 18:40:01, INFO: human number: 10 -2024-02-14 18:40:01, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:01, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:01, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:06, INFO: Using device: cpu -2024-02-14 18:40:06, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:06, INFO: Similarity_func: concatenation -2024-02-14 18:40:06, INFO: Layerwise_graph: False -2024-02-14 18:40:06, INFO: Skip_connection: True -2024-02-14 18:40:06, INFO: Number of layers: 1 -2024-02-14 18:40:06, INFO: Similarity_func: concatenation -2024-02-14 18:40:06, INFO: Layerwise_graph: False -2024-02-14 18:40:06, INFO: Skip_connection: True -2024-02-14 18:40:06, INFO: Number of layers: 1 -2024-02-14 18:40:06, INFO: Planning depth: 1 -2024-02-14 18:40:06, INFO: Planning width: 10 -2024-02-14 18:40:06, INFO: Sparse search: None -2024-02-14 18:40:09, INFO: human number: 10 -2024-02-14 18:40:09, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:09, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:09, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:12, INFO: Using device: cpu -2024-02-14 18:40:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:12, INFO: Similarity_func: concatenation -2024-02-14 18:40:12, INFO: Layerwise_graph: False -2024-02-14 18:40:12, INFO: Skip_connection: True -2024-02-14 18:40:12, INFO: Number of layers: 1 -2024-02-14 18:40:12, INFO: Similarity_func: concatenation -2024-02-14 18:40:12, INFO: Layerwise_graph: False -2024-02-14 18:40:12, INFO: Skip_connection: True -2024-02-14 18:40:12, INFO: Number of layers: 1 -2024-02-14 18:40:12, INFO: Planning depth: 1 -2024-02-14 18:40:12, INFO: Planning width: 10 -2024-02-14 18:40:12, INFO: Sparse search: None -2024-02-14 18:40:15, INFO: human number: 10 -2024-02-14 18:40:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:19, INFO: Using device: cpu -2024-02-14 18:40:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:19, INFO: Similarity_func: concatenation -2024-02-14 18:40:19, INFO: Layerwise_graph: False -2024-02-14 18:40:19, INFO: Skip_connection: True -2024-02-14 18:40:19, INFO: Number of layers: 1 -2024-02-14 18:40:19, INFO: Similarity_func: concatenation -2024-02-14 18:40:19, INFO: Layerwise_graph: False -2024-02-14 18:40:19, INFO: Skip_connection: True -2024-02-14 18:40:19, INFO: Number of layers: 1 -2024-02-14 18:40:19, INFO: Planning depth: 1 -2024-02-14 18:40:19, INFO: Planning width: 10 -2024-02-14 18:40:19, INFO: Sparse search: None -2024-02-14 18:40:22, INFO: human number: 10 -2024-02-14 18:40:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:26, INFO: Using device: cpu -2024-02-14 18:40:26, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:26, INFO: Similarity_func: concatenation -2024-02-14 18:40:26, INFO: Layerwise_graph: False -2024-02-14 18:40:26, INFO: Skip_connection: True -2024-02-14 18:40:26, INFO: Number of layers: 1 -2024-02-14 18:40:26, INFO: Similarity_func: concatenation -2024-02-14 18:40:26, INFO: Layerwise_graph: False -2024-02-14 18:40:26, INFO: Skip_connection: True -2024-02-14 18:40:26, INFO: Number of layers: 1 -2024-02-14 18:40:26, INFO: Planning depth: 1 -2024-02-14 18:40:26, INFO: Planning width: 10 -2024-02-14 18:40:26, INFO: Sparse search: None -2024-02-14 18:40:29, INFO: human number: 10 -2024-02-14 18:40:29, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:29, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:29, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:33, INFO: Using device: cpu -2024-02-14 18:40:33, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:33, INFO: Similarity_func: concatenation -2024-02-14 18:40:33, INFO: Layerwise_graph: False -2024-02-14 18:40:33, INFO: Skip_connection: True -2024-02-14 18:40:33, INFO: Number of layers: 1 -2024-02-14 18:40:33, INFO: Similarity_func: concatenation -2024-02-14 18:40:33, INFO: Layerwise_graph: False -2024-02-14 18:40:33, INFO: Skip_connection: True -2024-02-14 18:40:33, INFO: Number of layers: 1 -2024-02-14 18:40:33, INFO: Planning depth: 1 -2024-02-14 18:40:33, INFO: Planning width: 10 -2024-02-14 18:40:33, INFO: Sparse search: None -2024-02-14 18:40:36, INFO: human number: 10 -2024-02-14 18:40:36, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:36, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:36, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:40, INFO: Using device: cpu -2024-02-14 18:40:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:40, INFO: Similarity_func: concatenation -2024-02-14 18:40:40, INFO: Layerwise_graph: False -2024-02-14 18:40:40, INFO: Skip_connection: True -2024-02-14 18:40:40, INFO: Number of layers: 1 -2024-02-14 18:40:40, INFO: Similarity_func: concatenation -2024-02-14 18:40:40, INFO: Layerwise_graph: False -2024-02-14 18:40:40, INFO: Skip_connection: True -2024-02-14 18:40:40, INFO: Number of layers: 1 -2024-02-14 18:40:40, INFO: Planning depth: 1 -2024-02-14 18:40:40, INFO: Planning width: 10 -2024-02-14 18:40:40, INFO: Sparse search: None -2024-02-14 18:40:43, INFO: human number: 10 -2024-02-14 18:40:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:48, INFO: Using device: cpu -2024-02-14 18:40:48, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:48, INFO: Similarity_func: concatenation -2024-02-14 18:40:48, INFO: Layerwise_graph: False -2024-02-14 18:40:48, INFO: Skip_connection: True -2024-02-14 18:40:48, INFO: Number of layers: 1 -2024-02-14 18:40:48, INFO: Similarity_func: concatenation -2024-02-14 18:40:48, INFO: Layerwise_graph: False -2024-02-14 18:40:48, INFO: Skip_connection: True -2024-02-14 18:40:48, INFO: Number of layers: 1 -2024-02-14 18:40:48, INFO: Planning depth: 1 -2024-02-14 18:40:48, INFO: Planning width: 10 -2024-02-14 18:40:48, INFO: Sparse search: None -2024-02-14 18:40:50, INFO: human number: 10 -2024-02-14 18:40:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:40:55, INFO: Using device: cpu -2024-02-14 18:40:55, INFO: Loaded RL weights with best VAL -2024-02-14 18:40:55, INFO: Similarity_func: concatenation -2024-02-14 18:40:55, INFO: Layerwise_graph: False -2024-02-14 18:40:55, INFO: Skip_connection: True -2024-02-14 18:40:55, INFO: Number of layers: 1 -2024-02-14 18:40:55, INFO: Similarity_func: concatenation -2024-02-14 18:40:55, INFO: Layerwise_graph: False -2024-02-14 18:40:55, INFO: Skip_connection: True -2024-02-14 18:40:55, INFO: Number of layers: 1 -2024-02-14 18:40:55, INFO: Planning depth: 1 -2024-02-14 18:40:55, INFO: Planning width: 10 -2024-02-14 18:40:55, INFO: Sparse search: None -2024-02-14 18:40:58, INFO: human number: 10 -2024-02-14 18:40:58, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:40:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:40:58, INFO: Square width: 10, circle width: 4 -2024-02-14 18:40:58, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:40:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:02, INFO: Using device: cpu -2024-02-14 18:41:02, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:02, INFO: Similarity_func: concatenation -2024-02-14 18:41:02, INFO: Layerwise_graph: False -2024-02-14 18:41:02, INFO: Skip_connection: True -2024-02-14 18:41:02, INFO: Number of layers: 1 -2024-02-14 18:41:02, INFO: Similarity_func: concatenation -2024-02-14 18:41:02, INFO: Layerwise_graph: False -2024-02-14 18:41:02, INFO: Skip_connection: True -2024-02-14 18:41:02, INFO: Number of layers: 1 -2024-02-14 18:41:02, INFO: Planning depth: 1 -2024-02-14 18:41:02, INFO: Planning width: 10 -2024-02-14 18:41:02, INFO: Sparse search: None -2024-02-14 18:41:04, INFO: human number: 10 -2024-02-14 18:41:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:09, INFO: Using device: cpu -2024-02-14 18:41:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:09, INFO: Similarity_func: concatenation -2024-02-14 18:41:09, INFO: Layerwise_graph: False -2024-02-14 18:41:09, INFO: Skip_connection: True -2024-02-14 18:41:09, INFO: Number of layers: 1 -2024-02-14 18:41:09, INFO: Similarity_func: concatenation -2024-02-14 18:41:09, INFO: Layerwise_graph: False -2024-02-14 18:41:09, INFO: Skip_connection: True -2024-02-14 18:41:09, INFO: Number of layers: 1 -2024-02-14 18:41:09, INFO: Planning depth: 1 -2024-02-14 18:41:09, INFO: Planning width: 10 -2024-02-14 18:41:09, INFO: Sparse search: None -2024-02-14 18:41:12, INFO: human number: 10 -2024-02-14 18:41:12, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:12, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:12, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:16, INFO: Using device: cpu -2024-02-14 18:41:16, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:16, INFO: Similarity_func: concatenation -2024-02-14 18:41:16, INFO: Layerwise_graph: False -2024-02-14 18:41:16, INFO: Skip_connection: True -2024-02-14 18:41:16, INFO: Number of layers: 1 -2024-02-14 18:41:16, INFO: Similarity_func: concatenation -2024-02-14 18:41:16, INFO: Layerwise_graph: False -2024-02-14 18:41:16, INFO: Skip_connection: True -2024-02-14 18:41:16, INFO: Number of layers: 1 -2024-02-14 18:41:16, INFO: Planning depth: 1 -2024-02-14 18:41:16, INFO: Planning width: 10 -2024-02-14 18:41:16, INFO: Sparse search: None -2024-02-14 18:41:19, INFO: human number: 10 -2024-02-14 18:41:19, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:19, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:19, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:23, INFO: Using device: cpu -2024-02-14 18:41:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:23, INFO: Similarity_func: concatenation -2024-02-14 18:41:23, INFO: Layerwise_graph: False -2024-02-14 18:41:23, INFO: Skip_connection: True -2024-02-14 18:41:23, INFO: Number of layers: 1 -2024-02-14 18:41:23, INFO: Similarity_func: concatenation -2024-02-14 18:41:23, INFO: Layerwise_graph: False -2024-02-14 18:41:23, INFO: Skip_connection: True -2024-02-14 18:41:23, INFO: Number of layers: 1 -2024-02-14 18:41:23, INFO: Planning depth: 1 -2024-02-14 18:41:23, INFO: Planning width: 10 -2024-02-14 18:41:23, INFO: Sparse search: None -2024-02-14 18:41:26, INFO: human number: 10 -2024-02-14 18:41:26, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:26, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:26, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:30, INFO: Using device: cpu -2024-02-14 18:41:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:30, INFO: Similarity_func: concatenation -2024-02-14 18:41:30, INFO: Layerwise_graph: False -2024-02-14 18:41:30, INFO: Skip_connection: True -2024-02-14 18:41:30, INFO: Number of layers: 1 -2024-02-14 18:41:30, INFO: Similarity_func: concatenation -2024-02-14 18:41:30, INFO: Layerwise_graph: False -2024-02-14 18:41:30, INFO: Skip_connection: True -2024-02-14 18:41:30, INFO: Number of layers: 1 -2024-02-14 18:41:30, INFO: Planning depth: 1 -2024-02-14 18:41:30, INFO: Planning width: 10 -2024-02-14 18:41:30, INFO: Sparse search: None -2024-02-14 18:41:33, INFO: human number: 10 -2024-02-14 18:41:33, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:33, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:33, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:37, INFO: Using device: cpu -2024-02-14 18:41:37, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:37, INFO: Similarity_func: concatenation -2024-02-14 18:41:37, INFO: Layerwise_graph: False -2024-02-14 18:41:37, INFO: Skip_connection: True -2024-02-14 18:41:37, INFO: Number of layers: 1 -2024-02-14 18:41:37, INFO: Similarity_func: concatenation -2024-02-14 18:41:37, INFO: Layerwise_graph: False -2024-02-14 18:41:37, INFO: Skip_connection: True -2024-02-14 18:41:37, INFO: Number of layers: 1 -2024-02-14 18:41:37, INFO: Planning depth: 1 -2024-02-14 18:41:37, INFO: Planning width: 10 -2024-02-14 18:41:37, INFO: Sparse search: None -2024-02-14 18:41:40, INFO: human number: 10 -2024-02-14 18:41:40, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:40, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:40, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:44, INFO: Using device: cpu -2024-02-14 18:41:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:44, INFO: Similarity_func: concatenation -2024-02-14 18:41:44, INFO: Layerwise_graph: False -2024-02-14 18:41:44, INFO: Skip_connection: True -2024-02-14 18:41:44, INFO: Number of layers: 1 -2024-02-14 18:41:44, INFO: Similarity_func: concatenation -2024-02-14 18:41:44, INFO: Layerwise_graph: False -2024-02-14 18:41:44, INFO: Skip_connection: True -2024-02-14 18:41:44, INFO: Number of layers: 1 -2024-02-14 18:41:44, INFO: Planning depth: 1 -2024-02-14 18:41:44, INFO: Planning width: 10 -2024-02-14 18:41:44, INFO: Sparse search: None -2024-02-14 18:41:47, INFO: human number: 10 -2024-02-14 18:41:47, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:47, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:47, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:51, INFO: Using device: cpu -2024-02-14 18:41:51, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:51, INFO: Similarity_func: concatenation -2024-02-14 18:41:51, INFO: Layerwise_graph: False -2024-02-14 18:41:51, INFO: Skip_connection: True -2024-02-14 18:41:51, INFO: Number of layers: 1 -2024-02-14 18:41:51, INFO: Similarity_func: concatenation -2024-02-14 18:41:51, INFO: Layerwise_graph: False -2024-02-14 18:41:51, INFO: Skip_connection: True -2024-02-14 18:41:51, INFO: Number of layers: 1 -2024-02-14 18:41:51, INFO: Planning depth: 1 -2024-02-14 18:41:51, INFO: Planning width: 10 -2024-02-14 18:41:51, INFO: Sparse search: None -2024-02-14 18:41:53, INFO: human number: 10 -2024-02-14 18:41:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:41:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:41:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:41:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:41:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:41:58, INFO: Using device: cpu -2024-02-14 18:41:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:41:58, INFO: Similarity_func: concatenation -2024-02-14 18:41:58, INFO: Layerwise_graph: False -2024-02-14 18:41:58, INFO: Skip_connection: True -2024-02-14 18:41:58, INFO: Number of layers: 1 -2024-02-14 18:41:58, INFO: Similarity_func: concatenation -2024-02-14 18:41:58, INFO: Layerwise_graph: False -2024-02-14 18:41:58, INFO: Skip_connection: True -2024-02-14 18:41:58, INFO: Number of layers: 1 -2024-02-14 18:41:58, INFO: Planning depth: 1 -2024-02-14 18:41:58, INFO: Planning width: 10 -2024-02-14 18:41:58, INFO: Sparse search: None -2024-02-14 18:42:00, INFO: human number: 10 -2024-02-14 18:42:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:05, INFO: Using device: cpu -2024-02-14 18:42:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:05, INFO: Similarity_func: concatenation -2024-02-14 18:42:05, INFO: Layerwise_graph: False -2024-02-14 18:42:05, INFO: Skip_connection: True -2024-02-14 18:42:05, INFO: Number of layers: 1 -2024-02-14 18:42:05, INFO: Similarity_func: concatenation -2024-02-14 18:42:05, INFO: Layerwise_graph: False -2024-02-14 18:42:05, INFO: Skip_connection: True -2024-02-14 18:42:05, INFO: Number of layers: 1 -2024-02-14 18:42:05, INFO: Planning depth: 1 -2024-02-14 18:42:05, INFO: Planning width: 10 -2024-02-14 18:42:05, INFO: Sparse search: None -2024-02-14 18:42:07, INFO: human number: 10 -2024-02-14 18:42:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:12, INFO: Using device: cpu -2024-02-14 18:42:12, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:12, INFO: Similarity_func: concatenation -2024-02-14 18:42:12, INFO: Layerwise_graph: False -2024-02-14 18:42:12, INFO: Skip_connection: True -2024-02-14 18:42:12, INFO: Number of layers: 1 -2024-02-14 18:42:12, INFO: Similarity_func: concatenation -2024-02-14 18:42:12, INFO: Layerwise_graph: False -2024-02-14 18:42:12, INFO: Skip_connection: True -2024-02-14 18:42:12, INFO: Number of layers: 1 -2024-02-14 18:42:12, INFO: Planning depth: 1 -2024-02-14 18:42:12, INFO: Planning width: 10 -2024-02-14 18:42:12, INFO: Sparse search: None -2024-02-14 18:42:15, INFO: human number: 10 -2024-02-14 18:42:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:19, INFO: Using device: cpu -2024-02-14 18:42:19, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:19, INFO: Similarity_func: concatenation -2024-02-14 18:42:19, INFO: Layerwise_graph: False -2024-02-14 18:42:19, INFO: Skip_connection: True -2024-02-14 18:42:19, INFO: Number of layers: 1 -2024-02-14 18:42:19, INFO: Similarity_func: concatenation -2024-02-14 18:42:19, INFO: Layerwise_graph: False -2024-02-14 18:42:19, INFO: Skip_connection: True -2024-02-14 18:42:19, INFO: Number of layers: 1 -2024-02-14 18:42:19, INFO: Planning depth: 1 -2024-02-14 18:42:19, INFO: Planning width: 10 -2024-02-14 18:42:19, INFO: Sparse search: None -2024-02-14 18:42:22, INFO: human number: 10 -2024-02-14 18:42:22, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:22, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:22, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:27, INFO: Using device: cpu -2024-02-14 18:42:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:27, INFO: Similarity_func: concatenation -2024-02-14 18:42:27, INFO: Layerwise_graph: False -2024-02-14 18:42:27, INFO: Skip_connection: True -2024-02-14 18:42:27, INFO: Number of layers: 1 -2024-02-14 18:42:27, INFO: Similarity_func: concatenation -2024-02-14 18:42:27, INFO: Layerwise_graph: False -2024-02-14 18:42:27, INFO: Skip_connection: True -2024-02-14 18:42:27, INFO: Number of layers: 1 -2024-02-14 18:42:27, INFO: Planning depth: 1 -2024-02-14 18:42:27, INFO: Planning width: 10 -2024-02-14 18:42:27, INFO: Sparse search: None -2024-02-14 18:42:30, INFO: human number: 10 -2024-02-14 18:42:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:34, INFO: Using device: cpu -2024-02-14 18:42:34, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:34, INFO: Similarity_func: concatenation -2024-02-14 18:42:34, INFO: Layerwise_graph: False -2024-02-14 18:42:34, INFO: Skip_connection: True -2024-02-14 18:42:34, INFO: Number of layers: 1 -2024-02-14 18:42:34, INFO: Similarity_func: concatenation -2024-02-14 18:42:34, INFO: Layerwise_graph: False -2024-02-14 18:42:34, INFO: Skip_connection: True -2024-02-14 18:42:34, INFO: Number of layers: 1 -2024-02-14 18:42:34, INFO: Planning depth: 1 -2024-02-14 18:42:34, INFO: Planning width: 10 -2024-02-14 18:42:34, INFO: Sparse search: None -2024-02-14 18:42:37, INFO: human number: 10 -2024-02-14 18:42:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:40, INFO: Using device: cpu -2024-02-14 18:42:40, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:40, INFO: Similarity_func: concatenation -2024-02-14 18:42:40, INFO: Layerwise_graph: False -2024-02-14 18:42:40, INFO: Skip_connection: True -2024-02-14 18:42:40, INFO: Number of layers: 1 -2024-02-14 18:42:40, INFO: Similarity_func: concatenation -2024-02-14 18:42:40, INFO: Layerwise_graph: False -2024-02-14 18:42:40, INFO: Skip_connection: True -2024-02-14 18:42:40, INFO: Number of layers: 1 -2024-02-14 18:42:40, INFO: Planning depth: 1 -2024-02-14 18:42:40, INFO: Planning width: 10 -2024-02-14 18:42:40, INFO: Sparse search: None -2024-02-14 18:42:43, INFO: human number: 10 -2024-02-14 18:42:43, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:43, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:43, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:48, INFO: Using device: cpu -2024-02-14 18:42:48, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:48, INFO: Similarity_func: concatenation -2024-02-14 18:42:48, INFO: Layerwise_graph: False -2024-02-14 18:42:48, INFO: Skip_connection: True -2024-02-14 18:42:48, INFO: Number of layers: 1 -2024-02-14 18:42:48, INFO: Similarity_func: concatenation -2024-02-14 18:42:48, INFO: Layerwise_graph: False -2024-02-14 18:42:48, INFO: Skip_connection: True -2024-02-14 18:42:48, INFO: Number of layers: 1 -2024-02-14 18:42:48, INFO: Planning depth: 1 -2024-02-14 18:42:48, INFO: Planning width: 10 -2024-02-14 18:42:48, INFO: Sparse search: None -2024-02-14 18:42:50, INFO: human number: 10 -2024-02-14 18:42:50, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:50, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:50, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:42:54, INFO: Using device: cpu -2024-02-14 18:42:54, INFO: Loaded RL weights with best VAL -2024-02-14 18:42:54, INFO: Similarity_func: concatenation -2024-02-14 18:42:54, INFO: Layerwise_graph: False -2024-02-14 18:42:54, INFO: Skip_connection: True -2024-02-14 18:42:54, INFO: Number of layers: 1 -2024-02-14 18:42:54, INFO: Similarity_func: concatenation -2024-02-14 18:42:54, INFO: Layerwise_graph: False -2024-02-14 18:42:54, INFO: Skip_connection: True -2024-02-14 18:42:54, INFO: Number of layers: 1 -2024-02-14 18:42:54, INFO: Planning depth: 1 -2024-02-14 18:42:54, INFO: Planning width: 10 -2024-02-14 18:42:54, INFO: Sparse search: None -2024-02-14 18:42:57, INFO: human number: 10 -2024-02-14 18:42:57, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:42:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:42:57, INFO: Square width: 10, circle width: 4 -2024-02-14 18:42:57, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:42:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:01, INFO: Using device: cpu -2024-02-14 18:43:01, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:01, INFO: Similarity_func: concatenation -2024-02-14 18:43:01, INFO: Layerwise_graph: False -2024-02-14 18:43:01, INFO: Skip_connection: True -2024-02-14 18:43:01, INFO: Number of layers: 1 -2024-02-14 18:43:01, INFO: Similarity_func: concatenation -2024-02-14 18:43:01, INFO: Layerwise_graph: False -2024-02-14 18:43:01, INFO: Skip_connection: True -2024-02-14 18:43:01, INFO: Number of layers: 1 -2024-02-14 18:43:01, INFO: Planning depth: 1 -2024-02-14 18:43:01, INFO: Planning width: 10 -2024-02-14 18:43:01, INFO: Sparse search: None -2024-02-14 18:43:04, INFO: human number: 10 -2024-02-14 18:43:04, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:04, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:04, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:09, INFO: Using device: cpu -2024-02-14 18:43:09, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:09, INFO: Similarity_func: concatenation -2024-02-14 18:43:09, INFO: Layerwise_graph: False -2024-02-14 18:43:09, INFO: Skip_connection: True -2024-02-14 18:43:09, INFO: Number of layers: 1 -2024-02-14 18:43:09, INFO: Similarity_func: concatenation -2024-02-14 18:43:09, INFO: Layerwise_graph: False -2024-02-14 18:43:09, INFO: Skip_connection: True -2024-02-14 18:43:09, INFO: Number of layers: 1 -2024-02-14 18:43:09, INFO: Planning depth: 1 -2024-02-14 18:43:09, INFO: Planning width: 10 -2024-02-14 18:43:09, INFO: Sparse search: None -2024-02-14 18:43:11, INFO: human number: 10 -2024-02-14 18:43:11, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:11, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:11, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:15, INFO: Using device: cpu -2024-02-14 18:43:15, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:15, INFO: Similarity_func: concatenation -2024-02-14 18:43:15, INFO: Layerwise_graph: False -2024-02-14 18:43:15, INFO: Skip_connection: True -2024-02-14 18:43:15, INFO: Number of layers: 1 -2024-02-14 18:43:15, INFO: Similarity_func: concatenation -2024-02-14 18:43:15, INFO: Layerwise_graph: False -2024-02-14 18:43:15, INFO: Skip_connection: True -2024-02-14 18:43:15, INFO: Number of layers: 1 -2024-02-14 18:43:15, INFO: Planning depth: 1 -2024-02-14 18:43:15, INFO: Planning width: 10 -2024-02-14 18:43:15, INFO: Sparse search: None -2024-02-14 18:43:18, INFO: human number: 10 -2024-02-14 18:43:18, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:18, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:18, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:23, INFO: Using device: cpu -2024-02-14 18:43:23, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:23, INFO: Similarity_func: concatenation -2024-02-14 18:43:23, INFO: Layerwise_graph: False -2024-02-14 18:43:23, INFO: Skip_connection: True -2024-02-14 18:43:23, INFO: Number of layers: 1 -2024-02-14 18:43:23, INFO: Similarity_func: concatenation -2024-02-14 18:43:23, INFO: Layerwise_graph: False -2024-02-14 18:43:23, INFO: Skip_connection: True -2024-02-14 18:43:23, INFO: Number of layers: 1 -2024-02-14 18:43:23, INFO: Planning depth: 1 -2024-02-14 18:43:23, INFO: Planning width: 10 -2024-02-14 18:43:23, INFO: Sparse search: None -2024-02-14 18:43:25, INFO: human number: 10 -2024-02-14 18:43:25, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:25, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:25, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:30, INFO: Using device: cpu -2024-02-14 18:43:30, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:30, INFO: Similarity_func: concatenation -2024-02-14 18:43:30, INFO: Layerwise_graph: False -2024-02-14 18:43:30, INFO: Skip_connection: True -2024-02-14 18:43:30, INFO: Number of layers: 1 -2024-02-14 18:43:30, INFO: Similarity_func: concatenation -2024-02-14 18:43:30, INFO: Layerwise_graph: False -2024-02-14 18:43:30, INFO: Skip_connection: True -2024-02-14 18:43:30, INFO: Number of layers: 1 -2024-02-14 18:43:30, INFO: Planning depth: 1 -2024-02-14 18:43:30, INFO: Planning width: 10 -2024-02-14 18:43:30, INFO: Sparse search: None -2024-02-14 18:43:32, INFO: human number: 10 -2024-02-14 18:43:32, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:32, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:32, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:36, INFO: Using device: cpu -2024-02-14 18:43:36, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:36, INFO: Similarity_func: concatenation -2024-02-14 18:43:36, INFO: Layerwise_graph: False -2024-02-14 18:43:36, INFO: Skip_connection: True -2024-02-14 18:43:36, INFO: Number of layers: 1 -2024-02-14 18:43:37, INFO: Similarity_func: concatenation -2024-02-14 18:43:37, INFO: Layerwise_graph: False -2024-02-14 18:43:37, INFO: Skip_connection: True -2024-02-14 18:43:37, INFO: Number of layers: 1 -2024-02-14 18:43:37, INFO: Planning depth: 1 -2024-02-14 18:43:37, INFO: Planning width: 10 -2024-02-14 18:43:37, INFO: Sparse search: None -2024-02-14 18:43:39, INFO: human number: 10 -2024-02-14 18:43:39, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:39, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:39, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:44, INFO: Using device: cpu -2024-02-14 18:43:44, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:44, INFO: Similarity_func: concatenation -2024-02-14 18:43:44, INFO: Layerwise_graph: False -2024-02-14 18:43:44, INFO: Skip_connection: True -2024-02-14 18:43:44, INFO: Number of layers: 1 -2024-02-14 18:43:44, INFO: Similarity_func: concatenation -2024-02-14 18:43:44, INFO: Layerwise_graph: False -2024-02-14 18:43:44, INFO: Skip_connection: True -2024-02-14 18:43:44, INFO: Number of layers: 1 -2024-02-14 18:43:44, INFO: Planning depth: 1 -2024-02-14 18:43:44, INFO: Planning width: 10 -2024-02-14 18:43:44, INFO: Sparse search: None -2024-02-14 18:43:46, INFO: human number: 10 -2024-02-14 18:43:46, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:46, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:46, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:50, INFO: Using device: cpu -2024-02-14 18:43:50, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:50, INFO: Similarity_func: concatenation -2024-02-14 18:43:50, INFO: Layerwise_graph: False -2024-02-14 18:43:50, INFO: Skip_connection: True -2024-02-14 18:43:50, INFO: Number of layers: 1 -2024-02-14 18:43:50, INFO: Similarity_func: concatenation -2024-02-14 18:43:50, INFO: Layerwise_graph: False -2024-02-14 18:43:50, INFO: Skip_connection: True -2024-02-14 18:43:50, INFO: Number of layers: 1 -2024-02-14 18:43:50, INFO: Planning depth: 1 -2024-02-14 18:43:50, INFO: Planning width: 10 -2024-02-14 18:43:50, INFO: Sparse search: None -2024-02-14 18:43:53, INFO: human number: 10 -2024-02-14 18:43:53, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:43:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:43:53, INFO: Square width: 10, circle width: 4 -2024-02-14 18:43:53, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:43:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:43:58, INFO: Using device: cpu -2024-02-14 18:43:58, INFO: Loaded RL weights with best VAL -2024-02-14 18:43:58, INFO: Similarity_func: concatenation -2024-02-14 18:43:58, INFO: Layerwise_graph: False -2024-02-14 18:43:58, INFO: Skip_connection: True -2024-02-14 18:43:58, INFO: Number of layers: 1 -2024-02-14 18:43:58, INFO: Similarity_func: concatenation -2024-02-14 18:43:58, INFO: Layerwise_graph: False -2024-02-14 18:43:58, INFO: Skip_connection: True -2024-02-14 18:43:58, INFO: Number of layers: 1 -2024-02-14 18:43:58, INFO: Planning depth: 1 -2024-02-14 18:43:58, INFO: Planning width: 10 -2024-02-14 18:43:58, INFO: Sparse search: None -2024-02-14 18:44:00, INFO: human number: 10 -2024-02-14 18:44:00, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:00, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:00, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:44:05, INFO: Using device: cpu -2024-02-14 18:44:05, INFO: Loaded RL weights with best VAL -2024-02-14 18:44:05, INFO: Similarity_func: concatenation -2024-02-14 18:44:05, INFO: Layerwise_graph: False -2024-02-14 18:44:05, INFO: Skip_connection: True -2024-02-14 18:44:05, INFO: Number of layers: 1 -2024-02-14 18:44:05, INFO: Similarity_func: concatenation -2024-02-14 18:44:05, INFO: Layerwise_graph: False -2024-02-14 18:44:05, INFO: Skip_connection: True -2024-02-14 18:44:05, INFO: Number of layers: 1 -2024-02-14 18:44:05, INFO: Planning depth: 1 -2024-02-14 18:44:05, INFO: Planning width: 10 -2024-02-14 18:44:05, INFO: Sparse search: None -2024-02-14 18:44:07, INFO: human number: 10 -2024-02-14 18:44:07, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:07, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:07, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:44:13, INFO: Using device: cpu -2024-02-14 18:44:13, INFO: Loaded RL weights with best VAL -2024-02-14 18:44:13, INFO: Similarity_func: concatenation -2024-02-14 18:44:13, INFO: Layerwise_graph: False -2024-02-14 18:44:13, INFO: Skip_connection: True -2024-02-14 18:44:13, INFO: Number of layers: 1 -2024-02-14 18:44:13, INFO: Similarity_func: concatenation -2024-02-14 18:44:13, INFO: Layerwise_graph: False -2024-02-14 18:44:13, INFO: Skip_connection: True -2024-02-14 18:44:13, INFO: Number of layers: 1 -2024-02-14 18:44:13, INFO: Planning depth: 1 -2024-02-14 18:44:13, INFO: Planning width: 10 -2024-02-14 18:44:13, INFO: Sparse search: None -2024-02-14 18:44:15, INFO: human number: 10 -2024-02-14 18:44:15, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:15, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:15, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:44:20, INFO: Using device: cpu -2024-02-14 18:44:20, INFO: Loaded RL weights with best VAL -2024-02-14 18:44:20, INFO: Similarity_func: concatenation -2024-02-14 18:44:20, INFO: Layerwise_graph: False -2024-02-14 18:44:20, INFO: Skip_connection: True -2024-02-14 18:44:20, INFO: Number of layers: 1 -2024-02-14 18:44:20, INFO: Similarity_func: concatenation -2024-02-14 18:44:20, INFO: Layerwise_graph: False -2024-02-14 18:44:20, INFO: Skip_connection: True -2024-02-14 18:44:20, INFO: Number of layers: 1 -2024-02-14 18:44:20, INFO: Planning depth: 1 -2024-02-14 18:44:20, INFO: Planning width: 10 -2024-02-14 18:44:20, INFO: Sparse search: None -2024-02-14 18:44:23, INFO: human number: 10 -2024-02-14 18:44:23, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:23, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:23, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:44:27, INFO: Using device: cpu -2024-02-14 18:44:27, INFO: Loaded RL weights with best VAL -2024-02-14 18:44:27, INFO: Similarity_func: concatenation -2024-02-14 18:44:27, INFO: Layerwise_graph: False -2024-02-14 18:44:27, INFO: Skip_connection: True -2024-02-14 18:44:27, INFO: Number of layers: 1 -2024-02-14 18:44:27, INFO: Similarity_func: concatenation -2024-02-14 18:44:27, INFO: Layerwise_graph: False -2024-02-14 18:44:27, INFO: Skip_connection: True -2024-02-14 18:44:27, INFO: Number of layers: 1 -2024-02-14 18:44:27, INFO: Planning depth: 1 -2024-02-14 18:44:27, INFO: Planning width: 10 -2024-02-14 18:44:27, INFO: Sparse search: None -2024-02-14 18:44:30, INFO: human number: 10 -2024-02-14 18:44:30, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:30, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:30, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-14 18:44:34, INFO: Using device: cpu -2024-02-14 18:44:34, INFO: Loaded RL weights with best VAL -2024-02-14 18:44:34, INFO: Similarity_func: concatenation -2024-02-14 18:44:34, INFO: Layerwise_graph: False -2024-02-14 18:44:34, INFO: Skip_connection: True -2024-02-14 18:44:34, INFO: Number of layers: 1 -2024-02-14 18:44:34, INFO: Similarity_func: concatenation -2024-02-14 18:44:34, INFO: Layerwise_graph: False -2024-02-14 18:44:34, INFO: Skip_connection: True -2024-02-14 18:44:34, INFO: Number of layers: 1 -2024-02-14 18:44:34, INFO: Planning depth: 1 -2024-02-14 18:44:34, INFO: Planning width: 10 -2024-02-14 18:44:34, INFO: Sparse search: None -2024-02-14 18:44:37, INFO: human number: 10 -2024-02-14 18:44:37, INFO: Not randomize human's radius and preferred speed -2024-02-14 18:44:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-14 18:44:37, INFO: Square width: 10, circle width: 4 -2024-02-14 18:44:37, INFO: rotation constraint: 3.141592653589793 -2024-02-14 18:44:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:48:22, INFO: Using device: cpu -2024-02-15 09:48:22, INFO: Loaded RL weights with best VAL -2024-02-15 09:48:22, INFO: Similarity_func: concatenation -2024-02-15 09:48:22, INFO: Layerwise_graph: False -2024-02-15 09:48:22, INFO: Skip_connection: True -2024-02-15 09:48:22, INFO: Number of layers: 1 -2024-02-15 09:48:22, INFO: Similarity_func: concatenation -2024-02-15 09:48:22, INFO: Layerwise_graph: False -2024-02-15 09:48:22, INFO: Skip_connection: True -2024-02-15 09:48:22, INFO: Number of layers: 1 -2024-02-15 09:48:22, INFO: Planning depth: 1 -2024-02-15 09:48:22, INFO: Planning width: 10 -2024-02-15 09:48:22, INFO: Sparse search: None -2024-02-15 09:48:25, INFO: human number: 10 -2024-02-15 09:48:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:48:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:48:25, INFO: Square width: 10, circle width: 4 -2024-02-15 09:48:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:48:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:48:27, INFO: Animation.save using -2024-02-15 09:48:32, INFO: Animation.save using -2024-02-15 09:48:37, INFO: Animation.save using -2024-02-15 09:49:50, INFO: Using device: cpu -2024-02-15 09:49:50, INFO: Loaded RL weights with best VAL -2024-02-15 09:49:50, INFO: Similarity_func: concatenation -2024-02-15 09:49:50, INFO: Layerwise_graph: False -2024-02-15 09:49:50, INFO: Skip_connection: True -2024-02-15 09:49:50, INFO: Number of layers: 1 -2024-02-15 09:49:50, INFO: Similarity_func: concatenation -2024-02-15 09:49:50, INFO: Layerwise_graph: False -2024-02-15 09:49:50, INFO: Skip_connection: True -2024-02-15 09:49:50, INFO: Number of layers: 1 -2024-02-15 09:49:50, INFO: Planning depth: 1 -2024-02-15 09:49:50, INFO: Planning width: 10 -2024-02-15 09:49:50, INFO: Sparse search: None -2024-02-15 09:49:53, INFO: human number: 10 -2024-02-15 09:49:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:49:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:49:53, INFO: Square width: 10, circle width: 4 -2024-02-15 09:49:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:49:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:53:26, INFO: Using device: cpu -2024-02-15 09:53:26, INFO: Loaded RL weights with best VAL -2024-02-15 09:53:26, INFO: Similarity_func: concatenation -2024-02-15 09:53:26, INFO: Layerwise_graph: False -2024-02-15 09:53:26, INFO: Skip_connection: True -2024-02-15 09:53:26, INFO: Number of layers: 1 -2024-02-15 09:53:26, INFO: Similarity_func: concatenation -2024-02-15 09:53:26, INFO: Layerwise_graph: False -2024-02-15 09:53:26, INFO: Skip_connection: True -2024-02-15 09:53:26, INFO: Number of layers: 1 -2024-02-15 09:53:26, INFO: Planning depth: 1 -2024-02-15 09:53:26, INFO: Planning width: 10 -2024-02-15 09:53:26, INFO: Sparse search: None -2024-02-15 09:53:29, INFO: human number: 10 -2024-02-15 09:53:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:53:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:53:29, INFO: Square width: 10, circle width: 4 -2024-02-15 09:53:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:53:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:55:47, INFO: Using device: cpu -2024-02-15 09:55:47, INFO: Loaded RL weights with best VAL -2024-02-15 09:55:47, INFO: Similarity_func: concatenation -2024-02-15 09:55:47, INFO: Layerwise_graph: False -2024-02-15 09:55:47, INFO: Skip_connection: True -2024-02-15 09:55:47, INFO: Number of layers: 1 -2024-02-15 09:55:47, INFO: Similarity_func: concatenation -2024-02-15 09:55:47, INFO: Layerwise_graph: False -2024-02-15 09:55:47, INFO: Skip_connection: True -2024-02-15 09:55:47, INFO: Number of layers: 1 -2024-02-15 09:55:47, INFO: Planning depth: 1 -2024-02-15 09:55:47, INFO: Planning width: 10 -2024-02-15 09:55:47, INFO: Sparse search: None -2024-02-15 09:55:50, INFO: human number: 10 -2024-02-15 09:55:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:55:50, INFO: Square width: 10, circle width: 4 -2024-02-15 09:55:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:55:54, INFO: Using device: cpu -2024-02-15 09:55:54, INFO: Loaded RL weights with best VAL -2024-02-15 09:55:54, INFO: Similarity_func: concatenation -2024-02-15 09:55:54, INFO: Layerwise_graph: False -2024-02-15 09:55:54, INFO: Skip_connection: True -2024-02-15 09:55:54, INFO: Number of layers: 1 -2024-02-15 09:55:54, INFO: Similarity_func: concatenation -2024-02-15 09:55:54, INFO: Layerwise_graph: False -2024-02-15 09:55:54, INFO: Skip_connection: True -2024-02-15 09:55:54, INFO: Number of layers: 1 -2024-02-15 09:55:54, INFO: Planning depth: 1 -2024-02-15 09:55:54, INFO: Planning width: 10 -2024-02-15 09:55:54, INFO: Sparse search: None -2024-02-15 09:55:57, INFO: human number: 10 -2024-02-15 09:55:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:55:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:55:57, INFO: Square width: 10, circle width: 4 -2024-02-15 09:55:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:55:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:01, INFO: Using device: cpu -2024-02-15 09:56:01, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:01, INFO: Similarity_func: concatenation -2024-02-15 09:56:01, INFO: Layerwise_graph: False -2024-02-15 09:56:01, INFO: Skip_connection: True -2024-02-15 09:56:01, INFO: Number of layers: 1 -2024-02-15 09:56:01, INFO: Similarity_func: concatenation -2024-02-15 09:56:01, INFO: Layerwise_graph: False -2024-02-15 09:56:01, INFO: Skip_connection: True -2024-02-15 09:56:01, INFO: Number of layers: 1 -2024-02-15 09:56:01, INFO: Planning depth: 1 -2024-02-15 09:56:01, INFO: Planning width: 10 -2024-02-15 09:56:01, INFO: Sparse search: None -2024-02-15 09:56:04, INFO: human number: 10 -2024-02-15 09:56:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:04, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:08, INFO: Using device: cpu -2024-02-15 09:56:08, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:08, INFO: Similarity_func: concatenation -2024-02-15 09:56:08, INFO: Layerwise_graph: False -2024-02-15 09:56:08, INFO: Skip_connection: True -2024-02-15 09:56:08, INFO: Number of layers: 1 -2024-02-15 09:56:08, INFO: Similarity_func: concatenation -2024-02-15 09:56:08, INFO: Layerwise_graph: False -2024-02-15 09:56:08, INFO: Skip_connection: True -2024-02-15 09:56:08, INFO: Number of layers: 1 -2024-02-15 09:56:08, INFO: Planning depth: 1 -2024-02-15 09:56:08, INFO: Planning width: 10 -2024-02-15 09:56:08, INFO: Sparse search: None -2024-02-15 09:56:11, INFO: human number: 10 -2024-02-15 09:56:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:11, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:15, INFO: Using device: cpu -2024-02-15 09:56:15, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:15, INFO: Similarity_func: concatenation -2024-02-15 09:56:15, INFO: Layerwise_graph: False -2024-02-15 09:56:15, INFO: Skip_connection: True -2024-02-15 09:56:15, INFO: Number of layers: 1 -2024-02-15 09:56:15, INFO: Similarity_func: concatenation -2024-02-15 09:56:15, INFO: Layerwise_graph: False -2024-02-15 09:56:15, INFO: Skip_connection: True -2024-02-15 09:56:15, INFO: Number of layers: 1 -2024-02-15 09:56:15, INFO: Planning depth: 1 -2024-02-15 09:56:15, INFO: Planning width: 10 -2024-02-15 09:56:15, INFO: Sparse search: None -2024-02-15 09:56:18, INFO: human number: 10 -2024-02-15 09:56:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:18, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:22, INFO: Using device: cpu -2024-02-15 09:56:22, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:22, INFO: Similarity_func: concatenation -2024-02-15 09:56:22, INFO: Layerwise_graph: False -2024-02-15 09:56:22, INFO: Skip_connection: True -2024-02-15 09:56:22, INFO: Number of layers: 1 -2024-02-15 09:56:22, INFO: Similarity_func: concatenation -2024-02-15 09:56:22, INFO: Layerwise_graph: False -2024-02-15 09:56:22, INFO: Skip_connection: True -2024-02-15 09:56:22, INFO: Number of layers: 1 -2024-02-15 09:56:22, INFO: Planning depth: 1 -2024-02-15 09:56:22, INFO: Planning width: 10 -2024-02-15 09:56:22, INFO: Sparse search: None -2024-02-15 09:56:25, INFO: human number: 10 -2024-02-15 09:56:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:25, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:29, INFO: Using device: cpu -2024-02-15 09:56:29, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:29, INFO: Similarity_func: concatenation -2024-02-15 09:56:29, INFO: Layerwise_graph: False -2024-02-15 09:56:29, INFO: Skip_connection: True -2024-02-15 09:56:29, INFO: Number of layers: 1 -2024-02-15 09:56:29, INFO: Similarity_func: concatenation -2024-02-15 09:56:29, INFO: Layerwise_graph: False -2024-02-15 09:56:29, INFO: Skip_connection: True -2024-02-15 09:56:29, INFO: Number of layers: 1 -2024-02-15 09:56:29, INFO: Planning depth: 1 -2024-02-15 09:56:29, INFO: Planning width: 10 -2024-02-15 09:56:29, INFO: Sparse search: None -2024-02-15 09:56:32, INFO: human number: 10 -2024-02-15 09:56:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:32, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:36, INFO: Using device: cpu -2024-02-15 09:56:36, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:36, INFO: Similarity_func: concatenation -2024-02-15 09:56:36, INFO: Layerwise_graph: False -2024-02-15 09:56:36, INFO: Skip_connection: True -2024-02-15 09:56:36, INFO: Number of layers: 1 -2024-02-15 09:56:36, INFO: Similarity_func: concatenation -2024-02-15 09:56:36, INFO: Layerwise_graph: False -2024-02-15 09:56:36, INFO: Skip_connection: True -2024-02-15 09:56:36, INFO: Number of layers: 1 -2024-02-15 09:56:36, INFO: Planning depth: 1 -2024-02-15 09:56:36, INFO: Planning width: 10 -2024-02-15 09:56:36, INFO: Sparse search: None -2024-02-15 09:56:39, INFO: human number: 10 -2024-02-15 09:56:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:39, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:43, INFO: Using device: cpu -2024-02-15 09:56:43, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:43, INFO: Similarity_func: concatenation -2024-02-15 09:56:43, INFO: Layerwise_graph: False -2024-02-15 09:56:43, INFO: Skip_connection: True -2024-02-15 09:56:43, INFO: Number of layers: 1 -2024-02-15 09:56:43, INFO: Similarity_func: concatenation -2024-02-15 09:56:43, INFO: Layerwise_graph: False -2024-02-15 09:56:43, INFO: Skip_connection: True -2024-02-15 09:56:43, INFO: Number of layers: 1 -2024-02-15 09:56:43, INFO: Planning depth: 1 -2024-02-15 09:56:43, INFO: Planning width: 10 -2024-02-15 09:56:43, INFO: Sparse search: None -2024-02-15 09:56:46, INFO: human number: 10 -2024-02-15 09:56:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:46, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:50, INFO: Using device: cpu -2024-02-15 09:56:50, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:50, INFO: Similarity_func: concatenation -2024-02-15 09:56:50, INFO: Layerwise_graph: False -2024-02-15 09:56:50, INFO: Skip_connection: True -2024-02-15 09:56:50, INFO: Number of layers: 1 -2024-02-15 09:56:50, INFO: Similarity_func: concatenation -2024-02-15 09:56:50, INFO: Layerwise_graph: False -2024-02-15 09:56:50, INFO: Skip_connection: True -2024-02-15 09:56:50, INFO: Number of layers: 1 -2024-02-15 09:56:50, INFO: Planning depth: 1 -2024-02-15 09:56:50, INFO: Planning width: 10 -2024-02-15 09:56:50, INFO: Sparse search: None -2024-02-15 09:56:53, INFO: human number: 10 -2024-02-15 09:56:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:56:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:56:53, INFO: Square width: 10, circle width: 4 -2024-02-15 09:56:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:56:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:56:57, INFO: Using device: cpu -2024-02-15 09:56:57, INFO: Loaded RL weights with best VAL -2024-02-15 09:56:57, INFO: Similarity_func: concatenation -2024-02-15 09:56:57, INFO: Layerwise_graph: False -2024-02-15 09:56:57, INFO: Skip_connection: True -2024-02-15 09:56:57, INFO: Number of layers: 1 -2024-02-15 09:56:57, INFO: Similarity_func: concatenation -2024-02-15 09:56:57, INFO: Layerwise_graph: False -2024-02-15 09:56:57, INFO: Skip_connection: True -2024-02-15 09:56:57, INFO: Number of layers: 1 -2024-02-15 09:56:57, INFO: Planning depth: 1 -2024-02-15 09:56:57, INFO: Planning width: 10 -2024-02-15 09:56:57, INFO: Sparse search: None -2024-02-15 09:57:00, INFO: human number: 10 -2024-02-15 09:57:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:00, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:04, INFO: Using device: cpu -2024-02-15 09:57:04, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:04, INFO: Similarity_func: concatenation -2024-02-15 09:57:04, INFO: Layerwise_graph: False -2024-02-15 09:57:04, INFO: Skip_connection: True -2024-02-15 09:57:04, INFO: Number of layers: 1 -2024-02-15 09:57:04, INFO: Similarity_func: concatenation -2024-02-15 09:57:04, INFO: Layerwise_graph: False -2024-02-15 09:57:04, INFO: Skip_connection: True -2024-02-15 09:57:04, INFO: Number of layers: 1 -2024-02-15 09:57:04, INFO: Planning depth: 1 -2024-02-15 09:57:04, INFO: Planning width: 10 -2024-02-15 09:57:04, INFO: Sparse search: None -2024-02-15 09:57:07, INFO: human number: 10 -2024-02-15 09:57:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:07, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:11, INFO: Using device: cpu -2024-02-15 09:57:11, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:11, INFO: Similarity_func: concatenation -2024-02-15 09:57:11, INFO: Layerwise_graph: False -2024-02-15 09:57:11, INFO: Skip_connection: True -2024-02-15 09:57:11, INFO: Number of layers: 1 -2024-02-15 09:57:11, INFO: Similarity_func: concatenation -2024-02-15 09:57:11, INFO: Layerwise_graph: False -2024-02-15 09:57:11, INFO: Skip_connection: True -2024-02-15 09:57:11, INFO: Number of layers: 1 -2024-02-15 09:57:11, INFO: Planning depth: 1 -2024-02-15 09:57:11, INFO: Planning width: 10 -2024-02-15 09:57:11, INFO: Sparse search: None -2024-02-15 09:57:14, INFO: human number: 10 -2024-02-15 09:57:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:14, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:18, INFO: Using device: cpu -2024-02-15 09:57:18, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:18, INFO: Similarity_func: concatenation -2024-02-15 09:57:18, INFO: Layerwise_graph: False -2024-02-15 09:57:18, INFO: Skip_connection: True -2024-02-15 09:57:18, INFO: Number of layers: 1 -2024-02-15 09:57:18, INFO: Similarity_func: concatenation -2024-02-15 09:57:18, INFO: Layerwise_graph: False -2024-02-15 09:57:18, INFO: Skip_connection: True -2024-02-15 09:57:18, INFO: Number of layers: 1 -2024-02-15 09:57:18, INFO: Planning depth: 1 -2024-02-15 09:57:18, INFO: Planning width: 10 -2024-02-15 09:57:18, INFO: Sparse search: None -2024-02-15 09:57:21, INFO: human number: 10 -2024-02-15 09:57:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:21, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:26, INFO: Using device: cpu -2024-02-15 09:57:26, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:26, INFO: Similarity_func: concatenation -2024-02-15 09:57:26, INFO: Layerwise_graph: False -2024-02-15 09:57:26, INFO: Skip_connection: True -2024-02-15 09:57:26, INFO: Number of layers: 1 -2024-02-15 09:57:26, INFO: Similarity_func: concatenation -2024-02-15 09:57:26, INFO: Layerwise_graph: False -2024-02-15 09:57:26, INFO: Skip_connection: True -2024-02-15 09:57:26, INFO: Number of layers: 1 -2024-02-15 09:57:26, INFO: Planning depth: 1 -2024-02-15 09:57:26, INFO: Planning width: 10 -2024-02-15 09:57:26, INFO: Sparse search: None -2024-02-15 09:57:28, INFO: human number: 10 -2024-02-15 09:57:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:28, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:33, INFO: Using device: cpu -2024-02-15 09:57:33, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:33, INFO: Similarity_func: concatenation -2024-02-15 09:57:33, INFO: Layerwise_graph: False -2024-02-15 09:57:33, INFO: Skip_connection: True -2024-02-15 09:57:33, INFO: Number of layers: 1 -2024-02-15 09:57:33, INFO: Similarity_func: concatenation -2024-02-15 09:57:33, INFO: Layerwise_graph: False -2024-02-15 09:57:33, INFO: Skip_connection: True -2024-02-15 09:57:33, INFO: Number of layers: 1 -2024-02-15 09:57:33, INFO: Planning depth: 1 -2024-02-15 09:57:33, INFO: Planning width: 10 -2024-02-15 09:57:33, INFO: Sparse search: None -2024-02-15 09:57:36, INFO: human number: 10 -2024-02-15 09:57:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:36, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:40, INFO: Using device: cpu -2024-02-15 09:57:40, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:40, INFO: Similarity_func: concatenation -2024-02-15 09:57:40, INFO: Layerwise_graph: False -2024-02-15 09:57:40, INFO: Skip_connection: True -2024-02-15 09:57:40, INFO: Number of layers: 1 -2024-02-15 09:57:40, INFO: Similarity_func: concatenation -2024-02-15 09:57:40, INFO: Layerwise_graph: False -2024-02-15 09:57:40, INFO: Skip_connection: True -2024-02-15 09:57:40, INFO: Number of layers: 1 -2024-02-15 09:57:40, INFO: Planning depth: 1 -2024-02-15 09:57:40, INFO: Planning width: 10 -2024-02-15 09:57:40, INFO: Sparse search: None -2024-02-15 09:57:43, INFO: human number: 10 -2024-02-15 09:57:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:43, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:48, INFO: Using device: cpu -2024-02-15 09:57:48, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:48, INFO: Similarity_func: concatenation -2024-02-15 09:57:48, INFO: Layerwise_graph: False -2024-02-15 09:57:48, INFO: Skip_connection: True -2024-02-15 09:57:48, INFO: Number of layers: 1 -2024-02-15 09:57:48, INFO: Similarity_func: concatenation -2024-02-15 09:57:48, INFO: Layerwise_graph: False -2024-02-15 09:57:48, INFO: Skip_connection: True -2024-02-15 09:57:48, INFO: Number of layers: 1 -2024-02-15 09:57:48, INFO: Planning depth: 1 -2024-02-15 09:57:48, INFO: Planning width: 10 -2024-02-15 09:57:48, INFO: Sparse search: None -2024-02-15 09:57:50, INFO: human number: 10 -2024-02-15 09:57:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:50, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:57:55, INFO: Using device: cpu -2024-02-15 09:57:55, INFO: Loaded RL weights with best VAL -2024-02-15 09:57:55, INFO: Similarity_func: concatenation -2024-02-15 09:57:55, INFO: Layerwise_graph: False -2024-02-15 09:57:55, INFO: Skip_connection: True -2024-02-15 09:57:55, INFO: Number of layers: 1 -2024-02-15 09:57:55, INFO: Similarity_func: concatenation -2024-02-15 09:57:55, INFO: Layerwise_graph: False -2024-02-15 09:57:55, INFO: Skip_connection: True -2024-02-15 09:57:55, INFO: Number of layers: 1 -2024-02-15 09:57:55, INFO: Planning depth: 1 -2024-02-15 09:57:55, INFO: Planning width: 10 -2024-02-15 09:57:55, INFO: Sparse search: None -2024-02-15 09:57:58, INFO: human number: 10 -2024-02-15 09:57:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:57:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:57:58, INFO: Square width: 10, circle width: 4 -2024-02-15 09:57:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:57:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:02, INFO: Using device: cpu -2024-02-15 09:58:02, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:02, INFO: Similarity_func: concatenation -2024-02-15 09:58:02, INFO: Layerwise_graph: False -2024-02-15 09:58:02, INFO: Skip_connection: True -2024-02-15 09:58:02, INFO: Number of layers: 1 -2024-02-15 09:58:02, INFO: Similarity_func: concatenation -2024-02-15 09:58:02, INFO: Layerwise_graph: False -2024-02-15 09:58:02, INFO: Skip_connection: True -2024-02-15 09:58:02, INFO: Number of layers: 1 -2024-02-15 09:58:02, INFO: Planning depth: 1 -2024-02-15 09:58:02, INFO: Planning width: 10 -2024-02-15 09:58:02, INFO: Sparse search: None -2024-02-15 09:58:05, INFO: human number: 10 -2024-02-15 09:58:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:05, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:09, INFO: Using device: cpu -2024-02-15 09:58:09, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:09, INFO: Similarity_func: concatenation -2024-02-15 09:58:09, INFO: Layerwise_graph: False -2024-02-15 09:58:09, INFO: Skip_connection: True -2024-02-15 09:58:09, INFO: Number of layers: 1 -2024-02-15 09:58:09, INFO: Similarity_func: concatenation -2024-02-15 09:58:09, INFO: Layerwise_graph: False -2024-02-15 09:58:09, INFO: Skip_connection: True -2024-02-15 09:58:09, INFO: Number of layers: 1 -2024-02-15 09:58:09, INFO: Planning depth: 1 -2024-02-15 09:58:09, INFO: Planning width: 10 -2024-02-15 09:58:09, INFO: Sparse search: None -2024-02-15 09:58:12, INFO: human number: 10 -2024-02-15 09:58:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:12, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:16, INFO: Using device: cpu -2024-02-15 09:58:16, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:16, INFO: Similarity_func: concatenation -2024-02-15 09:58:16, INFO: Layerwise_graph: False -2024-02-15 09:58:16, INFO: Skip_connection: True -2024-02-15 09:58:16, INFO: Number of layers: 1 -2024-02-15 09:58:16, INFO: Similarity_func: concatenation -2024-02-15 09:58:16, INFO: Layerwise_graph: False -2024-02-15 09:58:16, INFO: Skip_connection: True -2024-02-15 09:58:16, INFO: Number of layers: 1 -2024-02-15 09:58:16, INFO: Planning depth: 1 -2024-02-15 09:58:16, INFO: Planning width: 10 -2024-02-15 09:58:16, INFO: Sparse search: None -2024-02-15 09:58:19, INFO: human number: 10 -2024-02-15 09:58:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:19, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:23, INFO: Using device: cpu -2024-02-15 09:58:23, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:23, INFO: Similarity_func: concatenation -2024-02-15 09:58:23, INFO: Layerwise_graph: False -2024-02-15 09:58:23, INFO: Skip_connection: True -2024-02-15 09:58:23, INFO: Number of layers: 1 -2024-02-15 09:58:23, INFO: Similarity_func: concatenation -2024-02-15 09:58:23, INFO: Layerwise_graph: False -2024-02-15 09:58:23, INFO: Skip_connection: True -2024-02-15 09:58:23, INFO: Number of layers: 1 -2024-02-15 09:58:23, INFO: Planning depth: 1 -2024-02-15 09:58:23, INFO: Planning width: 10 -2024-02-15 09:58:23, INFO: Sparse search: None -2024-02-15 09:58:26, INFO: human number: 10 -2024-02-15 09:58:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:26, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:30, INFO: Using device: cpu -2024-02-15 09:58:30, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:30, INFO: Similarity_func: concatenation -2024-02-15 09:58:30, INFO: Layerwise_graph: False -2024-02-15 09:58:30, INFO: Skip_connection: True -2024-02-15 09:58:30, INFO: Number of layers: 1 -2024-02-15 09:58:30, INFO: Similarity_func: concatenation -2024-02-15 09:58:30, INFO: Layerwise_graph: False -2024-02-15 09:58:30, INFO: Skip_connection: True -2024-02-15 09:58:30, INFO: Number of layers: 1 -2024-02-15 09:58:30, INFO: Planning depth: 1 -2024-02-15 09:58:30, INFO: Planning width: 10 -2024-02-15 09:58:30, INFO: Sparse search: None -2024-02-15 09:58:33, INFO: human number: 10 -2024-02-15 09:58:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:33, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:37, INFO: Using device: cpu -2024-02-15 09:58:37, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:37, INFO: Similarity_func: concatenation -2024-02-15 09:58:37, INFO: Layerwise_graph: False -2024-02-15 09:58:37, INFO: Skip_connection: True -2024-02-15 09:58:37, INFO: Number of layers: 1 -2024-02-15 09:58:37, INFO: Similarity_func: concatenation -2024-02-15 09:58:37, INFO: Layerwise_graph: False -2024-02-15 09:58:37, INFO: Skip_connection: True -2024-02-15 09:58:37, INFO: Number of layers: 1 -2024-02-15 09:58:37, INFO: Planning depth: 1 -2024-02-15 09:58:37, INFO: Planning width: 10 -2024-02-15 09:58:37, INFO: Sparse search: None -2024-02-15 09:58:40, INFO: human number: 10 -2024-02-15 09:58:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:58:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:58:40, INFO: Square width: 10, circle width: 4 -2024-02-15 09:58:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:58:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:58:44, INFO: Using device: cpu -2024-02-15 09:58:44, INFO: Loaded RL weights with best VAL -2024-02-15 09:58:44, INFO: Similarity_func: concatenation -2024-02-15 09:58:44, INFO: Layerwise_graph: False -2024-02-15 09:58:44, INFO: Skip_connection: True -2024-02-15 09:58:44, INFO: Number of layers: 1 -2024-02-15 09:58:44, INFO: Similarity_func: concatenation -2024-02-15 09:58:44, INFO: Layerwise_graph: False -2024-02-15 09:58:44, INFO: Skip_connection: True -2024-02-15 09:58:44, INFO: Number of layers: 1 -2024-02-15 09:58:44, INFO: Planning depth: 1 -2024-02-15 09:58:44, INFO: Planning width: 10 -2024-02-15 09:58:44, INFO: Sparse search: None -2024-02-15 09:59:23, INFO: Using device: cpu -2024-02-15 09:59:23, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:23, INFO: Similarity_func: concatenation -2024-02-15 09:59:23, INFO: Layerwise_graph: False -2024-02-15 09:59:23, INFO: Skip_connection: True -2024-02-15 09:59:23, INFO: Number of layers: 1 -2024-02-15 09:59:23, INFO: Similarity_func: concatenation -2024-02-15 09:59:23, INFO: Layerwise_graph: False -2024-02-15 09:59:23, INFO: Skip_connection: True -2024-02-15 09:59:23, INFO: Number of layers: 1 -2024-02-15 09:59:23, INFO: Planning depth: 1 -2024-02-15 09:59:23, INFO: Planning width: 10 -2024-02-15 09:59:23, INFO: Sparse search: None -2024-02-15 09:59:26, INFO: human number: 10 -2024-02-15 09:59:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:59:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:59:26, INFO: Square width: 10, circle width: 4 -2024-02-15 09:59:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:59:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:59:30, INFO: Using device: cpu -2024-02-15 09:59:30, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:30, INFO: Similarity_func: concatenation -2024-02-15 09:59:30, INFO: Layerwise_graph: False -2024-02-15 09:59:30, INFO: Skip_connection: True -2024-02-15 09:59:30, INFO: Number of layers: 1 -2024-02-15 09:59:30, INFO: Similarity_func: concatenation -2024-02-15 09:59:30, INFO: Layerwise_graph: False -2024-02-15 09:59:30, INFO: Skip_connection: True -2024-02-15 09:59:30, INFO: Number of layers: 1 -2024-02-15 09:59:30, INFO: Planning depth: 1 -2024-02-15 09:59:30, INFO: Planning width: 10 -2024-02-15 09:59:30, INFO: Sparse search: None -2024-02-15 09:59:33, INFO: human number: 10 -2024-02-15 09:59:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:59:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:59:33, INFO: Square width: 10, circle width: 4 -2024-02-15 09:59:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:59:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:59:37, INFO: Using device: cpu -2024-02-15 09:59:37, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:37, INFO: Similarity_func: concatenation -2024-02-15 09:59:37, INFO: Layerwise_graph: False -2024-02-15 09:59:37, INFO: Skip_connection: True -2024-02-15 09:59:37, INFO: Number of layers: 1 -2024-02-15 09:59:37, INFO: Similarity_func: concatenation -2024-02-15 09:59:37, INFO: Layerwise_graph: False -2024-02-15 09:59:37, INFO: Skip_connection: True -2024-02-15 09:59:37, INFO: Number of layers: 1 -2024-02-15 09:59:37, INFO: Planning depth: 1 -2024-02-15 09:59:37, INFO: Planning width: 10 -2024-02-15 09:59:37, INFO: Sparse search: None -2024-02-15 09:59:40, INFO: human number: 10 -2024-02-15 09:59:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:59:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:59:40, INFO: Square width: 10, circle width: 4 -2024-02-15 09:59:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:59:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:59:43, INFO: Using device: cpu -2024-02-15 09:59:43, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:43, INFO: Similarity_func: concatenation -2024-02-15 09:59:43, INFO: Layerwise_graph: False -2024-02-15 09:59:43, INFO: Skip_connection: True -2024-02-15 09:59:43, INFO: Number of layers: 1 -2024-02-15 09:59:43, INFO: Similarity_func: concatenation -2024-02-15 09:59:43, INFO: Layerwise_graph: False -2024-02-15 09:59:43, INFO: Skip_connection: True -2024-02-15 09:59:43, INFO: Number of layers: 1 -2024-02-15 09:59:43, INFO: Planning depth: 1 -2024-02-15 09:59:43, INFO: Planning width: 10 -2024-02-15 09:59:43, INFO: Sparse search: None -2024-02-15 09:59:46, INFO: human number: 10 -2024-02-15 09:59:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:59:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:59:46, INFO: Square width: 10, circle width: 4 -2024-02-15 09:59:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:59:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:59:51, INFO: Using device: cpu -2024-02-15 09:59:51, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:51, INFO: Similarity_func: concatenation -2024-02-15 09:59:51, INFO: Layerwise_graph: False -2024-02-15 09:59:51, INFO: Skip_connection: True -2024-02-15 09:59:51, INFO: Number of layers: 1 -2024-02-15 09:59:51, INFO: Similarity_func: concatenation -2024-02-15 09:59:51, INFO: Layerwise_graph: False -2024-02-15 09:59:51, INFO: Skip_connection: True -2024-02-15 09:59:51, INFO: Number of layers: 1 -2024-02-15 09:59:51, INFO: Planning depth: 1 -2024-02-15 09:59:51, INFO: Planning width: 10 -2024-02-15 09:59:51, INFO: Sparse search: None -2024-02-15 09:59:53, INFO: human number: 10 -2024-02-15 09:59:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 09:59:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 09:59:53, INFO: Square width: 10, circle width: 4 -2024-02-15 09:59:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 09:59:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 09:59:57, INFO: Using device: cpu -2024-02-15 09:59:57, INFO: Loaded RL weights with best VAL -2024-02-15 09:59:57, INFO: Similarity_func: concatenation -2024-02-15 09:59:57, INFO: Layerwise_graph: False -2024-02-15 09:59:57, INFO: Skip_connection: True -2024-02-15 09:59:57, INFO: Number of layers: 1 -2024-02-15 09:59:57, INFO: Similarity_func: concatenation -2024-02-15 09:59:57, INFO: Layerwise_graph: False -2024-02-15 09:59:57, INFO: Skip_connection: True -2024-02-15 09:59:57, INFO: Number of layers: 1 -2024-02-15 09:59:57, INFO: Planning depth: 1 -2024-02-15 09:59:57, INFO: Planning width: 10 -2024-02-15 09:59:57, INFO: Sparse search: None -2024-02-15 10:00:00, INFO: human number: 10 -2024-02-15 10:00:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:04, INFO: Using device: cpu -2024-02-15 10:00:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:04, INFO: Similarity_func: concatenation -2024-02-15 10:00:04, INFO: Layerwise_graph: False -2024-02-15 10:00:04, INFO: Skip_connection: True -2024-02-15 10:00:04, INFO: Number of layers: 1 -2024-02-15 10:00:04, INFO: Similarity_func: concatenation -2024-02-15 10:00:04, INFO: Layerwise_graph: False -2024-02-15 10:00:04, INFO: Skip_connection: True -2024-02-15 10:00:04, INFO: Number of layers: 1 -2024-02-15 10:00:04, INFO: Planning depth: 1 -2024-02-15 10:00:04, INFO: Planning width: 10 -2024-02-15 10:00:04, INFO: Sparse search: None -2024-02-15 10:00:06, INFO: human number: 10 -2024-02-15 10:00:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:11, INFO: Using device: cpu -2024-02-15 10:00:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:11, INFO: Similarity_func: concatenation -2024-02-15 10:00:11, INFO: Layerwise_graph: False -2024-02-15 10:00:11, INFO: Skip_connection: True -2024-02-15 10:00:11, INFO: Number of layers: 1 -2024-02-15 10:00:11, INFO: Similarity_func: concatenation -2024-02-15 10:00:11, INFO: Layerwise_graph: False -2024-02-15 10:00:11, INFO: Skip_connection: True -2024-02-15 10:00:11, INFO: Number of layers: 1 -2024-02-15 10:00:11, INFO: Planning depth: 1 -2024-02-15 10:00:11, INFO: Planning width: 10 -2024-02-15 10:00:11, INFO: Sparse search: None -2024-02-15 10:00:13, INFO: human number: 10 -2024-02-15 10:00:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:18, INFO: Using device: cpu -2024-02-15 10:00:18, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:18, INFO: Similarity_func: concatenation -2024-02-15 10:00:18, INFO: Layerwise_graph: False -2024-02-15 10:00:18, INFO: Skip_connection: True -2024-02-15 10:00:18, INFO: Number of layers: 1 -2024-02-15 10:00:18, INFO: Similarity_func: concatenation -2024-02-15 10:00:18, INFO: Layerwise_graph: False -2024-02-15 10:00:18, INFO: Skip_connection: True -2024-02-15 10:00:18, INFO: Number of layers: 1 -2024-02-15 10:00:18, INFO: Planning depth: 1 -2024-02-15 10:00:18, INFO: Planning width: 10 -2024-02-15 10:00:18, INFO: Sparse search: None -2024-02-15 10:00:20, INFO: human number: 10 -2024-02-15 10:00:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:25, INFO: Using device: cpu -2024-02-15 10:00:25, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:25, INFO: Similarity_func: concatenation -2024-02-15 10:00:25, INFO: Layerwise_graph: False -2024-02-15 10:00:25, INFO: Skip_connection: True -2024-02-15 10:00:25, INFO: Number of layers: 1 -2024-02-15 10:00:25, INFO: Similarity_func: concatenation -2024-02-15 10:00:25, INFO: Layerwise_graph: False -2024-02-15 10:00:25, INFO: Skip_connection: True -2024-02-15 10:00:25, INFO: Number of layers: 1 -2024-02-15 10:00:25, INFO: Planning depth: 1 -2024-02-15 10:00:25, INFO: Planning width: 10 -2024-02-15 10:00:25, INFO: Sparse search: None -2024-02-15 10:00:27, INFO: human number: 10 -2024-02-15 10:00:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:31, INFO: Using device: cpu -2024-02-15 10:00:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:31, INFO: Similarity_func: concatenation -2024-02-15 10:00:31, INFO: Layerwise_graph: False -2024-02-15 10:00:31, INFO: Skip_connection: True -2024-02-15 10:00:31, INFO: Number of layers: 1 -2024-02-15 10:00:31, INFO: Similarity_func: concatenation -2024-02-15 10:00:31, INFO: Layerwise_graph: False -2024-02-15 10:00:31, INFO: Skip_connection: True -2024-02-15 10:00:31, INFO: Number of layers: 1 -2024-02-15 10:00:31, INFO: Planning depth: 1 -2024-02-15 10:00:31, INFO: Planning width: 10 -2024-02-15 10:00:31, INFO: Sparse search: None -2024-02-15 10:00:34, INFO: human number: 10 -2024-02-15 10:00:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:38, INFO: Using device: cpu -2024-02-15 10:00:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:38, INFO: Similarity_func: concatenation -2024-02-15 10:00:38, INFO: Layerwise_graph: False -2024-02-15 10:00:38, INFO: Skip_connection: True -2024-02-15 10:00:38, INFO: Number of layers: 1 -2024-02-15 10:00:38, INFO: Similarity_func: concatenation -2024-02-15 10:00:38, INFO: Layerwise_graph: False -2024-02-15 10:00:38, INFO: Skip_connection: True -2024-02-15 10:00:38, INFO: Number of layers: 1 -2024-02-15 10:00:38, INFO: Planning depth: 1 -2024-02-15 10:00:38, INFO: Planning width: 10 -2024-02-15 10:00:38, INFO: Sparse search: None -2024-02-15 10:00:41, INFO: human number: 10 -2024-02-15 10:00:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:45, INFO: Using device: cpu -2024-02-15 10:00:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:45, INFO: Similarity_func: concatenation -2024-02-15 10:00:45, INFO: Layerwise_graph: False -2024-02-15 10:00:45, INFO: Skip_connection: True -2024-02-15 10:00:45, INFO: Number of layers: 1 -2024-02-15 10:00:45, INFO: Similarity_func: concatenation -2024-02-15 10:00:45, INFO: Layerwise_graph: False -2024-02-15 10:00:45, INFO: Skip_connection: True -2024-02-15 10:00:45, INFO: Number of layers: 1 -2024-02-15 10:00:45, INFO: Planning depth: 1 -2024-02-15 10:00:45, INFO: Planning width: 10 -2024-02-15 10:00:45, INFO: Sparse search: None -2024-02-15 10:00:48, INFO: human number: 10 -2024-02-15 10:00:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:00:52, INFO: Using device: cpu -2024-02-15 10:00:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:00:52, INFO: Similarity_func: concatenation -2024-02-15 10:00:52, INFO: Layerwise_graph: False -2024-02-15 10:00:52, INFO: Skip_connection: True -2024-02-15 10:00:52, INFO: Number of layers: 1 -2024-02-15 10:00:52, INFO: Similarity_func: concatenation -2024-02-15 10:00:52, INFO: Layerwise_graph: False -2024-02-15 10:00:52, INFO: Skip_connection: True -2024-02-15 10:00:52, INFO: Number of layers: 1 -2024-02-15 10:00:52, INFO: Planning depth: 1 -2024-02-15 10:00:52, INFO: Planning width: 10 -2024-02-15 10:00:52, INFO: Sparse search: None -2024-02-15 10:00:55, INFO: human number: 10 -2024-02-15 10:00:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:00:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:00:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:00:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:00:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:00, INFO: Using device: cpu -2024-02-15 10:01:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:00, INFO: Similarity_func: concatenation -2024-02-15 10:01:00, INFO: Layerwise_graph: False -2024-02-15 10:01:00, INFO: Skip_connection: True -2024-02-15 10:01:00, INFO: Number of layers: 1 -2024-02-15 10:01:00, INFO: Similarity_func: concatenation -2024-02-15 10:01:00, INFO: Layerwise_graph: False -2024-02-15 10:01:00, INFO: Skip_connection: True -2024-02-15 10:01:00, INFO: Number of layers: 1 -2024-02-15 10:01:00, INFO: Planning depth: 1 -2024-02-15 10:01:00, INFO: Planning width: 10 -2024-02-15 10:01:00, INFO: Sparse search: None -2024-02-15 10:01:03, INFO: human number: 10 -2024-02-15 10:01:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:08, INFO: Using device: cpu -2024-02-15 10:01:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:08, INFO: Similarity_func: concatenation -2024-02-15 10:01:08, INFO: Layerwise_graph: False -2024-02-15 10:01:08, INFO: Skip_connection: True -2024-02-15 10:01:08, INFO: Number of layers: 1 -2024-02-15 10:01:08, INFO: Similarity_func: concatenation -2024-02-15 10:01:08, INFO: Layerwise_graph: False -2024-02-15 10:01:08, INFO: Skip_connection: True -2024-02-15 10:01:08, INFO: Number of layers: 1 -2024-02-15 10:01:08, INFO: Planning depth: 1 -2024-02-15 10:01:08, INFO: Planning width: 10 -2024-02-15 10:01:08, INFO: Sparse search: None -2024-02-15 10:01:10, INFO: human number: 10 -2024-02-15 10:01:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:14, INFO: Using device: cpu -2024-02-15 10:01:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:14, INFO: Similarity_func: concatenation -2024-02-15 10:01:14, INFO: Layerwise_graph: False -2024-02-15 10:01:14, INFO: Skip_connection: True -2024-02-15 10:01:14, INFO: Number of layers: 1 -2024-02-15 10:01:14, INFO: Similarity_func: concatenation -2024-02-15 10:01:14, INFO: Layerwise_graph: False -2024-02-15 10:01:14, INFO: Skip_connection: True -2024-02-15 10:01:14, INFO: Number of layers: 1 -2024-02-15 10:01:14, INFO: Planning depth: 1 -2024-02-15 10:01:14, INFO: Planning width: 10 -2024-02-15 10:01:14, INFO: Sparse search: None -2024-02-15 10:01:17, INFO: human number: 10 -2024-02-15 10:01:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:21, INFO: Using device: cpu -2024-02-15 10:01:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:21, INFO: Similarity_func: concatenation -2024-02-15 10:01:21, INFO: Layerwise_graph: False -2024-02-15 10:01:21, INFO: Skip_connection: True -2024-02-15 10:01:21, INFO: Number of layers: 1 -2024-02-15 10:01:21, INFO: Similarity_func: concatenation -2024-02-15 10:01:21, INFO: Layerwise_graph: False -2024-02-15 10:01:21, INFO: Skip_connection: True -2024-02-15 10:01:21, INFO: Number of layers: 1 -2024-02-15 10:01:21, INFO: Planning depth: 1 -2024-02-15 10:01:21, INFO: Planning width: 10 -2024-02-15 10:01:21, INFO: Sparse search: None -2024-02-15 10:01:24, INFO: human number: 10 -2024-02-15 10:01:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:28, INFO: Using device: cpu -2024-02-15 10:01:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:28, INFO: Similarity_func: concatenation -2024-02-15 10:01:28, INFO: Layerwise_graph: False -2024-02-15 10:01:28, INFO: Skip_connection: True -2024-02-15 10:01:28, INFO: Number of layers: 1 -2024-02-15 10:01:28, INFO: Similarity_func: concatenation -2024-02-15 10:01:28, INFO: Layerwise_graph: False -2024-02-15 10:01:28, INFO: Skip_connection: True -2024-02-15 10:01:28, INFO: Number of layers: 1 -2024-02-15 10:01:28, INFO: Planning depth: 1 -2024-02-15 10:01:28, INFO: Planning width: 10 -2024-02-15 10:01:28, INFO: Sparse search: None -2024-02-15 10:01:31, INFO: human number: 10 -2024-02-15 10:01:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:35, INFO: Using device: cpu -2024-02-15 10:01:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:35, INFO: Similarity_func: concatenation -2024-02-15 10:01:35, INFO: Layerwise_graph: False -2024-02-15 10:01:35, INFO: Skip_connection: True -2024-02-15 10:01:35, INFO: Number of layers: 1 -2024-02-15 10:01:35, INFO: Similarity_func: concatenation -2024-02-15 10:01:35, INFO: Layerwise_graph: False -2024-02-15 10:01:35, INFO: Skip_connection: True -2024-02-15 10:01:35, INFO: Number of layers: 1 -2024-02-15 10:01:35, INFO: Planning depth: 1 -2024-02-15 10:01:35, INFO: Planning width: 10 -2024-02-15 10:01:35, INFO: Sparse search: None -2024-02-15 10:01:38, INFO: human number: 10 -2024-02-15 10:01:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:42, INFO: Using device: cpu -2024-02-15 10:01:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:42, INFO: Similarity_func: concatenation -2024-02-15 10:01:42, INFO: Layerwise_graph: False -2024-02-15 10:01:42, INFO: Skip_connection: True -2024-02-15 10:01:42, INFO: Number of layers: 1 -2024-02-15 10:01:42, INFO: Similarity_func: concatenation -2024-02-15 10:01:42, INFO: Layerwise_graph: False -2024-02-15 10:01:42, INFO: Skip_connection: True -2024-02-15 10:01:42, INFO: Number of layers: 1 -2024-02-15 10:01:42, INFO: Planning depth: 1 -2024-02-15 10:01:42, INFO: Planning width: 10 -2024-02-15 10:01:42, INFO: Sparse search: None -2024-02-15 10:01:45, INFO: human number: 10 -2024-02-15 10:01:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:49, INFO: Using device: cpu -2024-02-15 10:01:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:49, INFO: Similarity_func: concatenation -2024-02-15 10:01:49, INFO: Layerwise_graph: False -2024-02-15 10:01:49, INFO: Skip_connection: True -2024-02-15 10:01:49, INFO: Number of layers: 1 -2024-02-15 10:01:49, INFO: Similarity_func: concatenation -2024-02-15 10:01:49, INFO: Layerwise_graph: False -2024-02-15 10:01:49, INFO: Skip_connection: True -2024-02-15 10:01:49, INFO: Number of layers: 1 -2024-02-15 10:01:49, INFO: Planning depth: 1 -2024-02-15 10:01:49, INFO: Planning width: 10 -2024-02-15 10:01:49, INFO: Sparse search: None -2024-02-15 10:01:52, INFO: human number: 10 -2024-02-15 10:01:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:01:56, INFO: Using device: cpu -2024-02-15 10:01:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:01:56, INFO: Similarity_func: concatenation -2024-02-15 10:01:56, INFO: Layerwise_graph: False -2024-02-15 10:01:56, INFO: Skip_connection: True -2024-02-15 10:01:56, INFO: Number of layers: 1 -2024-02-15 10:01:56, INFO: Similarity_func: concatenation -2024-02-15 10:01:56, INFO: Layerwise_graph: False -2024-02-15 10:01:56, INFO: Skip_connection: True -2024-02-15 10:01:56, INFO: Number of layers: 1 -2024-02-15 10:01:56, INFO: Planning depth: 1 -2024-02-15 10:01:56, INFO: Planning width: 10 -2024-02-15 10:01:56, INFO: Sparse search: None -2024-02-15 10:01:59, INFO: human number: 10 -2024-02-15 10:01:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:01:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:01:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:01:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:01:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:03, INFO: Using device: cpu -2024-02-15 10:02:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:03, INFO: Similarity_func: concatenation -2024-02-15 10:02:03, INFO: Layerwise_graph: False -2024-02-15 10:02:03, INFO: Skip_connection: True -2024-02-15 10:02:03, INFO: Number of layers: 1 -2024-02-15 10:02:03, INFO: Similarity_func: concatenation -2024-02-15 10:02:03, INFO: Layerwise_graph: False -2024-02-15 10:02:03, INFO: Skip_connection: True -2024-02-15 10:02:03, INFO: Number of layers: 1 -2024-02-15 10:02:03, INFO: Planning depth: 1 -2024-02-15 10:02:03, INFO: Planning width: 10 -2024-02-15 10:02:03, INFO: Sparse search: None -2024-02-15 10:02:06, INFO: human number: 10 -2024-02-15 10:02:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:10, INFO: Using device: cpu -2024-02-15 10:02:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:10, INFO: Similarity_func: concatenation -2024-02-15 10:02:10, INFO: Layerwise_graph: False -2024-02-15 10:02:10, INFO: Skip_connection: True -2024-02-15 10:02:10, INFO: Number of layers: 1 -2024-02-15 10:02:10, INFO: Similarity_func: concatenation -2024-02-15 10:02:10, INFO: Layerwise_graph: False -2024-02-15 10:02:10, INFO: Skip_connection: True -2024-02-15 10:02:10, INFO: Number of layers: 1 -2024-02-15 10:02:10, INFO: Planning depth: 1 -2024-02-15 10:02:10, INFO: Planning width: 10 -2024-02-15 10:02:10, INFO: Sparse search: None -2024-02-15 10:02:12, INFO: human number: 10 -2024-02-15 10:02:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:16, INFO: Using device: cpu -2024-02-15 10:02:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:16, INFO: Similarity_func: concatenation -2024-02-15 10:02:16, INFO: Layerwise_graph: False -2024-02-15 10:02:16, INFO: Skip_connection: True -2024-02-15 10:02:16, INFO: Number of layers: 1 -2024-02-15 10:02:16, INFO: Similarity_func: concatenation -2024-02-15 10:02:16, INFO: Layerwise_graph: False -2024-02-15 10:02:16, INFO: Skip_connection: True -2024-02-15 10:02:16, INFO: Number of layers: 1 -2024-02-15 10:02:16, INFO: Planning depth: 1 -2024-02-15 10:02:16, INFO: Planning width: 10 -2024-02-15 10:02:16, INFO: Sparse search: None -2024-02-15 10:02:19, INFO: human number: 10 -2024-02-15 10:02:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:23, INFO: Using device: cpu -2024-02-15 10:02:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:23, INFO: Similarity_func: concatenation -2024-02-15 10:02:23, INFO: Layerwise_graph: False -2024-02-15 10:02:23, INFO: Skip_connection: True -2024-02-15 10:02:23, INFO: Number of layers: 1 -2024-02-15 10:02:23, INFO: Similarity_func: concatenation -2024-02-15 10:02:23, INFO: Layerwise_graph: False -2024-02-15 10:02:23, INFO: Skip_connection: True -2024-02-15 10:02:23, INFO: Number of layers: 1 -2024-02-15 10:02:23, INFO: Planning depth: 1 -2024-02-15 10:02:23, INFO: Planning width: 10 -2024-02-15 10:02:23, INFO: Sparse search: None -2024-02-15 10:02:26, INFO: human number: 10 -2024-02-15 10:02:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:30, INFO: Using device: cpu -2024-02-15 10:02:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:30, INFO: Similarity_func: concatenation -2024-02-15 10:02:30, INFO: Layerwise_graph: False -2024-02-15 10:02:30, INFO: Skip_connection: True -2024-02-15 10:02:30, INFO: Number of layers: 1 -2024-02-15 10:02:30, INFO: Similarity_func: concatenation -2024-02-15 10:02:30, INFO: Layerwise_graph: False -2024-02-15 10:02:30, INFO: Skip_connection: True -2024-02-15 10:02:30, INFO: Number of layers: 1 -2024-02-15 10:02:30, INFO: Planning depth: 1 -2024-02-15 10:02:30, INFO: Planning width: 10 -2024-02-15 10:02:30, INFO: Sparse search: None -2024-02-15 10:02:32, INFO: human number: 10 -2024-02-15 10:02:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:37, INFO: Using device: cpu -2024-02-15 10:02:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:37, INFO: Similarity_func: concatenation -2024-02-15 10:02:37, INFO: Layerwise_graph: False -2024-02-15 10:02:37, INFO: Skip_connection: True -2024-02-15 10:02:37, INFO: Number of layers: 1 -2024-02-15 10:02:37, INFO: Similarity_func: concatenation -2024-02-15 10:02:37, INFO: Layerwise_graph: False -2024-02-15 10:02:37, INFO: Skip_connection: True -2024-02-15 10:02:37, INFO: Number of layers: 1 -2024-02-15 10:02:37, INFO: Planning depth: 1 -2024-02-15 10:02:37, INFO: Planning width: 10 -2024-02-15 10:02:37, INFO: Sparse search: None -2024-02-15 10:02:39, INFO: human number: 10 -2024-02-15 10:02:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:44, INFO: Using device: cpu -2024-02-15 10:02:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:44, INFO: Similarity_func: concatenation -2024-02-15 10:02:44, INFO: Layerwise_graph: False -2024-02-15 10:02:44, INFO: Skip_connection: True -2024-02-15 10:02:44, INFO: Number of layers: 1 -2024-02-15 10:02:44, INFO: Similarity_func: concatenation -2024-02-15 10:02:44, INFO: Layerwise_graph: False -2024-02-15 10:02:44, INFO: Skip_connection: True -2024-02-15 10:02:44, INFO: Number of layers: 1 -2024-02-15 10:02:44, INFO: Planning depth: 1 -2024-02-15 10:02:44, INFO: Planning width: 10 -2024-02-15 10:02:44, INFO: Sparse search: None -2024-02-15 10:02:47, INFO: human number: 10 -2024-02-15 10:02:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:51, INFO: Using device: cpu -2024-02-15 10:02:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:51, INFO: Similarity_func: concatenation -2024-02-15 10:02:51, INFO: Layerwise_graph: False -2024-02-15 10:02:51, INFO: Skip_connection: True -2024-02-15 10:02:51, INFO: Number of layers: 1 -2024-02-15 10:02:51, INFO: Similarity_func: concatenation -2024-02-15 10:02:51, INFO: Layerwise_graph: False -2024-02-15 10:02:51, INFO: Skip_connection: True -2024-02-15 10:02:51, INFO: Number of layers: 1 -2024-02-15 10:02:51, INFO: Planning depth: 1 -2024-02-15 10:02:51, INFO: Planning width: 10 -2024-02-15 10:02:51, INFO: Sparse search: None -2024-02-15 10:02:54, INFO: human number: 10 -2024-02-15 10:02:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:02:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:02:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:02:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:02:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:02:58, INFO: Using device: cpu -2024-02-15 10:02:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:02:58, INFO: Similarity_func: concatenation -2024-02-15 10:02:58, INFO: Layerwise_graph: False -2024-02-15 10:02:58, INFO: Skip_connection: True -2024-02-15 10:02:58, INFO: Number of layers: 1 -2024-02-15 10:02:58, INFO: Similarity_func: concatenation -2024-02-15 10:02:58, INFO: Layerwise_graph: False -2024-02-15 10:02:58, INFO: Skip_connection: True -2024-02-15 10:02:58, INFO: Number of layers: 1 -2024-02-15 10:02:58, INFO: Planning depth: 1 -2024-02-15 10:02:58, INFO: Planning width: 10 -2024-02-15 10:02:58, INFO: Sparse search: None -2024-02-15 10:03:01, INFO: human number: 10 -2024-02-15 10:03:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:05, INFO: Using device: cpu -2024-02-15 10:03:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:05, INFO: Similarity_func: concatenation -2024-02-15 10:03:05, INFO: Layerwise_graph: False -2024-02-15 10:03:05, INFO: Skip_connection: True -2024-02-15 10:03:05, INFO: Number of layers: 1 -2024-02-15 10:03:05, INFO: Similarity_func: concatenation -2024-02-15 10:03:05, INFO: Layerwise_graph: False -2024-02-15 10:03:05, INFO: Skip_connection: True -2024-02-15 10:03:05, INFO: Number of layers: 1 -2024-02-15 10:03:05, INFO: Planning depth: 1 -2024-02-15 10:03:05, INFO: Planning width: 10 -2024-02-15 10:03:05, INFO: Sparse search: None -2024-02-15 10:03:08, INFO: human number: 10 -2024-02-15 10:03:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:12, INFO: Using device: cpu -2024-02-15 10:03:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:12, INFO: Similarity_func: concatenation -2024-02-15 10:03:12, INFO: Layerwise_graph: False -2024-02-15 10:03:12, INFO: Skip_connection: True -2024-02-15 10:03:12, INFO: Number of layers: 1 -2024-02-15 10:03:12, INFO: Similarity_func: concatenation -2024-02-15 10:03:12, INFO: Layerwise_graph: False -2024-02-15 10:03:12, INFO: Skip_connection: True -2024-02-15 10:03:12, INFO: Number of layers: 1 -2024-02-15 10:03:12, INFO: Planning depth: 1 -2024-02-15 10:03:12, INFO: Planning width: 10 -2024-02-15 10:03:12, INFO: Sparse search: None -2024-02-15 10:03:15, INFO: human number: 10 -2024-02-15 10:03:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:19, INFO: Using device: cpu -2024-02-15 10:03:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:19, INFO: Similarity_func: concatenation -2024-02-15 10:03:19, INFO: Layerwise_graph: False -2024-02-15 10:03:19, INFO: Skip_connection: True -2024-02-15 10:03:19, INFO: Number of layers: 1 -2024-02-15 10:03:19, INFO: Similarity_func: concatenation -2024-02-15 10:03:19, INFO: Layerwise_graph: False -2024-02-15 10:03:19, INFO: Skip_connection: True -2024-02-15 10:03:19, INFO: Number of layers: 1 -2024-02-15 10:03:19, INFO: Planning depth: 1 -2024-02-15 10:03:19, INFO: Planning width: 10 -2024-02-15 10:03:19, INFO: Sparse search: None -2024-02-15 10:03:22, INFO: human number: 10 -2024-02-15 10:03:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:26, INFO: Using device: cpu -2024-02-15 10:03:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:26, INFO: Similarity_func: concatenation -2024-02-15 10:03:26, INFO: Layerwise_graph: False -2024-02-15 10:03:26, INFO: Skip_connection: True -2024-02-15 10:03:26, INFO: Number of layers: 1 -2024-02-15 10:03:26, INFO: Similarity_func: concatenation -2024-02-15 10:03:26, INFO: Layerwise_graph: False -2024-02-15 10:03:26, INFO: Skip_connection: True -2024-02-15 10:03:26, INFO: Number of layers: 1 -2024-02-15 10:03:26, INFO: Planning depth: 1 -2024-02-15 10:03:26, INFO: Planning width: 10 -2024-02-15 10:03:26, INFO: Sparse search: None -2024-02-15 10:03:29, INFO: human number: 10 -2024-02-15 10:03:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:33, INFO: Using device: cpu -2024-02-15 10:03:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:33, INFO: Similarity_func: concatenation -2024-02-15 10:03:33, INFO: Layerwise_graph: False -2024-02-15 10:03:33, INFO: Skip_connection: True -2024-02-15 10:03:33, INFO: Number of layers: 1 -2024-02-15 10:03:33, INFO: Similarity_func: concatenation -2024-02-15 10:03:33, INFO: Layerwise_graph: False -2024-02-15 10:03:33, INFO: Skip_connection: True -2024-02-15 10:03:33, INFO: Number of layers: 1 -2024-02-15 10:03:33, INFO: Planning depth: 1 -2024-02-15 10:03:33, INFO: Planning width: 10 -2024-02-15 10:03:33, INFO: Sparse search: None -2024-02-15 10:03:36, INFO: human number: 10 -2024-02-15 10:03:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:40, INFO: Using device: cpu -2024-02-15 10:03:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:40, INFO: Similarity_func: concatenation -2024-02-15 10:03:40, INFO: Layerwise_graph: False -2024-02-15 10:03:40, INFO: Skip_connection: True -2024-02-15 10:03:40, INFO: Number of layers: 1 -2024-02-15 10:03:40, INFO: Similarity_func: concatenation -2024-02-15 10:03:40, INFO: Layerwise_graph: False -2024-02-15 10:03:40, INFO: Skip_connection: True -2024-02-15 10:03:40, INFO: Number of layers: 1 -2024-02-15 10:03:40, INFO: Planning depth: 1 -2024-02-15 10:03:40, INFO: Planning width: 10 -2024-02-15 10:03:40, INFO: Sparse search: None -2024-02-15 10:03:43, INFO: human number: 10 -2024-02-15 10:03:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:47, INFO: Using device: cpu -2024-02-15 10:03:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:47, INFO: Similarity_func: concatenation -2024-02-15 10:03:47, INFO: Layerwise_graph: False -2024-02-15 10:03:47, INFO: Skip_connection: True -2024-02-15 10:03:47, INFO: Number of layers: 1 -2024-02-15 10:03:47, INFO: Similarity_func: concatenation -2024-02-15 10:03:47, INFO: Layerwise_graph: False -2024-02-15 10:03:47, INFO: Skip_connection: True -2024-02-15 10:03:47, INFO: Number of layers: 1 -2024-02-15 10:03:47, INFO: Planning depth: 1 -2024-02-15 10:03:47, INFO: Planning width: 10 -2024-02-15 10:03:47, INFO: Sparse search: None -2024-02-15 10:03:50, INFO: human number: 10 -2024-02-15 10:03:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:03:54, INFO: Using device: cpu -2024-02-15 10:03:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:03:54, INFO: Similarity_func: concatenation -2024-02-15 10:03:54, INFO: Layerwise_graph: False -2024-02-15 10:03:54, INFO: Skip_connection: True -2024-02-15 10:03:54, INFO: Number of layers: 1 -2024-02-15 10:03:54, INFO: Similarity_func: concatenation -2024-02-15 10:03:54, INFO: Layerwise_graph: False -2024-02-15 10:03:54, INFO: Skip_connection: True -2024-02-15 10:03:54, INFO: Number of layers: 1 -2024-02-15 10:03:54, INFO: Planning depth: 1 -2024-02-15 10:03:54, INFO: Planning width: 10 -2024-02-15 10:03:54, INFO: Sparse search: None -2024-02-15 10:03:57, INFO: human number: 10 -2024-02-15 10:03:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:03:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:03:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:03:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:03:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:01, INFO: Using device: cpu -2024-02-15 10:04:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:01, INFO: Similarity_func: concatenation -2024-02-15 10:04:01, INFO: Layerwise_graph: False -2024-02-15 10:04:01, INFO: Skip_connection: True -2024-02-15 10:04:01, INFO: Number of layers: 1 -2024-02-15 10:04:01, INFO: Similarity_func: concatenation -2024-02-15 10:04:01, INFO: Layerwise_graph: False -2024-02-15 10:04:01, INFO: Skip_connection: True -2024-02-15 10:04:01, INFO: Number of layers: 1 -2024-02-15 10:04:01, INFO: Planning depth: 1 -2024-02-15 10:04:01, INFO: Planning width: 10 -2024-02-15 10:04:01, INFO: Sparse search: None -2024-02-15 10:04:04, INFO: human number: 10 -2024-02-15 10:04:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:08, INFO: Using device: cpu -2024-02-15 10:04:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:08, INFO: Similarity_func: concatenation -2024-02-15 10:04:08, INFO: Layerwise_graph: False -2024-02-15 10:04:08, INFO: Skip_connection: True -2024-02-15 10:04:08, INFO: Number of layers: 1 -2024-02-15 10:04:08, INFO: Similarity_func: concatenation -2024-02-15 10:04:08, INFO: Layerwise_graph: False -2024-02-15 10:04:08, INFO: Skip_connection: True -2024-02-15 10:04:08, INFO: Number of layers: 1 -2024-02-15 10:04:08, INFO: Planning depth: 1 -2024-02-15 10:04:08, INFO: Planning width: 10 -2024-02-15 10:04:08, INFO: Sparse search: None -2024-02-15 10:04:10, INFO: human number: 10 -2024-02-15 10:04:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:14, INFO: Using device: cpu -2024-02-15 10:04:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:14, INFO: Similarity_func: concatenation -2024-02-15 10:04:14, INFO: Layerwise_graph: False -2024-02-15 10:04:14, INFO: Skip_connection: True -2024-02-15 10:04:14, INFO: Number of layers: 1 -2024-02-15 10:04:14, INFO: Similarity_func: concatenation -2024-02-15 10:04:14, INFO: Layerwise_graph: False -2024-02-15 10:04:14, INFO: Skip_connection: True -2024-02-15 10:04:14, INFO: Number of layers: 1 -2024-02-15 10:04:14, INFO: Planning depth: 1 -2024-02-15 10:04:14, INFO: Planning width: 10 -2024-02-15 10:04:14, INFO: Sparse search: None -2024-02-15 10:04:17, INFO: human number: 10 -2024-02-15 10:04:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:21, INFO: Using device: cpu -2024-02-15 10:04:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:21, INFO: Similarity_func: concatenation -2024-02-15 10:04:21, INFO: Layerwise_graph: False -2024-02-15 10:04:21, INFO: Skip_connection: True -2024-02-15 10:04:21, INFO: Number of layers: 1 -2024-02-15 10:04:21, INFO: Similarity_func: concatenation -2024-02-15 10:04:21, INFO: Layerwise_graph: False -2024-02-15 10:04:21, INFO: Skip_connection: True -2024-02-15 10:04:21, INFO: Number of layers: 1 -2024-02-15 10:04:21, INFO: Planning depth: 1 -2024-02-15 10:04:21, INFO: Planning width: 10 -2024-02-15 10:04:21, INFO: Sparse search: None -2024-02-15 10:04:24, INFO: human number: 10 -2024-02-15 10:04:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:28, INFO: Using device: cpu -2024-02-15 10:04:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:28, INFO: Similarity_func: concatenation -2024-02-15 10:04:28, INFO: Layerwise_graph: False -2024-02-15 10:04:28, INFO: Skip_connection: True -2024-02-15 10:04:28, INFO: Number of layers: 1 -2024-02-15 10:04:28, INFO: Similarity_func: concatenation -2024-02-15 10:04:28, INFO: Layerwise_graph: False -2024-02-15 10:04:28, INFO: Skip_connection: True -2024-02-15 10:04:28, INFO: Number of layers: 1 -2024-02-15 10:04:28, INFO: Planning depth: 1 -2024-02-15 10:04:28, INFO: Planning width: 10 -2024-02-15 10:04:28, INFO: Sparse search: None -2024-02-15 10:04:30, INFO: human number: 10 -2024-02-15 10:04:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:35, INFO: Using device: cpu -2024-02-15 10:04:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:35, INFO: Similarity_func: concatenation -2024-02-15 10:04:35, INFO: Layerwise_graph: False -2024-02-15 10:04:35, INFO: Skip_connection: True -2024-02-15 10:04:35, INFO: Number of layers: 1 -2024-02-15 10:04:35, INFO: Similarity_func: concatenation -2024-02-15 10:04:35, INFO: Layerwise_graph: False -2024-02-15 10:04:35, INFO: Skip_connection: True -2024-02-15 10:04:35, INFO: Number of layers: 1 -2024-02-15 10:04:35, INFO: Planning depth: 1 -2024-02-15 10:04:35, INFO: Planning width: 10 -2024-02-15 10:04:35, INFO: Sparse search: None -2024-02-15 10:04:37, INFO: human number: 10 -2024-02-15 10:04:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:41, INFO: Using device: cpu -2024-02-15 10:04:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:41, INFO: Similarity_func: concatenation -2024-02-15 10:04:41, INFO: Layerwise_graph: False -2024-02-15 10:04:41, INFO: Skip_connection: True -2024-02-15 10:04:41, INFO: Number of layers: 1 -2024-02-15 10:04:41, INFO: Similarity_func: concatenation -2024-02-15 10:04:41, INFO: Layerwise_graph: False -2024-02-15 10:04:41, INFO: Skip_connection: True -2024-02-15 10:04:41, INFO: Number of layers: 1 -2024-02-15 10:04:41, INFO: Planning depth: 1 -2024-02-15 10:04:41, INFO: Planning width: 10 -2024-02-15 10:04:41, INFO: Sparse search: None -2024-02-15 10:04:44, INFO: human number: 10 -2024-02-15 10:04:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:48, INFO: Using device: cpu -2024-02-15 10:04:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:48, INFO: Similarity_func: concatenation -2024-02-15 10:04:48, INFO: Layerwise_graph: False -2024-02-15 10:04:48, INFO: Skip_connection: True -2024-02-15 10:04:48, INFO: Number of layers: 1 -2024-02-15 10:04:48, INFO: Similarity_func: concatenation -2024-02-15 10:04:48, INFO: Layerwise_graph: False -2024-02-15 10:04:48, INFO: Skip_connection: True -2024-02-15 10:04:48, INFO: Number of layers: 1 -2024-02-15 10:04:48, INFO: Planning depth: 1 -2024-02-15 10:04:48, INFO: Planning width: 10 -2024-02-15 10:04:48, INFO: Sparse search: None -2024-02-15 10:04:51, INFO: human number: 10 -2024-02-15 10:04:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:04:55, INFO: Using device: cpu -2024-02-15 10:04:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:04:55, INFO: Similarity_func: concatenation -2024-02-15 10:04:55, INFO: Layerwise_graph: False -2024-02-15 10:04:55, INFO: Skip_connection: True -2024-02-15 10:04:55, INFO: Number of layers: 1 -2024-02-15 10:04:55, INFO: Similarity_func: concatenation -2024-02-15 10:04:55, INFO: Layerwise_graph: False -2024-02-15 10:04:55, INFO: Skip_connection: True -2024-02-15 10:04:55, INFO: Number of layers: 1 -2024-02-15 10:04:55, INFO: Planning depth: 1 -2024-02-15 10:04:55, INFO: Planning width: 10 -2024-02-15 10:04:55, INFO: Sparse search: None -2024-02-15 10:04:58, INFO: human number: 10 -2024-02-15 10:04:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:04:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:04:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:04:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:04:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:03, INFO: Using device: cpu -2024-02-15 10:05:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:03, INFO: Similarity_func: concatenation -2024-02-15 10:05:03, INFO: Layerwise_graph: False -2024-02-15 10:05:03, INFO: Skip_connection: True -2024-02-15 10:05:03, INFO: Number of layers: 1 -2024-02-15 10:05:03, INFO: Similarity_func: concatenation -2024-02-15 10:05:03, INFO: Layerwise_graph: False -2024-02-15 10:05:03, INFO: Skip_connection: True -2024-02-15 10:05:03, INFO: Number of layers: 1 -2024-02-15 10:05:03, INFO: Planning depth: 1 -2024-02-15 10:05:03, INFO: Planning width: 10 -2024-02-15 10:05:03, INFO: Sparse search: None -2024-02-15 10:05:06, INFO: human number: 10 -2024-02-15 10:05:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:09, INFO: Using device: cpu -2024-02-15 10:05:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:09, INFO: Similarity_func: concatenation -2024-02-15 10:05:09, INFO: Layerwise_graph: False -2024-02-15 10:05:09, INFO: Skip_connection: True -2024-02-15 10:05:09, INFO: Number of layers: 1 -2024-02-15 10:05:09, INFO: Similarity_func: concatenation -2024-02-15 10:05:09, INFO: Layerwise_graph: False -2024-02-15 10:05:09, INFO: Skip_connection: True -2024-02-15 10:05:09, INFO: Number of layers: 1 -2024-02-15 10:05:09, INFO: Planning depth: 1 -2024-02-15 10:05:09, INFO: Planning width: 10 -2024-02-15 10:05:09, INFO: Sparse search: None -2024-02-15 10:05:12, INFO: human number: 10 -2024-02-15 10:05:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:16, INFO: Using device: cpu -2024-02-15 10:05:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:16, INFO: Similarity_func: concatenation -2024-02-15 10:05:16, INFO: Layerwise_graph: False -2024-02-15 10:05:16, INFO: Skip_connection: True -2024-02-15 10:05:16, INFO: Number of layers: 1 -2024-02-15 10:05:16, INFO: Similarity_func: concatenation -2024-02-15 10:05:16, INFO: Layerwise_graph: False -2024-02-15 10:05:16, INFO: Skip_connection: True -2024-02-15 10:05:16, INFO: Number of layers: 1 -2024-02-15 10:05:16, INFO: Planning depth: 1 -2024-02-15 10:05:16, INFO: Planning width: 10 -2024-02-15 10:05:16, INFO: Sparse search: None -2024-02-15 10:05:19, INFO: human number: 10 -2024-02-15 10:05:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:23, INFO: Using device: cpu -2024-02-15 10:05:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:23, INFO: Similarity_func: concatenation -2024-02-15 10:05:23, INFO: Layerwise_graph: False -2024-02-15 10:05:23, INFO: Skip_connection: True -2024-02-15 10:05:23, INFO: Number of layers: 1 -2024-02-15 10:05:23, INFO: Similarity_func: concatenation -2024-02-15 10:05:23, INFO: Layerwise_graph: False -2024-02-15 10:05:23, INFO: Skip_connection: True -2024-02-15 10:05:23, INFO: Number of layers: 1 -2024-02-15 10:05:23, INFO: Planning depth: 1 -2024-02-15 10:05:23, INFO: Planning width: 10 -2024-02-15 10:05:23, INFO: Sparse search: None -2024-02-15 10:05:26, INFO: human number: 10 -2024-02-15 10:05:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:30, INFO: Using device: cpu -2024-02-15 10:05:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:30, INFO: Similarity_func: concatenation -2024-02-15 10:05:30, INFO: Layerwise_graph: False -2024-02-15 10:05:30, INFO: Skip_connection: True -2024-02-15 10:05:30, INFO: Number of layers: 1 -2024-02-15 10:05:30, INFO: Similarity_func: concatenation -2024-02-15 10:05:30, INFO: Layerwise_graph: False -2024-02-15 10:05:30, INFO: Skip_connection: True -2024-02-15 10:05:30, INFO: Number of layers: 1 -2024-02-15 10:05:30, INFO: Planning depth: 1 -2024-02-15 10:05:30, INFO: Planning width: 10 -2024-02-15 10:05:30, INFO: Sparse search: None -2024-02-15 10:05:33, INFO: human number: 10 -2024-02-15 10:05:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:37, INFO: Using device: cpu -2024-02-15 10:05:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:37, INFO: Similarity_func: concatenation -2024-02-15 10:05:37, INFO: Layerwise_graph: False -2024-02-15 10:05:37, INFO: Skip_connection: True -2024-02-15 10:05:37, INFO: Number of layers: 1 -2024-02-15 10:05:37, INFO: Similarity_func: concatenation -2024-02-15 10:05:37, INFO: Layerwise_graph: False -2024-02-15 10:05:37, INFO: Skip_connection: True -2024-02-15 10:05:37, INFO: Number of layers: 1 -2024-02-15 10:05:37, INFO: Planning depth: 1 -2024-02-15 10:05:37, INFO: Planning width: 10 -2024-02-15 10:05:37, INFO: Sparse search: None -2024-02-15 10:05:40, INFO: human number: 10 -2024-02-15 10:05:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:44, INFO: Using device: cpu -2024-02-15 10:05:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:44, INFO: Similarity_func: concatenation -2024-02-15 10:05:44, INFO: Layerwise_graph: False -2024-02-15 10:05:44, INFO: Skip_connection: True -2024-02-15 10:05:44, INFO: Number of layers: 1 -2024-02-15 10:05:44, INFO: Similarity_func: concatenation -2024-02-15 10:05:44, INFO: Layerwise_graph: False -2024-02-15 10:05:44, INFO: Skip_connection: True -2024-02-15 10:05:44, INFO: Number of layers: 1 -2024-02-15 10:05:44, INFO: Planning depth: 1 -2024-02-15 10:05:44, INFO: Planning width: 10 -2024-02-15 10:05:44, INFO: Sparse search: None -2024-02-15 10:05:46, INFO: human number: 10 -2024-02-15 10:05:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:51, INFO: Using device: cpu -2024-02-15 10:05:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:51, INFO: Similarity_func: concatenation -2024-02-15 10:05:51, INFO: Layerwise_graph: False -2024-02-15 10:05:51, INFO: Skip_connection: True -2024-02-15 10:05:51, INFO: Number of layers: 1 -2024-02-15 10:05:51, INFO: Similarity_func: concatenation -2024-02-15 10:05:51, INFO: Layerwise_graph: False -2024-02-15 10:05:51, INFO: Skip_connection: True -2024-02-15 10:05:51, INFO: Number of layers: 1 -2024-02-15 10:05:51, INFO: Planning depth: 1 -2024-02-15 10:05:51, INFO: Planning width: 10 -2024-02-15 10:05:51, INFO: Sparse search: None -2024-02-15 10:05:53, INFO: human number: 10 -2024-02-15 10:05:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:05:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:05:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:05:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:05:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:05:57, INFO: Using device: cpu -2024-02-15 10:05:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:05:57, INFO: Similarity_func: concatenation -2024-02-15 10:05:57, INFO: Layerwise_graph: False -2024-02-15 10:05:57, INFO: Skip_connection: True -2024-02-15 10:05:57, INFO: Number of layers: 1 -2024-02-15 10:05:57, INFO: Similarity_func: concatenation -2024-02-15 10:05:57, INFO: Layerwise_graph: False -2024-02-15 10:05:57, INFO: Skip_connection: True -2024-02-15 10:05:57, INFO: Number of layers: 1 -2024-02-15 10:05:57, INFO: Planning depth: 1 -2024-02-15 10:05:57, INFO: Planning width: 10 -2024-02-15 10:05:57, INFO: Sparse search: None -2024-02-15 10:06:00, INFO: human number: 10 -2024-02-15 10:06:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:04, INFO: Using device: cpu -2024-02-15 10:06:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:04, INFO: Similarity_func: concatenation -2024-02-15 10:06:04, INFO: Layerwise_graph: False -2024-02-15 10:06:04, INFO: Skip_connection: True -2024-02-15 10:06:04, INFO: Number of layers: 1 -2024-02-15 10:06:04, INFO: Similarity_func: concatenation -2024-02-15 10:06:04, INFO: Layerwise_graph: False -2024-02-15 10:06:04, INFO: Skip_connection: True -2024-02-15 10:06:04, INFO: Number of layers: 1 -2024-02-15 10:06:04, INFO: Planning depth: 1 -2024-02-15 10:06:04, INFO: Planning width: 10 -2024-02-15 10:06:04, INFO: Sparse search: None -2024-02-15 10:06:07, INFO: human number: 10 -2024-02-15 10:06:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:07, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:11, INFO: Using device: cpu -2024-02-15 10:06:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:11, INFO: Similarity_func: concatenation -2024-02-15 10:06:11, INFO: Layerwise_graph: False -2024-02-15 10:06:11, INFO: Skip_connection: True -2024-02-15 10:06:11, INFO: Number of layers: 1 -2024-02-15 10:06:11, INFO: Similarity_func: concatenation -2024-02-15 10:06:11, INFO: Layerwise_graph: False -2024-02-15 10:06:11, INFO: Skip_connection: True -2024-02-15 10:06:11, INFO: Number of layers: 1 -2024-02-15 10:06:11, INFO: Planning depth: 1 -2024-02-15 10:06:11, INFO: Planning width: 10 -2024-02-15 10:06:11, INFO: Sparse search: None -2024-02-15 10:06:13, INFO: human number: 10 -2024-02-15 10:06:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:18, INFO: Using device: cpu -2024-02-15 10:06:18, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:18, INFO: Similarity_func: concatenation -2024-02-15 10:06:18, INFO: Layerwise_graph: False -2024-02-15 10:06:18, INFO: Skip_connection: True -2024-02-15 10:06:18, INFO: Number of layers: 1 -2024-02-15 10:06:18, INFO: Similarity_func: concatenation -2024-02-15 10:06:18, INFO: Layerwise_graph: False -2024-02-15 10:06:18, INFO: Skip_connection: True -2024-02-15 10:06:18, INFO: Number of layers: 1 -2024-02-15 10:06:18, INFO: Planning depth: 1 -2024-02-15 10:06:18, INFO: Planning width: 10 -2024-02-15 10:06:18, INFO: Sparse search: None -2024-02-15 10:06:20, INFO: human number: 10 -2024-02-15 10:06:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:25, INFO: Using device: cpu -2024-02-15 10:06:25, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:25, INFO: Similarity_func: concatenation -2024-02-15 10:06:25, INFO: Layerwise_graph: False -2024-02-15 10:06:25, INFO: Skip_connection: True -2024-02-15 10:06:25, INFO: Number of layers: 1 -2024-02-15 10:06:25, INFO: Similarity_func: concatenation -2024-02-15 10:06:25, INFO: Layerwise_graph: False -2024-02-15 10:06:25, INFO: Skip_connection: True -2024-02-15 10:06:25, INFO: Number of layers: 1 -2024-02-15 10:06:25, INFO: Planning depth: 1 -2024-02-15 10:06:25, INFO: Planning width: 10 -2024-02-15 10:06:25, INFO: Sparse search: None -2024-02-15 10:06:28, INFO: human number: 10 -2024-02-15 10:06:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:28, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:32, INFO: Using device: cpu -2024-02-15 10:06:32, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:32, INFO: Similarity_func: concatenation -2024-02-15 10:06:32, INFO: Layerwise_graph: False -2024-02-15 10:06:32, INFO: Skip_connection: True -2024-02-15 10:06:32, INFO: Number of layers: 1 -2024-02-15 10:06:32, INFO: Similarity_func: concatenation -2024-02-15 10:06:32, INFO: Layerwise_graph: False -2024-02-15 10:06:32, INFO: Skip_connection: True -2024-02-15 10:06:32, INFO: Number of layers: 1 -2024-02-15 10:06:32, INFO: Planning depth: 1 -2024-02-15 10:06:32, INFO: Planning width: 10 -2024-02-15 10:06:32, INFO: Sparse search: None -2024-02-15 10:06:34, INFO: human number: 10 -2024-02-15 10:06:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:39, INFO: Using device: cpu -2024-02-15 10:06:39, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:39, INFO: Similarity_func: concatenation -2024-02-15 10:06:39, INFO: Layerwise_graph: False -2024-02-15 10:06:39, INFO: Skip_connection: True -2024-02-15 10:06:39, INFO: Number of layers: 1 -2024-02-15 10:06:39, INFO: Similarity_func: concatenation -2024-02-15 10:06:39, INFO: Layerwise_graph: False -2024-02-15 10:06:39, INFO: Skip_connection: True -2024-02-15 10:06:39, INFO: Number of layers: 1 -2024-02-15 10:06:39, INFO: Planning depth: 1 -2024-02-15 10:06:39, INFO: Planning width: 10 -2024-02-15 10:06:39, INFO: Sparse search: None -2024-02-15 10:06:42, INFO: human number: 10 -2024-02-15 10:06:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:46, INFO: Using device: cpu -2024-02-15 10:06:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:46, INFO: Similarity_func: concatenation -2024-02-15 10:06:46, INFO: Layerwise_graph: False -2024-02-15 10:06:46, INFO: Skip_connection: True -2024-02-15 10:06:46, INFO: Number of layers: 1 -2024-02-15 10:06:46, INFO: Similarity_func: concatenation -2024-02-15 10:06:46, INFO: Layerwise_graph: False -2024-02-15 10:06:46, INFO: Skip_connection: True -2024-02-15 10:06:46, INFO: Number of layers: 1 -2024-02-15 10:06:46, INFO: Planning depth: 1 -2024-02-15 10:06:46, INFO: Planning width: 10 -2024-02-15 10:06:46, INFO: Sparse search: None -2024-02-15 10:06:49, INFO: human number: 10 -2024-02-15 10:06:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:06:53, INFO: Using device: cpu -2024-02-15 10:06:53, INFO: Loaded RL weights with best VAL -2024-02-15 10:06:53, INFO: Similarity_func: concatenation -2024-02-15 10:06:53, INFO: Layerwise_graph: False -2024-02-15 10:06:53, INFO: Skip_connection: True -2024-02-15 10:06:53, INFO: Number of layers: 1 -2024-02-15 10:06:53, INFO: Similarity_func: concatenation -2024-02-15 10:06:53, INFO: Layerwise_graph: False -2024-02-15 10:06:53, INFO: Skip_connection: True -2024-02-15 10:06:53, INFO: Number of layers: 1 -2024-02-15 10:06:53, INFO: Planning depth: 1 -2024-02-15 10:06:53, INFO: Planning width: 10 -2024-02-15 10:06:53, INFO: Sparse search: None -2024-02-15 10:06:56, INFO: human number: 10 -2024-02-15 10:06:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:06:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:06:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:06:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:06:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:00, INFO: Using device: cpu -2024-02-15 10:07:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:00, INFO: Similarity_func: concatenation -2024-02-15 10:07:00, INFO: Layerwise_graph: False -2024-02-15 10:07:00, INFO: Skip_connection: True -2024-02-15 10:07:00, INFO: Number of layers: 1 -2024-02-15 10:07:00, INFO: Similarity_func: concatenation -2024-02-15 10:07:00, INFO: Layerwise_graph: False -2024-02-15 10:07:00, INFO: Skip_connection: True -2024-02-15 10:07:00, INFO: Number of layers: 1 -2024-02-15 10:07:00, INFO: Planning depth: 1 -2024-02-15 10:07:00, INFO: Planning width: 10 -2024-02-15 10:07:00, INFO: Sparse search: None -2024-02-15 10:07:02, INFO: human number: 10 -2024-02-15 10:07:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:07, INFO: Using device: cpu -2024-02-15 10:07:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:07, INFO: Similarity_func: concatenation -2024-02-15 10:07:07, INFO: Layerwise_graph: False -2024-02-15 10:07:07, INFO: Skip_connection: True -2024-02-15 10:07:07, INFO: Number of layers: 1 -2024-02-15 10:07:07, INFO: Similarity_func: concatenation -2024-02-15 10:07:07, INFO: Layerwise_graph: False -2024-02-15 10:07:07, INFO: Skip_connection: True -2024-02-15 10:07:07, INFO: Number of layers: 1 -2024-02-15 10:07:07, INFO: Planning depth: 1 -2024-02-15 10:07:07, INFO: Planning width: 10 -2024-02-15 10:07:07, INFO: Sparse search: None -2024-02-15 10:07:10, INFO: human number: 10 -2024-02-15 10:07:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:14, INFO: Using device: cpu -2024-02-15 10:07:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:14, INFO: Similarity_func: concatenation -2024-02-15 10:07:14, INFO: Layerwise_graph: False -2024-02-15 10:07:14, INFO: Skip_connection: True -2024-02-15 10:07:14, INFO: Number of layers: 1 -2024-02-15 10:07:14, INFO: Similarity_func: concatenation -2024-02-15 10:07:14, INFO: Layerwise_graph: False -2024-02-15 10:07:14, INFO: Skip_connection: True -2024-02-15 10:07:14, INFO: Number of layers: 1 -2024-02-15 10:07:14, INFO: Planning depth: 1 -2024-02-15 10:07:14, INFO: Planning width: 10 -2024-02-15 10:07:14, INFO: Sparse search: None -2024-02-15 10:07:16, INFO: human number: 10 -2024-02-15 10:07:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:20, INFO: Using device: cpu -2024-02-15 10:07:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:20, INFO: Similarity_func: concatenation -2024-02-15 10:07:20, INFO: Layerwise_graph: False -2024-02-15 10:07:20, INFO: Skip_connection: True -2024-02-15 10:07:20, INFO: Number of layers: 1 -2024-02-15 10:07:20, INFO: Similarity_func: concatenation -2024-02-15 10:07:20, INFO: Layerwise_graph: False -2024-02-15 10:07:20, INFO: Skip_connection: True -2024-02-15 10:07:20, INFO: Number of layers: 1 -2024-02-15 10:07:20, INFO: Planning depth: 1 -2024-02-15 10:07:20, INFO: Planning width: 10 -2024-02-15 10:07:20, INFO: Sparse search: None -2024-02-15 10:07:23, INFO: human number: 10 -2024-02-15 10:07:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:27, INFO: Using device: cpu -2024-02-15 10:07:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:27, INFO: Similarity_func: concatenation -2024-02-15 10:07:27, INFO: Layerwise_graph: False -2024-02-15 10:07:27, INFO: Skip_connection: True -2024-02-15 10:07:27, INFO: Number of layers: 1 -2024-02-15 10:07:27, INFO: Similarity_func: concatenation -2024-02-15 10:07:27, INFO: Layerwise_graph: False -2024-02-15 10:07:27, INFO: Skip_connection: True -2024-02-15 10:07:27, INFO: Number of layers: 1 -2024-02-15 10:07:27, INFO: Planning depth: 1 -2024-02-15 10:07:27, INFO: Planning width: 10 -2024-02-15 10:07:27, INFO: Sparse search: None -2024-02-15 10:07:30, INFO: human number: 10 -2024-02-15 10:07:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:34, INFO: Using device: cpu -2024-02-15 10:07:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:34, INFO: Similarity_func: concatenation -2024-02-15 10:07:34, INFO: Layerwise_graph: False -2024-02-15 10:07:34, INFO: Skip_connection: True -2024-02-15 10:07:34, INFO: Number of layers: 1 -2024-02-15 10:07:34, INFO: Similarity_func: concatenation -2024-02-15 10:07:34, INFO: Layerwise_graph: False -2024-02-15 10:07:34, INFO: Skip_connection: True -2024-02-15 10:07:34, INFO: Number of layers: 1 -2024-02-15 10:07:34, INFO: Planning depth: 1 -2024-02-15 10:07:34, INFO: Planning width: 10 -2024-02-15 10:07:34, INFO: Sparse search: None -2024-02-15 10:07:37, INFO: human number: 10 -2024-02-15 10:07:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:41, INFO: Using device: cpu -2024-02-15 10:07:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:41, INFO: Similarity_func: concatenation -2024-02-15 10:07:41, INFO: Layerwise_graph: False -2024-02-15 10:07:41, INFO: Skip_connection: True -2024-02-15 10:07:41, INFO: Number of layers: 1 -2024-02-15 10:07:41, INFO: Similarity_func: concatenation -2024-02-15 10:07:41, INFO: Layerwise_graph: False -2024-02-15 10:07:41, INFO: Skip_connection: True -2024-02-15 10:07:41, INFO: Number of layers: 1 -2024-02-15 10:07:41, INFO: Planning depth: 1 -2024-02-15 10:07:41, INFO: Planning width: 10 -2024-02-15 10:07:41, INFO: Sparse search: None -2024-02-15 10:07:44, INFO: human number: 10 -2024-02-15 10:07:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:48, INFO: Using device: cpu -2024-02-15 10:07:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:48, INFO: Similarity_func: concatenation -2024-02-15 10:07:48, INFO: Layerwise_graph: False -2024-02-15 10:07:48, INFO: Skip_connection: True -2024-02-15 10:07:48, INFO: Number of layers: 1 -2024-02-15 10:07:48, INFO: Similarity_func: concatenation -2024-02-15 10:07:48, INFO: Layerwise_graph: False -2024-02-15 10:07:48, INFO: Skip_connection: True -2024-02-15 10:07:48, INFO: Number of layers: 1 -2024-02-15 10:07:48, INFO: Planning depth: 1 -2024-02-15 10:07:48, INFO: Planning width: 10 -2024-02-15 10:07:48, INFO: Sparse search: None -2024-02-15 10:07:51, INFO: human number: 10 -2024-02-15 10:07:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:07:55, INFO: Using device: cpu -2024-02-15 10:07:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:07:55, INFO: Similarity_func: concatenation -2024-02-15 10:07:55, INFO: Layerwise_graph: False -2024-02-15 10:07:55, INFO: Skip_connection: True -2024-02-15 10:07:55, INFO: Number of layers: 1 -2024-02-15 10:07:55, INFO: Similarity_func: concatenation -2024-02-15 10:07:55, INFO: Layerwise_graph: False -2024-02-15 10:07:55, INFO: Skip_connection: True -2024-02-15 10:07:55, INFO: Number of layers: 1 -2024-02-15 10:07:55, INFO: Planning depth: 1 -2024-02-15 10:07:55, INFO: Planning width: 10 -2024-02-15 10:07:55, INFO: Sparse search: None -2024-02-15 10:07:58, INFO: human number: 10 -2024-02-15 10:07:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:07:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:07:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:07:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:07:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:02, INFO: Using device: cpu -2024-02-15 10:08:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:02, INFO: Similarity_func: concatenation -2024-02-15 10:08:02, INFO: Layerwise_graph: False -2024-02-15 10:08:02, INFO: Skip_connection: True -2024-02-15 10:08:02, INFO: Number of layers: 1 -2024-02-15 10:08:02, INFO: Similarity_func: concatenation -2024-02-15 10:08:02, INFO: Layerwise_graph: False -2024-02-15 10:08:02, INFO: Skip_connection: True -2024-02-15 10:08:02, INFO: Number of layers: 1 -2024-02-15 10:08:02, INFO: Planning depth: 1 -2024-02-15 10:08:02, INFO: Planning width: 10 -2024-02-15 10:08:02, INFO: Sparse search: None -2024-02-15 10:08:05, INFO: human number: 10 -2024-02-15 10:08:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:09, INFO: Using device: cpu -2024-02-15 10:08:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:09, INFO: Similarity_func: concatenation -2024-02-15 10:08:09, INFO: Layerwise_graph: False -2024-02-15 10:08:09, INFO: Skip_connection: True -2024-02-15 10:08:09, INFO: Number of layers: 1 -2024-02-15 10:08:09, INFO: Similarity_func: concatenation -2024-02-15 10:08:09, INFO: Layerwise_graph: False -2024-02-15 10:08:09, INFO: Skip_connection: True -2024-02-15 10:08:09, INFO: Number of layers: 1 -2024-02-15 10:08:09, INFO: Planning depth: 1 -2024-02-15 10:08:09, INFO: Planning width: 10 -2024-02-15 10:08:09, INFO: Sparse search: None -2024-02-15 10:08:12, INFO: human number: 10 -2024-02-15 10:08:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:16, INFO: Using device: cpu -2024-02-15 10:08:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:16, INFO: Similarity_func: concatenation -2024-02-15 10:08:16, INFO: Layerwise_graph: False -2024-02-15 10:08:16, INFO: Skip_connection: True -2024-02-15 10:08:16, INFO: Number of layers: 1 -2024-02-15 10:08:16, INFO: Similarity_func: concatenation -2024-02-15 10:08:16, INFO: Layerwise_graph: False -2024-02-15 10:08:16, INFO: Skip_connection: True -2024-02-15 10:08:16, INFO: Number of layers: 1 -2024-02-15 10:08:16, INFO: Planning depth: 1 -2024-02-15 10:08:16, INFO: Planning width: 10 -2024-02-15 10:08:16, INFO: Sparse search: None -2024-02-15 10:08:19, INFO: human number: 10 -2024-02-15 10:08:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:24, INFO: Using device: cpu -2024-02-15 10:08:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:24, INFO: Similarity_func: concatenation -2024-02-15 10:08:24, INFO: Layerwise_graph: False -2024-02-15 10:08:24, INFO: Skip_connection: True -2024-02-15 10:08:24, INFO: Number of layers: 1 -2024-02-15 10:08:24, INFO: Similarity_func: concatenation -2024-02-15 10:08:24, INFO: Layerwise_graph: False -2024-02-15 10:08:24, INFO: Skip_connection: True -2024-02-15 10:08:24, INFO: Number of layers: 1 -2024-02-15 10:08:24, INFO: Planning depth: 1 -2024-02-15 10:08:24, INFO: Planning width: 10 -2024-02-15 10:08:24, INFO: Sparse search: None -2024-02-15 10:08:26, INFO: human number: 10 -2024-02-15 10:08:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:32, INFO: Using device: cpu -2024-02-15 10:08:32, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:32, INFO: Similarity_func: concatenation -2024-02-15 10:08:32, INFO: Layerwise_graph: False -2024-02-15 10:08:32, INFO: Skip_connection: True -2024-02-15 10:08:32, INFO: Number of layers: 1 -2024-02-15 10:08:32, INFO: Similarity_func: concatenation -2024-02-15 10:08:32, INFO: Layerwise_graph: False -2024-02-15 10:08:32, INFO: Skip_connection: True -2024-02-15 10:08:32, INFO: Number of layers: 1 -2024-02-15 10:08:32, INFO: Planning depth: 1 -2024-02-15 10:08:32, INFO: Planning width: 10 -2024-02-15 10:08:32, INFO: Sparse search: None -2024-02-15 10:08:34, INFO: human number: 10 -2024-02-15 10:08:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:38, INFO: Using device: cpu -2024-02-15 10:08:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:38, INFO: Similarity_func: concatenation -2024-02-15 10:08:38, INFO: Layerwise_graph: False -2024-02-15 10:08:38, INFO: Skip_connection: True -2024-02-15 10:08:38, INFO: Number of layers: 1 -2024-02-15 10:08:38, INFO: Similarity_func: concatenation -2024-02-15 10:08:38, INFO: Layerwise_graph: False -2024-02-15 10:08:38, INFO: Skip_connection: True -2024-02-15 10:08:38, INFO: Number of layers: 1 -2024-02-15 10:08:38, INFO: Planning depth: 1 -2024-02-15 10:08:38, INFO: Planning width: 10 -2024-02-15 10:08:38, INFO: Sparse search: None -2024-02-15 10:08:41, INFO: human number: 10 -2024-02-15 10:08:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:45, INFO: Using device: cpu -2024-02-15 10:08:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:45, INFO: Similarity_func: concatenation -2024-02-15 10:08:45, INFO: Layerwise_graph: False -2024-02-15 10:08:45, INFO: Skip_connection: True -2024-02-15 10:08:45, INFO: Number of layers: 1 -2024-02-15 10:08:45, INFO: Similarity_func: concatenation -2024-02-15 10:08:45, INFO: Layerwise_graph: False -2024-02-15 10:08:45, INFO: Skip_connection: True -2024-02-15 10:08:45, INFO: Number of layers: 1 -2024-02-15 10:08:45, INFO: Planning depth: 1 -2024-02-15 10:08:45, INFO: Planning width: 10 -2024-02-15 10:08:45, INFO: Sparse search: None -2024-02-15 10:08:48, INFO: human number: 10 -2024-02-15 10:08:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:52, INFO: Using device: cpu -2024-02-15 10:08:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:52, INFO: Similarity_func: concatenation -2024-02-15 10:08:52, INFO: Layerwise_graph: False -2024-02-15 10:08:52, INFO: Skip_connection: True -2024-02-15 10:08:52, INFO: Number of layers: 1 -2024-02-15 10:08:52, INFO: Similarity_func: concatenation -2024-02-15 10:08:52, INFO: Layerwise_graph: False -2024-02-15 10:08:52, INFO: Skip_connection: True -2024-02-15 10:08:52, INFO: Number of layers: 1 -2024-02-15 10:08:52, INFO: Planning depth: 1 -2024-02-15 10:08:52, INFO: Planning width: 10 -2024-02-15 10:08:52, INFO: Sparse search: None -2024-02-15 10:08:55, INFO: human number: 10 -2024-02-15 10:08:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:08:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:08:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:08:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:08:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:08:59, INFO: Using device: cpu -2024-02-15 10:08:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:08:59, INFO: Similarity_func: concatenation -2024-02-15 10:08:59, INFO: Layerwise_graph: False -2024-02-15 10:08:59, INFO: Skip_connection: True -2024-02-15 10:08:59, INFO: Number of layers: 1 -2024-02-15 10:08:59, INFO: Similarity_func: concatenation -2024-02-15 10:08:59, INFO: Layerwise_graph: False -2024-02-15 10:08:59, INFO: Skip_connection: True -2024-02-15 10:08:59, INFO: Number of layers: 1 -2024-02-15 10:08:59, INFO: Planning depth: 1 -2024-02-15 10:08:59, INFO: Planning width: 10 -2024-02-15 10:08:59, INFO: Sparse search: None -2024-02-15 10:09:02, INFO: human number: 10 -2024-02-15 10:09:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:06, INFO: Using device: cpu -2024-02-15 10:09:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:06, INFO: Similarity_func: concatenation -2024-02-15 10:09:06, INFO: Layerwise_graph: False -2024-02-15 10:09:06, INFO: Skip_connection: True -2024-02-15 10:09:06, INFO: Number of layers: 1 -2024-02-15 10:09:06, INFO: Similarity_func: concatenation -2024-02-15 10:09:06, INFO: Layerwise_graph: False -2024-02-15 10:09:06, INFO: Skip_connection: True -2024-02-15 10:09:06, INFO: Number of layers: 1 -2024-02-15 10:09:06, INFO: Planning depth: 1 -2024-02-15 10:09:06, INFO: Planning width: 10 -2024-02-15 10:09:06, INFO: Sparse search: None -2024-02-15 10:09:09, INFO: human number: 10 -2024-02-15 10:09:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:13, INFO: Using device: cpu -2024-02-15 10:09:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:13, INFO: Similarity_func: concatenation -2024-02-15 10:09:13, INFO: Layerwise_graph: False -2024-02-15 10:09:13, INFO: Skip_connection: True -2024-02-15 10:09:13, INFO: Number of layers: 1 -2024-02-15 10:09:13, INFO: Similarity_func: concatenation -2024-02-15 10:09:13, INFO: Layerwise_graph: False -2024-02-15 10:09:13, INFO: Skip_connection: True -2024-02-15 10:09:13, INFO: Number of layers: 1 -2024-02-15 10:09:13, INFO: Planning depth: 1 -2024-02-15 10:09:13, INFO: Planning width: 10 -2024-02-15 10:09:13, INFO: Sparse search: None -2024-02-15 10:09:15, INFO: human number: 10 -2024-02-15 10:09:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:20, INFO: Using device: cpu -2024-02-15 10:09:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:20, INFO: Similarity_func: concatenation -2024-02-15 10:09:20, INFO: Layerwise_graph: False -2024-02-15 10:09:20, INFO: Skip_connection: True -2024-02-15 10:09:20, INFO: Number of layers: 1 -2024-02-15 10:09:20, INFO: Similarity_func: concatenation -2024-02-15 10:09:20, INFO: Layerwise_graph: False -2024-02-15 10:09:20, INFO: Skip_connection: True -2024-02-15 10:09:20, INFO: Number of layers: 1 -2024-02-15 10:09:20, INFO: Planning depth: 1 -2024-02-15 10:09:20, INFO: Planning width: 10 -2024-02-15 10:09:20, INFO: Sparse search: None -2024-02-15 10:09:22, INFO: human number: 10 -2024-02-15 10:09:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:27, INFO: Using device: cpu -2024-02-15 10:09:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:27, INFO: Similarity_func: concatenation -2024-02-15 10:09:27, INFO: Layerwise_graph: False -2024-02-15 10:09:27, INFO: Skip_connection: True -2024-02-15 10:09:27, INFO: Number of layers: 1 -2024-02-15 10:09:27, INFO: Similarity_func: concatenation -2024-02-15 10:09:27, INFO: Layerwise_graph: False -2024-02-15 10:09:27, INFO: Skip_connection: True -2024-02-15 10:09:27, INFO: Number of layers: 1 -2024-02-15 10:09:27, INFO: Planning depth: 1 -2024-02-15 10:09:27, INFO: Planning width: 10 -2024-02-15 10:09:27, INFO: Sparse search: None -2024-02-15 10:09:29, INFO: human number: 10 -2024-02-15 10:09:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:34, INFO: Using device: cpu -2024-02-15 10:09:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:34, INFO: Similarity_func: concatenation -2024-02-15 10:09:34, INFO: Layerwise_graph: False -2024-02-15 10:09:34, INFO: Skip_connection: True -2024-02-15 10:09:34, INFO: Number of layers: 1 -2024-02-15 10:09:34, INFO: Similarity_func: concatenation -2024-02-15 10:09:34, INFO: Layerwise_graph: False -2024-02-15 10:09:34, INFO: Skip_connection: True -2024-02-15 10:09:34, INFO: Number of layers: 1 -2024-02-15 10:09:34, INFO: Planning depth: 1 -2024-02-15 10:09:34, INFO: Planning width: 10 -2024-02-15 10:09:34, INFO: Sparse search: None -2024-02-15 10:09:37, INFO: human number: 10 -2024-02-15 10:09:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:41, INFO: Using device: cpu -2024-02-15 10:09:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:41, INFO: Similarity_func: concatenation -2024-02-15 10:09:41, INFO: Layerwise_graph: False -2024-02-15 10:09:41, INFO: Skip_connection: True -2024-02-15 10:09:41, INFO: Number of layers: 1 -2024-02-15 10:09:41, INFO: Similarity_func: concatenation -2024-02-15 10:09:41, INFO: Layerwise_graph: False -2024-02-15 10:09:41, INFO: Skip_connection: True -2024-02-15 10:09:41, INFO: Number of layers: 1 -2024-02-15 10:09:41, INFO: Planning depth: 1 -2024-02-15 10:09:41, INFO: Planning width: 10 -2024-02-15 10:09:41, INFO: Sparse search: None -2024-02-15 10:09:44, INFO: human number: 10 -2024-02-15 10:09:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:48, INFO: Using device: cpu -2024-02-15 10:09:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:48, INFO: Similarity_func: concatenation -2024-02-15 10:09:48, INFO: Layerwise_graph: False -2024-02-15 10:09:48, INFO: Skip_connection: True -2024-02-15 10:09:48, INFO: Number of layers: 1 -2024-02-15 10:09:48, INFO: Similarity_func: concatenation -2024-02-15 10:09:48, INFO: Layerwise_graph: False -2024-02-15 10:09:48, INFO: Skip_connection: True -2024-02-15 10:09:48, INFO: Number of layers: 1 -2024-02-15 10:09:48, INFO: Planning depth: 1 -2024-02-15 10:09:48, INFO: Planning width: 10 -2024-02-15 10:09:48, INFO: Sparse search: None -2024-02-15 10:09:51, INFO: human number: 10 -2024-02-15 10:09:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:09:55, INFO: Using device: cpu -2024-02-15 10:09:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:09:55, INFO: Similarity_func: concatenation -2024-02-15 10:09:55, INFO: Layerwise_graph: False -2024-02-15 10:09:55, INFO: Skip_connection: True -2024-02-15 10:09:55, INFO: Number of layers: 1 -2024-02-15 10:09:55, INFO: Similarity_func: concatenation -2024-02-15 10:09:55, INFO: Layerwise_graph: False -2024-02-15 10:09:55, INFO: Skip_connection: True -2024-02-15 10:09:55, INFO: Number of layers: 1 -2024-02-15 10:09:55, INFO: Planning depth: 1 -2024-02-15 10:09:55, INFO: Planning width: 10 -2024-02-15 10:09:55, INFO: Sparse search: None -2024-02-15 10:09:57, INFO: human number: 10 -2024-02-15 10:09:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:09:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:09:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:09:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:09:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:01, INFO: Using device: cpu -2024-02-15 10:10:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:01, INFO: Similarity_func: concatenation -2024-02-15 10:10:01, INFO: Layerwise_graph: False -2024-02-15 10:10:01, INFO: Skip_connection: True -2024-02-15 10:10:01, INFO: Number of layers: 1 -2024-02-15 10:10:01, INFO: Similarity_func: concatenation -2024-02-15 10:10:01, INFO: Layerwise_graph: False -2024-02-15 10:10:01, INFO: Skip_connection: True -2024-02-15 10:10:01, INFO: Number of layers: 1 -2024-02-15 10:10:01, INFO: Planning depth: 1 -2024-02-15 10:10:01, INFO: Planning width: 10 -2024-02-15 10:10:01, INFO: Sparse search: None -2024-02-15 10:10:04, INFO: human number: 10 -2024-02-15 10:10:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:08, INFO: Using device: cpu -2024-02-15 10:10:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:08, INFO: Similarity_func: concatenation -2024-02-15 10:10:08, INFO: Layerwise_graph: False -2024-02-15 10:10:08, INFO: Skip_connection: True -2024-02-15 10:10:08, INFO: Number of layers: 1 -2024-02-15 10:10:08, INFO: Similarity_func: concatenation -2024-02-15 10:10:08, INFO: Layerwise_graph: False -2024-02-15 10:10:08, INFO: Skip_connection: True -2024-02-15 10:10:08, INFO: Number of layers: 1 -2024-02-15 10:10:08, INFO: Planning depth: 1 -2024-02-15 10:10:08, INFO: Planning width: 10 -2024-02-15 10:10:08, INFO: Sparse search: None -2024-02-15 10:10:11, INFO: human number: 10 -2024-02-15 10:10:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:15, INFO: Using device: cpu -2024-02-15 10:10:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:15, INFO: Similarity_func: concatenation -2024-02-15 10:10:15, INFO: Layerwise_graph: False -2024-02-15 10:10:15, INFO: Skip_connection: True -2024-02-15 10:10:15, INFO: Number of layers: 1 -2024-02-15 10:10:15, INFO: Similarity_func: concatenation -2024-02-15 10:10:15, INFO: Layerwise_graph: False -2024-02-15 10:10:15, INFO: Skip_connection: True -2024-02-15 10:10:15, INFO: Number of layers: 1 -2024-02-15 10:10:15, INFO: Planning depth: 1 -2024-02-15 10:10:15, INFO: Planning width: 10 -2024-02-15 10:10:15, INFO: Sparse search: None -2024-02-15 10:10:18, INFO: human number: 10 -2024-02-15 10:10:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:22, INFO: Using device: cpu -2024-02-15 10:10:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:22, INFO: Similarity_func: concatenation -2024-02-15 10:10:22, INFO: Layerwise_graph: False -2024-02-15 10:10:22, INFO: Skip_connection: True -2024-02-15 10:10:22, INFO: Number of layers: 1 -2024-02-15 10:10:22, INFO: Similarity_func: concatenation -2024-02-15 10:10:22, INFO: Layerwise_graph: False -2024-02-15 10:10:22, INFO: Skip_connection: True -2024-02-15 10:10:22, INFO: Number of layers: 1 -2024-02-15 10:10:22, INFO: Planning depth: 1 -2024-02-15 10:10:22, INFO: Planning width: 10 -2024-02-15 10:10:22, INFO: Sparse search: None -2024-02-15 10:10:24, INFO: human number: 10 -2024-02-15 10:10:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:28, INFO: Using device: cpu -2024-02-15 10:10:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:28, INFO: Similarity_func: concatenation -2024-02-15 10:10:28, INFO: Layerwise_graph: False -2024-02-15 10:10:28, INFO: Skip_connection: True -2024-02-15 10:10:28, INFO: Number of layers: 1 -2024-02-15 10:10:28, INFO: Similarity_func: concatenation -2024-02-15 10:10:28, INFO: Layerwise_graph: False -2024-02-15 10:10:28, INFO: Skip_connection: True -2024-02-15 10:10:28, INFO: Number of layers: 1 -2024-02-15 10:10:28, INFO: Planning depth: 1 -2024-02-15 10:10:28, INFO: Planning width: 10 -2024-02-15 10:10:28, INFO: Sparse search: None -2024-02-15 10:10:31, INFO: human number: 10 -2024-02-15 10:10:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:35, INFO: Using device: cpu -2024-02-15 10:10:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:35, INFO: Similarity_func: concatenation -2024-02-15 10:10:35, INFO: Layerwise_graph: False -2024-02-15 10:10:35, INFO: Skip_connection: True -2024-02-15 10:10:35, INFO: Number of layers: 1 -2024-02-15 10:10:35, INFO: Similarity_func: concatenation -2024-02-15 10:10:35, INFO: Layerwise_graph: False -2024-02-15 10:10:35, INFO: Skip_connection: True -2024-02-15 10:10:35, INFO: Number of layers: 1 -2024-02-15 10:10:35, INFO: Planning depth: 1 -2024-02-15 10:10:35, INFO: Planning width: 10 -2024-02-15 10:10:35, INFO: Sparse search: None -2024-02-15 10:10:38, INFO: human number: 10 -2024-02-15 10:10:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:42, INFO: Using device: cpu -2024-02-15 10:10:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:42, INFO: Similarity_func: concatenation -2024-02-15 10:10:42, INFO: Layerwise_graph: False -2024-02-15 10:10:42, INFO: Skip_connection: True -2024-02-15 10:10:42, INFO: Number of layers: 1 -2024-02-15 10:10:42, INFO: Similarity_func: concatenation -2024-02-15 10:10:42, INFO: Layerwise_graph: False -2024-02-15 10:10:42, INFO: Skip_connection: True -2024-02-15 10:10:42, INFO: Number of layers: 1 -2024-02-15 10:10:42, INFO: Planning depth: 1 -2024-02-15 10:10:42, INFO: Planning width: 10 -2024-02-15 10:10:42, INFO: Sparse search: None -2024-02-15 10:10:45, INFO: human number: 10 -2024-02-15 10:10:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:49, INFO: Using device: cpu -2024-02-15 10:10:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:49, INFO: Similarity_func: concatenation -2024-02-15 10:10:49, INFO: Layerwise_graph: False -2024-02-15 10:10:49, INFO: Skip_connection: True -2024-02-15 10:10:49, INFO: Number of layers: 1 -2024-02-15 10:10:49, INFO: Similarity_func: concatenation -2024-02-15 10:10:49, INFO: Layerwise_graph: False -2024-02-15 10:10:49, INFO: Skip_connection: True -2024-02-15 10:10:49, INFO: Number of layers: 1 -2024-02-15 10:10:49, INFO: Planning depth: 1 -2024-02-15 10:10:49, INFO: Planning width: 10 -2024-02-15 10:10:49, INFO: Sparse search: None -2024-02-15 10:10:52, INFO: human number: 10 -2024-02-15 10:10:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:10:56, INFO: Using device: cpu -2024-02-15 10:10:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:10:56, INFO: Similarity_func: concatenation -2024-02-15 10:10:56, INFO: Layerwise_graph: False -2024-02-15 10:10:56, INFO: Skip_connection: True -2024-02-15 10:10:56, INFO: Number of layers: 1 -2024-02-15 10:10:56, INFO: Similarity_func: concatenation -2024-02-15 10:10:56, INFO: Layerwise_graph: False -2024-02-15 10:10:56, INFO: Skip_connection: True -2024-02-15 10:10:56, INFO: Number of layers: 1 -2024-02-15 10:10:56, INFO: Planning depth: 1 -2024-02-15 10:10:56, INFO: Planning width: 10 -2024-02-15 10:10:56, INFO: Sparse search: None -2024-02-15 10:10:59, INFO: human number: 10 -2024-02-15 10:10:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:10:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:10:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:10:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:10:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:03, INFO: Using device: cpu -2024-02-15 10:11:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:03, INFO: Similarity_func: concatenation -2024-02-15 10:11:03, INFO: Layerwise_graph: False -2024-02-15 10:11:03, INFO: Skip_connection: True -2024-02-15 10:11:03, INFO: Number of layers: 1 -2024-02-15 10:11:03, INFO: Similarity_func: concatenation -2024-02-15 10:11:03, INFO: Layerwise_graph: False -2024-02-15 10:11:03, INFO: Skip_connection: True -2024-02-15 10:11:03, INFO: Number of layers: 1 -2024-02-15 10:11:03, INFO: Planning depth: 1 -2024-02-15 10:11:03, INFO: Planning width: 10 -2024-02-15 10:11:03, INFO: Sparse search: None -2024-02-15 10:11:05, INFO: human number: 10 -2024-02-15 10:11:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:10, INFO: Using device: cpu -2024-02-15 10:11:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:10, INFO: Similarity_func: concatenation -2024-02-15 10:11:10, INFO: Layerwise_graph: False -2024-02-15 10:11:10, INFO: Skip_connection: True -2024-02-15 10:11:10, INFO: Number of layers: 1 -2024-02-15 10:11:10, INFO: Similarity_func: concatenation -2024-02-15 10:11:10, INFO: Layerwise_graph: False -2024-02-15 10:11:10, INFO: Skip_connection: True -2024-02-15 10:11:10, INFO: Number of layers: 1 -2024-02-15 10:11:10, INFO: Planning depth: 1 -2024-02-15 10:11:10, INFO: Planning width: 10 -2024-02-15 10:11:10, INFO: Sparse search: None -2024-02-15 10:11:13, INFO: human number: 10 -2024-02-15 10:11:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:17, INFO: Using device: cpu -2024-02-15 10:11:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:17, INFO: Similarity_func: concatenation -2024-02-15 10:11:17, INFO: Layerwise_graph: False -2024-02-15 10:11:17, INFO: Skip_connection: True -2024-02-15 10:11:17, INFO: Number of layers: 1 -2024-02-15 10:11:17, INFO: Similarity_func: concatenation -2024-02-15 10:11:17, INFO: Layerwise_graph: False -2024-02-15 10:11:17, INFO: Skip_connection: True -2024-02-15 10:11:17, INFO: Number of layers: 1 -2024-02-15 10:11:17, INFO: Planning depth: 1 -2024-02-15 10:11:17, INFO: Planning width: 10 -2024-02-15 10:11:17, INFO: Sparse search: None -2024-02-15 10:11:19, INFO: human number: 10 -2024-02-15 10:11:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:23, INFO: Using device: cpu -2024-02-15 10:11:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:23, INFO: Similarity_func: concatenation -2024-02-15 10:11:23, INFO: Layerwise_graph: False -2024-02-15 10:11:23, INFO: Skip_connection: True -2024-02-15 10:11:23, INFO: Number of layers: 1 -2024-02-15 10:11:23, INFO: Similarity_func: concatenation -2024-02-15 10:11:23, INFO: Layerwise_graph: False -2024-02-15 10:11:23, INFO: Skip_connection: True -2024-02-15 10:11:23, INFO: Number of layers: 1 -2024-02-15 10:11:23, INFO: Planning depth: 1 -2024-02-15 10:11:23, INFO: Planning width: 10 -2024-02-15 10:11:23, INFO: Sparse search: None -2024-02-15 10:11:26, INFO: human number: 10 -2024-02-15 10:11:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:30, INFO: Using device: cpu -2024-02-15 10:11:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:30, INFO: Similarity_func: concatenation -2024-02-15 10:11:30, INFO: Layerwise_graph: False -2024-02-15 10:11:30, INFO: Skip_connection: True -2024-02-15 10:11:30, INFO: Number of layers: 1 -2024-02-15 10:11:30, INFO: Similarity_func: concatenation -2024-02-15 10:11:30, INFO: Layerwise_graph: False -2024-02-15 10:11:30, INFO: Skip_connection: True -2024-02-15 10:11:30, INFO: Number of layers: 1 -2024-02-15 10:11:30, INFO: Planning depth: 1 -2024-02-15 10:11:30, INFO: Planning width: 10 -2024-02-15 10:11:30, INFO: Sparse search: None -2024-02-15 10:11:33, INFO: human number: 10 -2024-02-15 10:11:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:38, INFO: Using device: cpu -2024-02-15 10:11:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:38, INFO: Similarity_func: concatenation -2024-02-15 10:11:38, INFO: Layerwise_graph: False -2024-02-15 10:11:38, INFO: Skip_connection: True -2024-02-15 10:11:38, INFO: Number of layers: 1 -2024-02-15 10:11:38, INFO: Similarity_func: concatenation -2024-02-15 10:11:38, INFO: Layerwise_graph: False -2024-02-15 10:11:38, INFO: Skip_connection: True -2024-02-15 10:11:38, INFO: Number of layers: 1 -2024-02-15 10:11:38, INFO: Planning depth: 1 -2024-02-15 10:11:38, INFO: Planning width: 10 -2024-02-15 10:11:38, INFO: Sparse search: None -2024-02-15 10:11:40, INFO: human number: 10 -2024-02-15 10:11:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:44, INFO: Using device: cpu -2024-02-15 10:11:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:44, INFO: Similarity_func: concatenation -2024-02-15 10:11:44, INFO: Layerwise_graph: False -2024-02-15 10:11:44, INFO: Skip_connection: True -2024-02-15 10:11:44, INFO: Number of layers: 1 -2024-02-15 10:11:44, INFO: Similarity_func: concatenation -2024-02-15 10:11:44, INFO: Layerwise_graph: False -2024-02-15 10:11:44, INFO: Skip_connection: True -2024-02-15 10:11:44, INFO: Number of layers: 1 -2024-02-15 10:11:44, INFO: Planning depth: 1 -2024-02-15 10:11:44, INFO: Planning width: 10 -2024-02-15 10:11:44, INFO: Sparse search: None -2024-02-15 10:11:47, INFO: human number: 10 -2024-02-15 10:11:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:51, INFO: Using device: cpu -2024-02-15 10:11:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:51, INFO: Similarity_func: concatenation -2024-02-15 10:11:51, INFO: Layerwise_graph: False -2024-02-15 10:11:51, INFO: Skip_connection: True -2024-02-15 10:11:51, INFO: Number of layers: 1 -2024-02-15 10:11:51, INFO: Similarity_func: concatenation -2024-02-15 10:11:51, INFO: Layerwise_graph: False -2024-02-15 10:11:51, INFO: Skip_connection: True -2024-02-15 10:11:51, INFO: Number of layers: 1 -2024-02-15 10:11:51, INFO: Planning depth: 1 -2024-02-15 10:11:51, INFO: Planning width: 10 -2024-02-15 10:11:51, INFO: Sparse search: None -2024-02-15 10:11:54, INFO: human number: 10 -2024-02-15 10:11:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:11:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:11:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:11:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:11:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:11:58, INFO: Using device: cpu -2024-02-15 10:11:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:11:58, INFO: Similarity_func: concatenation -2024-02-15 10:11:58, INFO: Layerwise_graph: False -2024-02-15 10:11:58, INFO: Skip_connection: True -2024-02-15 10:11:58, INFO: Number of layers: 1 -2024-02-15 10:11:58, INFO: Similarity_func: concatenation -2024-02-15 10:11:58, INFO: Layerwise_graph: False -2024-02-15 10:11:58, INFO: Skip_connection: True -2024-02-15 10:11:58, INFO: Number of layers: 1 -2024-02-15 10:11:58, INFO: Planning depth: 1 -2024-02-15 10:11:58, INFO: Planning width: 10 -2024-02-15 10:11:58, INFO: Sparse search: None -2024-02-15 10:12:01, INFO: human number: 10 -2024-02-15 10:12:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:05, INFO: Using device: cpu -2024-02-15 10:12:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:05, INFO: Similarity_func: concatenation -2024-02-15 10:12:05, INFO: Layerwise_graph: False -2024-02-15 10:12:05, INFO: Skip_connection: True -2024-02-15 10:12:05, INFO: Number of layers: 1 -2024-02-15 10:12:05, INFO: Similarity_func: concatenation -2024-02-15 10:12:05, INFO: Layerwise_graph: False -2024-02-15 10:12:05, INFO: Skip_connection: True -2024-02-15 10:12:05, INFO: Number of layers: 1 -2024-02-15 10:12:05, INFO: Planning depth: 1 -2024-02-15 10:12:05, INFO: Planning width: 10 -2024-02-15 10:12:05, INFO: Sparse search: None -2024-02-15 10:12:08, INFO: human number: 10 -2024-02-15 10:12:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:12, INFO: Using device: cpu -2024-02-15 10:12:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:12, INFO: Similarity_func: concatenation -2024-02-15 10:12:12, INFO: Layerwise_graph: False -2024-02-15 10:12:12, INFO: Skip_connection: True -2024-02-15 10:12:12, INFO: Number of layers: 1 -2024-02-15 10:12:12, INFO: Similarity_func: concatenation -2024-02-15 10:12:12, INFO: Layerwise_graph: False -2024-02-15 10:12:12, INFO: Skip_connection: True -2024-02-15 10:12:12, INFO: Number of layers: 1 -2024-02-15 10:12:12, INFO: Planning depth: 1 -2024-02-15 10:12:12, INFO: Planning width: 10 -2024-02-15 10:12:12, INFO: Sparse search: None -2024-02-15 10:12:14, INFO: human number: 10 -2024-02-15 10:12:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:14, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:19, INFO: Using device: cpu -2024-02-15 10:12:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:19, INFO: Similarity_func: concatenation -2024-02-15 10:12:19, INFO: Layerwise_graph: False -2024-02-15 10:12:19, INFO: Skip_connection: True -2024-02-15 10:12:19, INFO: Number of layers: 1 -2024-02-15 10:12:19, INFO: Similarity_func: concatenation -2024-02-15 10:12:19, INFO: Layerwise_graph: False -2024-02-15 10:12:19, INFO: Skip_connection: True -2024-02-15 10:12:19, INFO: Number of layers: 1 -2024-02-15 10:12:19, INFO: Planning depth: 1 -2024-02-15 10:12:19, INFO: Planning width: 10 -2024-02-15 10:12:19, INFO: Sparse search: None -2024-02-15 10:12:22, INFO: human number: 10 -2024-02-15 10:12:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:26, INFO: Using device: cpu -2024-02-15 10:12:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:26, INFO: Similarity_func: concatenation -2024-02-15 10:12:26, INFO: Layerwise_graph: False -2024-02-15 10:12:26, INFO: Skip_connection: True -2024-02-15 10:12:26, INFO: Number of layers: 1 -2024-02-15 10:12:26, INFO: Similarity_func: concatenation -2024-02-15 10:12:26, INFO: Layerwise_graph: False -2024-02-15 10:12:26, INFO: Skip_connection: True -2024-02-15 10:12:26, INFO: Number of layers: 1 -2024-02-15 10:12:26, INFO: Planning depth: 1 -2024-02-15 10:12:26, INFO: Planning width: 10 -2024-02-15 10:12:26, INFO: Sparse search: None -2024-02-15 10:12:29, INFO: human number: 10 -2024-02-15 10:12:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:33, INFO: Using device: cpu -2024-02-15 10:12:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:33, INFO: Similarity_func: concatenation -2024-02-15 10:12:33, INFO: Layerwise_graph: False -2024-02-15 10:12:33, INFO: Skip_connection: True -2024-02-15 10:12:33, INFO: Number of layers: 1 -2024-02-15 10:12:33, INFO: Similarity_func: concatenation -2024-02-15 10:12:33, INFO: Layerwise_graph: False -2024-02-15 10:12:33, INFO: Skip_connection: True -2024-02-15 10:12:33, INFO: Number of layers: 1 -2024-02-15 10:12:33, INFO: Planning depth: 1 -2024-02-15 10:12:33, INFO: Planning width: 10 -2024-02-15 10:12:33, INFO: Sparse search: None -2024-02-15 10:12:36, INFO: human number: 10 -2024-02-15 10:12:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:40, INFO: Using device: cpu -2024-02-15 10:12:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:40, INFO: Similarity_func: concatenation -2024-02-15 10:12:40, INFO: Layerwise_graph: False -2024-02-15 10:12:40, INFO: Skip_connection: True -2024-02-15 10:12:40, INFO: Number of layers: 1 -2024-02-15 10:12:40, INFO: Similarity_func: concatenation -2024-02-15 10:12:40, INFO: Layerwise_graph: False -2024-02-15 10:12:40, INFO: Skip_connection: True -2024-02-15 10:12:40, INFO: Number of layers: 1 -2024-02-15 10:12:40, INFO: Planning depth: 1 -2024-02-15 10:12:40, INFO: Planning width: 10 -2024-02-15 10:12:40, INFO: Sparse search: None -2024-02-15 10:12:43, INFO: human number: 10 -2024-02-15 10:12:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:47, INFO: Using device: cpu -2024-02-15 10:12:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:47, INFO: Similarity_func: concatenation -2024-02-15 10:12:47, INFO: Layerwise_graph: False -2024-02-15 10:12:47, INFO: Skip_connection: True -2024-02-15 10:12:47, INFO: Number of layers: 1 -2024-02-15 10:12:47, INFO: Similarity_func: concatenation -2024-02-15 10:12:47, INFO: Layerwise_graph: False -2024-02-15 10:12:47, INFO: Skip_connection: True -2024-02-15 10:12:47, INFO: Number of layers: 1 -2024-02-15 10:12:47, INFO: Planning depth: 1 -2024-02-15 10:12:47, INFO: Planning width: 10 -2024-02-15 10:12:47, INFO: Sparse search: None -2024-02-15 10:12:49, INFO: human number: 10 -2024-02-15 10:12:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:12:54, INFO: Using device: cpu -2024-02-15 10:12:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:12:54, INFO: Similarity_func: concatenation -2024-02-15 10:12:54, INFO: Layerwise_graph: False -2024-02-15 10:12:54, INFO: Skip_connection: True -2024-02-15 10:12:54, INFO: Number of layers: 1 -2024-02-15 10:12:54, INFO: Similarity_func: concatenation -2024-02-15 10:12:54, INFO: Layerwise_graph: False -2024-02-15 10:12:54, INFO: Skip_connection: True -2024-02-15 10:12:54, INFO: Number of layers: 1 -2024-02-15 10:12:54, INFO: Planning depth: 1 -2024-02-15 10:12:54, INFO: Planning width: 10 -2024-02-15 10:12:54, INFO: Sparse search: None -2024-02-15 10:12:57, INFO: human number: 10 -2024-02-15 10:12:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:12:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:12:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:12:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:12:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:01, INFO: Using device: cpu -2024-02-15 10:13:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:01, INFO: Similarity_func: concatenation -2024-02-15 10:13:01, INFO: Layerwise_graph: False -2024-02-15 10:13:01, INFO: Skip_connection: True -2024-02-15 10:13:01, INFO: Number of layers: 1 -2024-02-15 10:13:01, INFO: Similarity_func: concatenation -2024-02-15 10:13:01, INFO: Layerwise_graph: False -2024-02-15 10:13:01, INFO: Skip_connection: True -2024-02-15 10:13:01, INFO: Number of layers: 1 -2024-02-15 10:13:01, INFO: Planning depth: 1 -2024-02-15 10:13:01, INFO: Planning width: 10 -2024-02-15 10:13:01, INFO: Sparse search: None -2024-02-15 10:13:03, INFO: human number: 10 -2024-02-15 10:13:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:08, INFO: Using device: cpu -2024-02-15 10:13:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:08, INFO: Similarity_func: concatenation -2024-02-15 10:13:08, INFO: Layerwise_graph: False -2024-02-15 10:13:08, INFO: Skip_connection: True -2024-02-15 10:13:08, INFO: Number of layers: 1 -2024-02-15 10:13:08, INFO: Similarity_func: concatenation -2024-02-15 10:13:08, INFO: Layerwise_graph: False -2024-02-15 10:13:08, INFO: Skip_connection: True -2024-02-15 10:13:08, INFO: Number of layers: 1 -2024-02-15 10:13:08, INFO: Planning depth: 1 -2024-02-15 10:13:08, INFO: Planning width: 10 -2024-02-15 10:13:08, INFO: Sparse search: None -2024-02-15 10:13:10, INFO: human number: 10 -2024-02-15 10:13:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:15, INFO: Using device: cpu -2024-02-15 10:13:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:15, INFO: Similarity_func: concatenation -2024-02-15 10:13:15, INFO: Layerwise_graph: False -2024-02-15 10:13:15, INFO: Skip_connection: True -2024-02-15 10:13:15, INFO: Number of layers: 1 -2024-02-15 10:13:15, INFO: Similarity_func: concatenation -2024-02-15 10:13:15, INFO: Layerwise_graph: False -2024-02-15 10:13:15, INFO: Skip_connection: True -2024-02-15 10:13:15, INFO: Number of layers: 1 -2024-02-15 10:13:15, INFO: Planning depth: 1 -2024-02-15 10:13:15, INFO: Planning width: 10 -2024-02-15 10:13:15, INFO: Sparse search: None -2024-02-15 10:13:17, INFO: human number: 10 -2024-02-15 10:13:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:22, INFO: Using device: cpu -2024-02-15 10:13:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:22, INFO: Similarity_func: concatenation -2024-02-15 10:13:22, INFO: Layerwise_graph: False -2024-02-15 10:13:22, INFO: Skip_connection: True -2024-02-15 10:13:22, INFO: Number of layers: 1 -2024-02-15 10:13:22, INFO: Similarity_func: concatenation -2024-02-15 10:13:22, INFO: Layerwise_graph: False -2024-02-15 10:13:22, INFO: Skip_connection: True -2024-02-15 10:13:22, INFO: Number of layers: 1 -2024-02-15 10:13:22, INFO: Planning depth: 1 -2024-02-15 10:13:22, INFO: Planning width: 10 -2024-02-15 10:13:22, INFO: Sparse search: None -2024-02-15 10:13:24, INFO: human number: 10 -2024-02-15 10:13:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:29, INFO: Using device: cpu -2024-02-15 10:13:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:29, INFO: Similarity_func: concatenation -2024-02-15 10:13:29, INFO: Layerwise_graph: False -2024-02-15 10:13:29, INFO: Skip_connection: True -2024-02-15 10:13:29, INFO: Number of layers: 1 -2024-02-15 10:13:29, INFO: Similarity_func: concatenation -2024-02-15 10:13:29, INFO: Layerwise_graph: False -2024-02-15 10:13:29, INFO: Skip_connection: True -2024-02-15 10:13:29, INFO: Number of layers: 1 -2024-02-15 10:13:29, INFO: Planning depth: 1 -2024-02-15 10:13:29, INFO: Planning width: 10 -2024-02-15 10:13:29, INFO: Sparse search: None -2024-02-15 10:13:31, INFO: human number: 10 -2024-02-15 10:13:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:36, INFO: Using device: cpu -2024-02-15 10:13:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:36, INFO: Similarity_func: concatenation -2024-02-15 10:13:36, INFO: Layerwise_graph: False -2024-02-15 10:13:36, INFO: Skip_connection: True -2024-02-15 10:13:36, INFO: Number of layers: 1 -2024-02-15 10:13:36, INFO: Similarity_func: concatenation -2024-02-15 10:13:36, INFO: Layerwise_graph: False -2024-02-15 10:13:36, INFO: Skip_connection: True -2024-02-15 10:13:36, INFO: Number of layers: 1 -2024-02-15 10:13:36, INFO: Planning depth: 1 -2024-02-15 10:13:36, INFO: Planning width: 10 -2024-02-15 10:13:36, INFO: Sparse search: None -2024-02-15 10:13:39, INFO: human number: 10 -2024-02-15 10:13:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:43, INFO: Using device: cpu -2024-02-15 10:13:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:43, INFO: Similarity_func: concatenation -2024-02-15 10:13:43, INFO: Layerwise_graph: False -2024-02-15 10:13:43, INFO: Skip_connection: True -2024-02-15 10:13:43, INFO: Number of layers: 1 -2024-02-15 10:13:43, INFO: Similarity_func: concatenation -2024-02-15 10:13:43, INFO: Layerwise_graph: False -2024-02-15 10:13:43, INFO: Skip_connection: True -2024-02-15 10:13:43, INFO: Number of layers: 1 -2024-02-15 10:13:43, INFO: Planning depth: 1 -2024-02-15 10:13:43, INFO: Planning width: 10 -2024-02-15 10:13:43, INFO: Sparse search: None -2024-02-15 10:13:46, INFO: human number: 10 -2024-02-15 10:13:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:50, INFO: Using device: cpu -2024-02-15 10:13:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:50, INFO: Similarity_func: concatenation -2024-02-15 10:13:50, INFO: Layerwise_graph: False -2024-02-15 10:13:50, INFO: Skip_connection: True -2024-02-15 10:13:50, INFO: Number of layers: 1 -2024-02-15 10:13:50, INFO: Similarity_func: concatenation -2024-02-15 10:13:50, INFO: Layerwise_graph: False -2024-02-15 10:13:50, INFO: Skip_connection: True -2024-02-15 10:13:50, INFO: Number of layers: 1 -2024-02-15 10:13:50, INFO: Planning depth: 1 -2024-02-15 10:13:50, INFO: Planning width: 10 -2024-02-15 10:13:50, INFO: Sparse search: None -2024-02-15 10:13:53, INFO: human number: 10 -2024-02-15 10:13:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:13:57, INFO: Using device: cpu -2024-02-15 10:13:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:13:57, INFO: Similarity_func: concatenation -2024-02-15 10:13:57, INFO: Layerwise_graph: False -2024-02-15 10:13:57, INFO: Skip_connection: True -2024-02-15 10:13:57, INFO: Number of layers: 1 -2024-02-15 10:13:57, INFO: Similarity_func: concatenation -2024-02-15 10:13:57, INFO: Layerwise_graph: False -2024-02-15 10:13:57, INFO: Skip_connection: True -2024-02-15 10:13:57, INFO: Number of layers: 1 -2024-02-15 10:13:57, INFO: Planning depth: 1 -2024-02-15 10:13:57, INFO: Planning width: 10 -2024-02-15 10:13:57, INFO: Sparse search: None -2024-02-15 10:13:59, INFO: human number: 10 -2024-02-15 10:13:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:13:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:13:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:13:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:13:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:03, INFO: Using device: cpu -2024-02-15 10:14:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:03, INFO: Similarity_func: concatenation -2024-02-15 10:14:03, INFO: Layerwise_graph: False -2024-02-15 10:14:03, INFO: Skip_connection: True -2024-02-15 10:14:03, INFO: Number of layers: 1 -2024-02-15 10:14:03, INFO: Similarity_func: concatenation -2024-02-15 10:14:03, INFO: Layerwise_graph: False -2024-02-15 10:14:03, INFO: Skip_connection: True -2024-02-15 10:14:03, INFO: Number of layers: 1 -2024-02-15 10:14:03, INFO: Planning depth: 1 -2024-02-15 10:14:03, INFO: Planning width: 10 -2024-02-15 10:14:03, INFO: Sparse search: None -2024-02-15 10:14:06, INFO: human number: 10 -2024-02-15 10:14:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:10, INFO: Using device: cpu -2024-02-15 10:14:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:10, INFO: Similarity_func: concatenation -2024-02-15 10:14:10, INFO: Layerwise_graph: False -2024-02-15 10:14:10, INFO: Skip_connection: True -2024-02-15 10:14:10, INFO: Number of layers: 1 -2024-02-15 10:14:10, INFO: Similarity_func: concatenation -2024-02-15 10:14:10, INFO: Layerwise_graph: False -2024-02-15 10:14:10, INFO: Skip_connection: True -2024-02-15 10:14:10, INFO: Number of layers: 1 -2024-02-15 10:14:10, INFO: Planning depth: 1 -2024-02-15 10:14:10, INFO: Planning width: 10 -2024-02-15 10:14:10, INFO: Sparse search: None -2024-02-15 10:14:13, INFO: human number: 10 -2024-02-15 10:14:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:17, INFO: Using device: cpu -2024-02-15 10:14:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:17, INFO: Similarity_func: concatenation -2024-02-15 10:14:17, INFO: Layerwise_graph: False -2024-02-15 10:14:17, INFO: Skip_connection: True -2024-02-15 10:14:17, INFO: Number of layers: 1 -2024-02-15 10:14:17, INFO: Similarity_func: concatenation -2024-02-15 10:14:17, INFO: Layerwise_graph: False -2024-02-15 10:14:17, INFO: Skip_connection: True -2024-02-15 10:14:17, INFO: Number of layers: 1 -2024-02-15 10:14:17, INFO: Planning depth: 1 -2024-02-15 10:14:17, INFO: Planning width: 10 -2024-02-15 10:14:17, INFO: Sparse search: None -2024-02-15 10:14:20, INFO: human number: 10 -2024-02-15 10:14:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:24, INFO: Using device: cpu -2024-02-15 10:14:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:24, INFO: Similarity_func: concatenation -2024-02-15 10:14:24, INFO: Layerwise_graph: False -2024-02-15 10:14:24, INFO: Skip_connection: True -2024-02-15 10:14:24, INFO: Number of layers: 1 -2024-02-15 10:14:24, INFO: Similarity_func: concatenation -2024-02-15 10:14:24, INFO: Layerwise_graph: False -2024-02-15 10:14:24, INFO: Skip_connection: True -2024-02-15 10:14:24, INFO: Number of layers: 1 -2024-02-15 10:14:24, INFO: Planning depth: 1 -2024-02-15 10:14:24, INFO: Planning width: 10 -2024-02-15 10:14:24, INFO: Sparse search: None -2024-02-15 10:14:27, INFO: human number: 10 -2024-02-15 10:14:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:31, INFO: Using device: cpu -2024-02-15 10:14:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:31, INFO: Similarity_func: concatenation -2024-02-15 10:14:31, INFO: Layerwise_graph: False -2024-02-15 10:14:31, INFO: Skip_connection: True -2024-02-15 10:14:31, INFO: Number of layers: 1 -2024-02-15 10:14:31, INFO: Similarity_func: concatenation -2024-02-15 10:14:31, INFO: Layerwise_graph: False -2024-02-15 10:14:31, INFO: Skip_connection: True -2024-02-15 10:14:31, INFO: Number of layers: 1 -2024-02-15 10:14:31, INFO: Planning depth: 1 -2024-02-15 10:14:31, INFO: Planning width: 10 -2024-02-15 10:14:31, INFO: Sparse search: None -2024-02-15 10:14:34, INFO: human number: 10 -2024-02-15 10:14:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:38, INFO: Using device: cpu -2024-02-15 10:14:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:38, INFO: Similarity_func: concatenation -2024-02-15 10:14:38, INFO: Layerwise_graph: False -2024-02-15 10:14:38, INFO: Skip_connection: True -2024-02-15 10:14:38, INFO: Number of layers: 1 -2024-02-15 10:14:38, INFO: Similarity_func: concatenation -2024-02-15 10:14:38, INFO: Layerwise_graph: False -2024-02-15 10:14:38, INFO: Skip_connection: True -2024-02-15 10:14:38, INFO: Number of layers: 1 -2024-02-15 10:14:38, INFO: Planning depth: 1 -2024-02-15 10:14:38, INFO: Planning width: 10 -2024-02-15 10:14:38, INFO: Sparse search: None -2024-02-15 10:14:41, INFO: human number: 10 -2024-02-15 10:14:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:45, INFO: Using device: cpu -2024-02-15 10:14:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:45, INFO: Similarity_func: concatenation -2024-02-15 10:14:45, INFO: Layerwise_graph: False -2024-02-15 10:14:45, INFO: Skip_connection: True -2024-02-15 10:14:45, INFO: Number of layers: 1 -2024-02-15 10:14:45, INFO: Similarity_func: concatenation -2024-02-15 10:14:45, INFO: Layerwise_graph: False -2024-02-15 10:14:45, INFO: Skip_connection: True -2024-02-15 10:14:45, INFO: Number of layers: 1 -2024-02-15 10:14:45, INFO: Planning depth: 1 -2024-02-15 10:14:45, INFO: Planning width: 10 -2024-02-15 10:14:45, INFO: Sparse search: None -2024-02-15 10:14:48, INFO: human number: 10 -2024-02-15 10:14:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:52, INFO: Using device: cpu -2024-02-15 10:14:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:52, INFO: Similarity_func: concatenation -2024-02-15 10:14:52, INFO: Layerwise_graph: False -2024-02-15 10:14:52, INFO: Skip_connection: True -2024-02-15 10:14:52, INFO: Number of layers: 1 -2024-02-15 10:14:52, INFO: Similarity_func: concatenation -2024-02-15 10:14:52, INFO: Layerwise_graph: False -2024-02-15 10:14:52, INFO: Skip_connection: True -2024-02-15 10:14:52, INFO: Number of layers: 1 -2024-02-15 10:14:52, INFO: Planning depth: 1 -2024-02-15 10:14:52, INFO: Planning width: 10 -2024-02-15 10:14:52, INFO: Sparse search: None -2024-02-15 10:14:55, INFO: human number: 10 -2024-02-15 10:14:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:14:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:14:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:14:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:14:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:14:59, INFO: Using device: cpu -2024-02-15 10:14:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:14:59, INFO: Similarity_func: concatenation -2024-02-15 10:14:59, INFO: Layerwise_graph: False -2024-02-15 10:14:59, INFO: Skip_connection: True -2024-02-15 10:14:59, INFO: Number of layers: 1 -2024-02-15 10:14:59, INFO: Similarity_func: concatenation -2024-02-15 10:14:59, INFO: Layerwise_graph: False -2024-02-15 10:14:59, INFO: Skip_connection: True -2024-02-15 10:14:59, INFO: Number of layers: 1 -2024-02-15 10:14:59, INFO: Planning depth: 1 -2024-02-15 10:14:59, INFO: Planning width: 10 -2024-02-15 10:14:59, INFO: Sparse search: None -2024-02-15 10:15:02, INFO: human number: 10 -2024-02-15 10:15:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:07, INFO: Using device: cpu -2024-02-15 10:15:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:07, INFO: Similarity_func: concatenation -2024-02-15 10:15:07, INFO: Layerwise_graph: False -2024-02-15 10:15:07, INFO: Skip_connection: True -2024-02-15 10:15:07, INFO: Number of layers: 1 -2024-02-15 10:15:07, INFO: Similarity_func: concatenation -2024-02-15 10:15:07, INFO: Layerwise_graph: False -2024-02-15 10:15:07, INFO: Skip_connection: True -2024-02-15 10:15:07, INFO: Number of layers: 1 -2024-02-15 10:15:07, INFO: Planning depth: 1 -2024-02-15 10:15:07, INFO: Planning width: 10 -2024-02-15 10:15:07, INFO: Sparse search: None -2024-02-15 10:15:09, INFO: human number: 10 -2024-02-15 10:15:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:13, INFO: Using device: cpu -2024-02-15 10:15:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:13, INFO: Similarity_func: concatenation -2024-02-15 10:15:13, INFO: Layerwise_graph: False -2024-02-15 10:15:13, INFO: Skip_connection: True -2024-02-15 10:15:13, INFO: Number of layers: 1 -2024-02-15 10:15:13, INFO: Similarity_func: concatenation -2024-02-15 10:15:13, INFO: Layerwise_graph: False -2024-02-15 10:15:13, INFO: Skip_connection: True -2024-02-15 10:15:13, INFO: Number of layers: 1 -2024-02-15 10:15:13, INFO: Planning depth: 1 -2024-02-15 10:15:13, INFO: Planning width: 10 -2024-02-15 10:15:13, INFO: Sparse search: None -2024-02-15 10:15:16, INFO: human number: 10 -2024-02-15 10:15:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:21, INFO: Using device: cpu -2024-02-15 10:15:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:21, INFO: Similarity_func: concatenation -2024-02-15 10:15:21, INFO: Layerwise_graph: False -2024-02-15 10:15:21, INFO: Skip_connection: True -2024-02-15 10:15:21, INFO: Number of layers: 1 -2024-02-15 10:15:21, INFO: Similarity_func: concatenation -2024-02-15 10:15:21, INFO: Layerwise_graph: False -2024-02-15 10:15:21, INFO: Skip_connection: True -2024-02-15 10:15:21, INFO: Number of layers: 1 -2024-02-15 10:15:21, INFO: Planning depth: 1 -2024-02-15 10:15:21, INFO: Planning width: 10 -2024-02-15 10:15:21, INFO: Sparse search: None -2024-02-15 10:15:23, INFO: human number: 10 -2024-02-15 10:15:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:27, INFO: Using device: cpu -2024-02-15 10:15:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:27, INFO: Similarity_func: concatenation -2024-02-15 10:15:27, INFO: Layerwise_graph: False -2024-02-15 10:15:27, INFO: Skip_connection: True -2024-02-15 10:15:27, INFO: Number of layers: 1 -2024-02-15 10:15:27, INFO: Similarity_func: concatenation -2024-02-15 10:15:27, INFO: Layerwise_graph: False -2024-02-15 10:15:27, INFO: Skip_connection: True -2024-02-15 10:15:27, INFO: Number of layers: 1 -2024-02-15 10:15:27, INFO: Planning depth: 1 -2024-02-15 10:15:27, INFO: Planning width: 10 -2024-02-15 10:15:27, INFO: Sparse search: None -2024-02-15 10:15:30, INFO: human number: 10 -2024-02-15 10:15:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:34, INFO: Using device: cpu -2024-02-15 10:15:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:34, INFO: Similarity_func: concatenation -2024-02-15 10:15:34, INFO: Layerwise_graph: False -2024-02-15 10:15:34, INFO: Skip_connection: True -2024-02-15 10:15:34, INFO: Number of layers: 1 -2024-02-15 10:15:34, INFO: Similarity_func: concatenation -2024-02-15 10:15:34, INFO: Layerwise_graph: False -2024-02-15 10:15:34, INFO: Skip_connection: True -2024-02-15 10:15:34, INFO: Number of layers: 1 -2024-02-15 10:15:34, INFO: Planning depth: 1 -2024-02-15 10:15:34, INFO: Planning width: 10 -2024-02-15 10:15:34, INFO: Sparse search: None -2024-02-15 10:15:37, INFO: human number: 10 -2024-02-15 10:15:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:42, INFO: Using device: cpu -2024-02-15 10:15:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:42, INFO: Similarity_func: concatenation -2024-02-15 10:15:42, INFO: Layerwise_graph: False -2024-02-15 10:15:42, INFO: Skip_connection: True -2024-02-15 10:15:42, INFO: Number of layers: 1 -2024-02-15 10:15:42, INFO: Similarity_func: concatenation -2024-02-15 10:15:42, INFO: Layerwise_graph: False -2024-02-15 10:15:42, INFO: Skip_connection: True -2024-02-15 10:15:42, INFO: Number of layers: 1 -2024-02-15 10:15:42, INFO: Planning depth: 1 -2024-02-15 10:15:42, INFO: Planning width: 10 -2024-02-15 10:15:42, INFO: Sparse search: None -2024-02-15 10:15:45, INFO: human number: 10 -2024-02-15 10:15:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:49, INFO: Using device: cpu -2024-02-15 10:15:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:49, INFO: Similarity_func: concatenation -2024-02-15 10:15:49, INFO: Layerwise_graph: False -2024-02-15 10:15:49, INFO: Skip_connection: True -2024-02-15 10:15:49, INFO: Number of layers: 1 -2024-02-15 10:15:49, INFO: Similarity_func: concatenation -2024-02-15 10:15:49, INFO: Layerwise_graph: False -2024-02-15 10:15:49, INFO: Skip_connection: True -2024-02-15 10:15:49, INFO: Number of layers: 1 -2024-02-15 10:15:49, INFO: Planning depth: 1 -2024-02-15 10:15:49, INFO: Planning width: 10 -2024-02-15 10:15:49, INFO: Sparse search: None -2024-02-15 10:15:51, INFO: human number: 10 -2024-02-15 10:15:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:15:55, INFO: Using device: cpu -2024-02-15 10:15:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:15:55, INFO: Similarity_func: concatenation -2024-02-15 10:15:55, INFO: Layerwise_graph: False -2024-02-15 10:15:55, INFO: Skip_connection: True -2024-02-15 10:15:55, INFO: Number of layers: 1 -2024-02-15 10:15:55, INFO: Similarity_func: concatenation -2024-02-15 10:15:55, INFO: Layerwise_graph: False -2024-02-15 10:15:55, INFO: Skip_connection: True -2024-02-15 10:15:55, INFO: Number of layers: 1 -2024-02-15 10:15:55, INFO: Planning depth: 1 -2024-02-15 10:15:55, INFO: Planning width: 10 -2024-02-15 10:15:55, INFO: Sparse search: None -2024-02-15 10:15:58, INFO: human number: 10 -2024-02-15 10:15:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:15:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:15:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:15:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:15:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:02, INFO: Using device: cpu -2024-02-15 10:16:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:02, INFO: Similarity_func: concatenation -2024-02-15 10:16:02, INFO: Layerwise_graph: False -2024-02-15 10:16:02, INFO: Skip_connection: True -2024-02-15 10:16:02, INFO: Number of layers: 1 -2024-02-15 10:16:02, INFO: Similarity_func: concatenation -2024-02-15 10:16:02, INFO: Layerwise_graph: False -2024-02-15 10:16:02, INFO: Skip_connection: True -2024-02-15 10:16:02, INFO: Number of layers: 1 -2024-02-15 10:16:02, INFO: Planning depth: 1 -2024-02-15 10:16:02, INFO: Planning width: 10 -2024-02-15 10:16:02, INFO: Sparse search: None -2024-02-15 10:16:05, INFO: human number: 10 -2024-02-15 10:16:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:09, INFO: Using device: cpu -2024-02-15 10:16:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:09, INFO: Similarity_func: concatenation -2024-02-15 10:16:09, INFO: Layerwise_graph: False -2024-02-15 10:16:09, INFO: Skip_connection: True -2024-02-15 10:16:09, INFO: Number of layers: 1 -2024-02-15 10:16:09, INFO: Similarity_func: concatenation -2024-02-15 10:16:09, INFO: Layerwise_graph: False -2024-02-15 10:16:09, INFO: Skip_connection: True -2024-02-15 10:16:09, INFO: Number of layers: 1 -2024-02-15 10:16:09, INFO: Planning depth: 1 -2024-02-15 10:16:09, INFO: Planning width: 10 -2024-02-15 10:16:09, INFO: Sparse search: None -2024-02-15 10:16:11, INFO: human number: 10 -2024-02-15 10:16:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:16, INFO: Using device: cpu -2024-02-15 10:16:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:16, INFO: Similarity_func: concatenation -2024-02-15 10:16:16, INFO: Layerwise_graph: False -2024-02-15 10:16:16, INFO: Skip_connection: True -2024-02-15 10:16:16, INFO: Number of layers: 1 -2024-02-15 10:16:16, INFO: Similarity_func: concatenation -2024-02-15 10:16:16, INFO: Layerwise_graph: False -2024-02-15 10:16:16, INFO: Skip_connection: True -2024-02-15 10:16:16, INFO: Number of layers: 1 -2024-02-15 10:16:16, INFO: Planning depth: 1 -2024-02-15 10:16:16, INFO: Planning width: 10 -2024-02-15 10:16:16, INFO: Sparse search: None -2024-02-15 10:16:19, INFO: human number: 10 -2024-02-15 10:16:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:23, INFO: Using device: cpu -2024-02-15 10:16:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:23, INFO: Similarity_func: concatenation -2024-02-15 10:16:23, INFO: Layerwise_graph: False -2024-02-15 10:16:23, INFO: Skip_connection: True -2024-02-15 10:16:23, INFO: Number of layers: 1 -2024-02-15 10:16:23, INFO: Similarity_func: concatenation -2024-02-15 10:16:23, INFO: Layerwise_graph: False -2024-02-15 10:16:23, INFO: Skip_connection: True -2024-02-15 10:16:23, INFO: Number of layers: 1 -2024-02-15 10:16:23, INFO: Planning depth: 1 -2024-02-15 10:16:23, INFO: Planning width: 10 -2024-02-15 10:16:23, INFO: Sparse search: None -2024-02-15 10:16:26, INFO: human number: 10 -2024-02-15 10:16:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:30, INFO: Using device: cpu -2024-02-15 10:16:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:30, INFO: Similarity_func: concatenation -2024-02-15 10:16:30, INFO: Layerwise_graph: False -2024-02-15 10:16:30, INFO: Skip_connection: True -2024-02-15 10:16:30, INFO: Number of layers: 1 -2024-02-15 10:16:30, INFO: Similarity_func: concatenation -2024-02-15 10:16:30, INFO: Layerwise_graph: False -2024-02-15 10:16:30, INFO: Skip_connection: True -2024-02-15 10:16:30, INFO: Number of layers: 1 -2024-02-15 10:16:30, INFO: Planning depth: 1 -2024-02-15 10:16:30, INFO: Planning width: 10 -2024-02-15 10:16:30, INFO: Sparse search: None -2024-02-15 10:16:32, INFO: human number: 10 -2024-02-15 10:16:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:37, INFO: Using device: cpu -2024-02-15 10:16:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:37, INFO: Similarity_func: concatenation -2024-02-15 10:16:37, INFO: Layerwise_graph: False -2024-02-15 10:16:37, INFO: Skip_connection: True -2024-02-15 10:16:37, INFO: Number of layers: 1 -2024-02-15 10:16:37, INFO: Similarity_func: concatenation -2024-02-15 10:16:37, INFO: Layerwise_graph: False -2024-02-15 10:16:37, INFO: Skip_connection: True -2024-02-15 10:16:37, INFO: Number of layers: 1 -2024-02-15 10:16:37, INFO: Planning depth: 1 -2024-02-15 10:16:37, INFO: Planning width: 10 -2024-02-15 10:16:37, INFO: Sparse search: None -2024-02-15 10:16:39, INFO: human number: 10 -2024-02-15 10:16:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:44, INFO: Using device: cpu -2024-02-15 10:16:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:44, INFO: Similarity_func: concatenation -2024-02-15 10:16:44, INFO: Layerwise_graph: False -2024-02-15 10:16:44, INFO: Skip_connection: True -2024-02-15 10:16:44, INFO: Number of layers: 1 -2024-02-15 10:16:44, INFO: Similarity_func: concatenation -2024-02-15 10:16:44, INFO: Layerwise_graph: False -2024-02-15 10:16:44, INFO: Skip_connection: True -2024-02-15 10:16:44, INFO: Number of layers: 1 -2024-02-15 10:16:44, INFO: Planning depth: 1 -2024-02-15 10:16:44, INFO: Planning width: 10 -2024-02-15 10:16:44, INFO: Sparse search: None -2024-02-15 10:16:47, INFO: human number: 10 -2024-02-15 10:16:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:51, INFO: Using device: cpu -2024-02-15 10:16:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:51, INFO: Similarity_func: concatenation -2024-02-15 10:16:51, INFO: Layerwise_graph: False -2024-02-15 10:16:51, INFO: Skip_connection: True -2024-02-15 10:16:51, INFO: Number of layers: 1 -2024-02-15 10:16:51, INFO: Similarity_func: concatenation -2024-02-15 10:16:51, INFO: Layerwise_graph: False -2024-02-15 10:16:51, INFO: Skip_connection: True -2024-02-15 10:16:51, INFO: Number of layers: 1 -2024-02-15 10:16:51, INFO: Planning depth: 1 -2024-02-15 10:16:51, INFO: Planning width: 10 -2024-02-15 10:16:51, INFO: Sparse search: None -2024-02-15 10:16:54, INFO: human number: 10 -2024-02-15 10:16:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:16:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:16:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:16:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:16:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:16:58, INFO: Using device: cpu -2024-02-15 10:16:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:16:58, INFO: Similarity_func: concatenation -2024-02-15 10:16:58, INFO: Layerwise_graph: False -2024-02-15 10:16:58, INFO: Skip_connection: True -2024-02-15 10:16:58, INFO: Number of layers: 1 -2024-02-15 10:16:58, INFO: Similarity_func: concatenation -2024-02-15 10:16:58, INFO: Layerwise_graph: False -2024-02-15 10:16:58, INFO: Skip_connection: True -2024-02-15 10:16:58, INFO: Number of layers: 1 -2024-02-15 10:16:58, INFO: Planning depth: 1 -2024-02-15 10:16:58, INFO: Planning width: 10 -2024-02-15 10:16:58, INFO: Sparse search: None -2024-02-15 10:17:01, INFO: human number: 10 -2024-02-15 10:17:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:05, INFO: Using device: cpu -2024-02-15 10:17:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:05, INFO: Similarity_func: concatenation -2024-02-15 10:17:05, INFO: Layerwise_graph: False -2024-02-15 10:17:05, INFO: Skip_connection: True -2024-02-15 10:17:05, INFO: Number of layers: 1 -2024-02-15 10:17:05, INFO: Similarity_func: concatenation -2024-02-15 10:17:05, INFO: Layerwise_graph: False -2024-02-15 10:17:05, INFO: Skip_connection: True -2024-02-15 10:17:05, INFO: Number of layers: 1 -2024-02-15 10:17:05, INFO: Planning depth: 1 -2024-02-15 10:17:05, INFO: Planning width: 10 -2024-02-15 10:17:05, INFO: Sparse search: None -2024-02-15 10:17:08, INFO: human number: 10 -2024-02-15 10:17:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:12, INFO: Using device: cpu -2024-02-15 10:17:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:12, INFO: Similarity_func: concatenation -2024-02-15 10:17:12, INFO: Layerwise_graph: False -2024-02-15 10:17:12, INFO: Skip_connection: True -2024-02-15 10:17:12, INFO: Number of layers: 1 -2024-02-15 10:17:12, INFO: Similarity_func: concatenation -2024-02-15 10:17:12, INFO: Layerwise_graph: False -2024-02-15 10:17:12, INFO: Skip_connection: True -2024-02-15 10:17:12, INFO: Number of layers: 1 -2024-02-15 10:17:12, INFO: Planning depth: 1 -2024-02-15 10:17:12, INFO: Planning width: 10 -2024-02-15 10:17:12, INFO: Sparse search: None -2024-02-15 10:17:15, INFO: human number: 10 -2024-02-15 10:17:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:19, INFO: Using device: cpu -2024-02-15 10:17:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:19, INFO: Similarity_func: concatenation -2024-02-15 10:17:19, INFO: Layerwise_graph: False -2024-02-15 10:17:19, INFO: Skip_connection: True -2024-02-15 10:17:19, INFO: Number of layers: 1 -2024-02-15 10:17:19, INFO: Similarity_func: concatenation -2024-02-15 10:17:19, INFO: Layerwise_graph: False -2024-02-15 10:17:19, INFO: Skip_connection: True -2024-02-15 10:17:19, INFO: Number of layers: 1 -2024-02-15 10:17:19, INFO: Planning depth: 1 -2024-02-15 10:17:19, INFO: Planning width: 10 -2024-02-15 10:17:19, INFO: Sparse search: None -2024-02-15 10:17:22, INFO: human number: 10 -2024-02-15 10:17:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:26, INFO: Using device: cpu -2024-02-15 10:17:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:26, INFO: Similarity_func: concatenation -2024-02-15 10:17:26, INFO: Layerwise_graph: False -2024-02-15 10:17:26, INFO: Skip_connection: True -2024-02-15 10:17:26, INFO: Number of layers: 1 -2024-02-15 10:17:26, INFO: Similarity_func: concatenation -2024-02-15 10:17:26, INFO: Layerwise_graph: False -2024-02-15 10:17:26, INFO: Skip_connection: True -2024-02-15 10:17:26, INFO: Number of layers: 1 -2024-02-15 10:17:26, INFO: Planning depth: 1 -2024-02-15 10:17:26, INFO: Planning width: 10 -2024-02-15 10:17:26, INFO: Sparse search: None -2024-02-15 10:17:29, INFO: human number: 10 -2024-02-15 10:17:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:33, INFO: Using device: cpu -2024-02-15 10:17:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:33, INFO: Similarity_func: concatenation -2024-02-15 10:17:33, INFO: Layerwise_graph: False -2024-02-15 10:17:33, INFO: Skip_connection: True -2024-02-15 10:17:33, INFO: Number of layers: 1 -2024-02-15 10:17:33, INFO: Similarity_func: concatenation -2024-02-15 10:17:33, INFO: Layerwise_graph: False -2024-02-15 10:17:33, INFO: Skip_connection: True -2024-02-15 10:17:33, INFO: Number of layers: 1 -2024-02-15 10:17:33, INFO: Planning depth: 1 -2024-02-15 10:17:33, INFO: Planning width: 10 -2024-02-15 10:17:33, INFO: Sparse search: None -2024-02-15 10:17:36, INFO: human number: 10 -2024-02-15 10:17:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:40, INFO: Using device: cpu -2024-02-15 10:17:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:40, INFO: Similarity_func: concatenation -2024-02-15 10:17:40, INFO: Layerwise_graph: False -2024-02-15 10:17:40, INFO: Skip_connection: True -2024-02-15 10:17:40, INFO: Number of layers: 1 -2024-02-15 10:17:40, INFO: Similarity_func: concatenation -2024-02-15 10:17:40, INFO: Layerwise_graph: False -2024-02-15 10:17:40, INFO: Skip_connection: True -2024-02-15 10:17:40, INFO: Number of layers: 1 -2024-02-15 10:17:40, INFO: Planning depth: 1 -2024-02-15 10:17:40, INFO: Planning width: 10 -2024-02-15 10:17:40, INFO: Sparse search: None -2024-02-15 10:17:43, INFO: human number: 10 -2024-02-15 10:17:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:47, INFO: Using device: cpu -2024-02-15 10:17:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:47, INFO: Similarity_func: concatenation -2024-02-15 10:17:47, INFO: Layerwise_graph: False -2024-02-15 10:17:47, INFO: Skip_connection: True -2024-02-15 10:17:47, INFO: Number of layers: 1 -2024-02-15 10:17:47, INFO: Similarity_func: concatenation -2024-02-15 10:17:47, INFO: Layerwise_graph: False -2024-02-15 10:17:47, INFO: Skip_connection: True -2024-02-15 10:17:47, INFO: Number of layers: 1 -2024-02-15 10:17:47, INFO: Planning depth: 1 -2024-02-15 10:17:47, INFO: Planning width: 10 -2024-02-15 10:17:47, INFO: Sparse search: None -2024-02-15 10:17:50, INFO: human number: 10 -2024-02-15 10:17:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:17:54, INFO: Using device: cpu -2024-02-15 10:17:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:17:54, INFO: Similarity_func: concatenation -2024-02-15 10:17:54, INFO: Layerwise_graph: False -2024-02-15 10:17:54, INFO: Skip_connection: True -2024-02-15 10:17:54, INFO: Number of layers: 1 -2024-02-15 10:17:54, INFO: Similarity_func: concatenation -2024-02-15 10:17:54, INFO: Layerwise_graph: False -2024-02-15 10:17:54, INFO: Skip_connection: True -2024-02-15 10:17:54, INFO: Number of layers: 1 -2024-02-15 10:17:54, INFO: Planning depth: 1 -2024-02-15 10:17:54, INFO: Planning width: 10 -2024-02-15 10:17:54, INFO: Sparse search: None -2024-02-15 10:17:57, INFO: human number: 10 -2024-02-15 10:17:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:17:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:17:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:17:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:17:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:01, INFO: Using device: cpu -2024-02-15 10:18:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:01, INFO: Similarity_func: concatenation -2024-02-15 10:18:01, INFO: Layerwise_graph: False -2024-02-15 10:18:01, INFO: Skip_connection: True -2024-02-15 10:18:01, INFO: Number of layers: 1 -2024-02-15 10:18:01, INFO: Similarity_func: concatenation -2024-02-15 10:18:01, INFO: Layerwise_graph: False -2024-02-15 10:18:01, INFO: Skip_connection: True -2024-02-15 10:18:01, INFO: Number of layers: 1 -2024-02-15 10:18:01, INFO: Planning depth: 1 -2024-02-15 10:18:01, INFO: Planning width: 10 -2024-02-15 10:18:01, INFO: Sparse search: None -2024-02-15 10:18:03, INFO: human number: 10 -2024-02-15 10:18:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:08, INFO: Using device: cpu -2024-02-15 10:18:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:08, INFO: Similarity_func: concatenation -2024-02-15 10:18:08, INFO: Layerwise_graph: False -2024-02-15 10:18:08, INFO: Skip_connection: True -2024-02-15 10:18:08, INFO: Number of layers: 1 -2024-02-15 10:18:08, INFO: Similarity_func: concatenation -2024-02-15 10:18:08, INFO: Layerwise_graph: False -2024-02-15 10:18:08, INFO: Skip_connection: True -2024-02-15 10:18:08, INFO: Number of layers: 1 -2024-02-15 10:18:08, INFO: Planning depth: 1 -2024-02-15 10:18:08, INFO: Planning width: 10 -2024-02-15 10:18:08, INFO: Sparse search: None -2024-02-15 10:18:10, INFO: human number: 10 -2024-02-15 10:18:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:15, INFO: Using device: cpu -2024-02-15 10:18:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:15, INFO: Similarity_func: concatenation -2024-02-15 10:18:15, INFO: Layerwise_graph: False -2024-02-15 10:18:15, INFO: Skip_connection: True -2024-02-15 10:18:15, INFO: Number of layers: 1 -2024-02-15 10:18:15, INFO: Similarity_func: concatenation -2024-02-15 10:18:15, INFO: Layerwise_graph: False -2024-02-15 10:18:15, INFO: Skip_connection: True -2024-02-15 10:18:15, INFO: Number of layers: 1 -2024-02-15 10:18:15, INFO: Planning depth: 1 -2024-02-15 10:18:15, INFO: Planning width: 10 -2024-02-15 10:18:15, INFO: Sparse search: None -2024-02-15 10:18:18, INFO: human number: 10 -2024-02-15 10:18:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:22, INFO: Using device: cpu -2024-02-15 10:18:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:22, INFO: Similarity_func: concatenation -2024-02-15 10:18:22, INFO: Layerwise_graph: False -2024-02-15 10:18:22, INFO: Skip_connection: True -2024-02-15 10:18:22, INFO: Number of layers: 1 -2024-02-15 10:18:22, INFO: Similarity_func: concatenation -2024-02-15 10:18:22, INFO: Layerwise_graph: False -2024-02-15 10:18:22, INFO: Skip_connection: True -2024-02-15 10:18:22, INFO: Number of layers: 1 -2024-02-15 10:18:22, INFO: Planning depth: 1 -2024-02-15 10:18:22, INFO: Planning width: 10 -2024-02-15 10:18:22, INFO: Sparse search: None -2024-02-15 10:18:24, INFO: human number: 10 -2024-02-15 10:18:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:29, INFO: Using device: cpu -2024-02-15 10:18:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:29, INFO: Similarity_func: concatenation -2024-02-15 10:18:29, INFO: Layerwise_graph: False -2024-02-15 10:18:29, INFO: Skip_connection: True -2024-02-15 10:18:29, INFO: Number of layers: 1 -2024-02-15 10:18:29, INFO: Similarity_func: concatenation -2024-02-15 10:18:29, INFO: Layerwise_graph: False -2024-02-15 10:18:29, INFO: Skip_connection: True -2024-02-15 10:18:29, INFO: Number of layers: 1 -2024-02-15 10:18:29, INFO: Planning depth: 1 -2024-02-15 10:18:29, INFO: Planning width: 10 -2024-02-15 10:18:29, INFO: Sparse search: None -2024-02-15 10:18:31, INFO: human number: 10 -2024-02-15 10:18:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:36, INFO: Using device: cpu -2024-02-15 10:18:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:36, INFO: Similarity_func: concatenation -2024-02-15 10:18:36, INFO: Layerwise_graph: False -2024-02-15 10:18:36, INFO: Skip_connection: True -2024-02-15 10:18:36, INFO: Number of layers: 1 -2024-02-15 10:18:36, INFO: Similarity_func: concatenation -2024-02-15 10:18:36, INFO: Layerwise_graph: False -2024-02-15 10:18:36, INFO: Skip_connection: True -2024-02-15 10:18:36, INFO: Number of layers: 1 -2024-02-15 10:18:36, INFO: Planning depth: 1 -2024-02-15 10:18:36, INFO: Planning width: 10 -2024-02-15 10:18:36, INFO: Sparse search: None -2024-02-15 10:18:38, INFO: human number: 10 -2024-02-15 10:18:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:43, INFO: Using device: cpu -2024-02-15 10:18:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:43, INFO: Similarity_func: concatenation -2024-02-15 10:18:43, INFO: Layerwise_graph: False -2024-02-15 10:18:43, INFO: Skip_connection: True -2024-02-15 10:18:43, INFO: Number of layers: 1 -2024-02-15 10:18:43, INFO: Similarity_func: concatenation -2024-02-15 10:18:43, INFO: Layerwise_graph: False -2024-02-15 10:18:43, INFO: Skip_connection: True -2024-02-15 10:18:43, INFO: Number of layers: 1 -2024-02-15 10:18:43, INFO: Planning depth: 1 -2024-02-15 10:18:43, INFO: Planning width: 10 -2024-02-15 10:18:43, INFO: Sparse search: None -2024-02-15 10:18:45, INFO: human number: 10 -2024-02-15 10:18:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:50, INFO: Using device: cpu -2024-02-15 10:18:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:50, INFO: Similarity_func: concatenation -2024-02-15 10:18:50, INFO: Layerwise_graph: False -2024-02-15 10:18:50, INFO: Skip_connection: True -2024-02-15 10:18:50, INFO: Number of layers: 1 -2024-02-15 10:18:50, INFO: Similarity_func: concatenation -2024-02-15 10:18:50, INFO: Layerwise_graph: False -2024-02-15 10:18:50, INFO: Skip_connection: True -2024-02-15 10:18:50, INFO: Number of layers: 1 -2024-02-15 10:18:50, INFO: Planning depth: 1 -2024-02-15 10:18:50, INFO: Planning width: 10 -2024-02-15 10:18:50, INFO: Sparse search: None -2024-02-15 10:18:53, INFO: human number: 10 -2024-02-15 10:18:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:18:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:18:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:18:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:18:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:18:57, INFO: Using device: cpu -2024-02-15 10:18:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:18:57, INFO: Similarity_func: concatenation -2024-02-15 10:18:57, INFO: Layerwise_graph: False -2024-02-15 10:18:57, INFO: Skip_connection: True -2024-02-15 10:18:57, INFO: Number of layers: 1 -2024-02-15 10:18:57, INFO: Similarity_func: concatenation -2024-02-15 10:18:57, INFO: Layerwise_graph: False -2024-02-15 10:18:57, INFO: Skip_connection: True -2024-02-15 10:18:57, INFO: Number of layers: 1 -2024-02-15 10:18:57, INFO: Planning depth: 1 -2024-02-15 10:18:57, INFO: Planning width: 10 -2024-02-15 10:18:57, INFO: Sparse search: None -2024-02-15 10:19:00, INFO: human number: 10 -2024-02-15 10:19:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:04, INFO: Using device: cpu -2024-02-15 10:19:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:04, INFO: Similarity_func: concatenation -2024-02-15 10:19:04, INFO: Layerwise_graph: False -2024-02-15 10:19:04, INFO: Skip_connection: True -2024-02-15 10:19:04, INFO: Number of layers: 1 -2024-02-15 10:19:04, INFO: Similarity_func: concatenation -2024-02-15 10:19:04, INFO: Layerwise_graph: False -2024-02-15 10:19:04, INFO: Skip_connection: True -2024-02-15 10:19:04, INFO: Number of layers: 1 -2024-02-15 10:19:04, INFO: Planning depth: 1 -2024-02-15 10:19:04, INFO: Planning width: 10 -2024-02-15 10:19:04, INFO: Sparse search: None -2024-02-15 10:19:06, INFO: human number: 10 -2024-02-15 10:19:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:10, INFO: Using device: cpu -2024-02-15 10:19:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:10, INFO: Similarity_func: concatenation -2024-02-15 10:19:10, INFO: Layerwise_graph: False -2024-02-15 10:19:10, INFO: Skip_connection: True -2024-02-15 10:19:10, INFO: Number of layers: 1 -2024-02-15 10:19:10, INFO: Similarity_func: concatenation -2024-02-15 10:19:10, INFO: Layerwise_graph: False -2024-02-15 10:19:10, INFO: Skip_connection: True -2024-02-15 10:19:10, INFO: Number of layers: 1 -2024-02-15 10:19:10, INFO: Planning depth: 1 -2024-02-15 10:19:10, INFO: Planning width: 10 -2024-02-15 10:19:10, INFO: Sparse search: None -2024-02-15 10:19:13, INFO: human number: 10 -2024-02-15 10:19:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:17, INFO: Using device: cpu -2024-02-15 10:19:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:17, INFO: Similarity_func: concatenation -2024-02-15 10:19:17, INFO: Layerwise_graph: False -2024-02-15 10:19:17, INFO: Skip_connection: True -2024-02-15 10:19:17, INFO: Number of layers: 1 -2024-02-15 10:19:17, INFO: Similarity_func: concatenation -2024-02-15 10:19:17, INFO: Layerwise_graph: False -2024-02-15 10:19:17, INFO: Skip_connection: True -2024-02-15 10:19:17, INFO: Number of layers: 1 -2024-02-15 10:19:17, INFO: Planning depth: 1 -2024-02-15 10:19:17, INFO: Planning width: 10 -2024-02-15 10:19:17, INFO: Sparse search: None -2024-02-15 10:19:20, INFO: human number: 10 -2024-02-15 10:19:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:24, INFO: Using device: cpu -2024-02-15 10:19:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:24, INFO: Similarity_func: concatenation -2024-02-15 10:19:24, INFO: Layerwise_graph: False -2024-02-15 10:19:24, INFO: Skip_connection: True -2024-02-15 10:19:24, INFO: Number of layers: 1 -2024-02-15 10:19:24, INFO: Similarity_func: concatenation -2024-02-15 10:19:24, INFO: Layerwise_graph: False -2024-02-15 10:19:24, INFO: Skip_connection: True -2024-02-15 10:19:24, INFO: Number of layers: 1 -2024-02-15 10:19:24, INFO: Planning depth: 1 -2024-02-15 10:19:24, INFO: Planning width: 10 -2024-02-15 10:19:24, INFO: Sparse search: None -2024-02-15 10:19:26, INFO: human number: 10 -2024-02-15 10:19:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:31, INFO: Using device: cpu -2024-02-15 10:19:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:31, INFO: Similarity_func: concatenation -2024-02-15 10:19:31, INFO: Layerwise_graph: False -2024-02-15 10:19:31, INFO: Skip_connection: True -2024-02-15 10:19:31, INFO: Number of layers: 1 -2024-02-15 10:19:31, INFO: Similarity_func: concatenation -2024-02-15 10:19:31, INFO: Layerwise_graph: False -2024-02-15 10:19:31, INFO: Skip_connection: True -2024-02-15 10:19:31, INFO: Number of layers: 1 -2024-02-15 10:19:31, INFO: Planning depth: 1 -2024-02-15 10:19:31, INFO: Planning width: 10 -2024-02-15 10:19:31, INFO: Sparse search: None -2024-02-15 10:19:34, INFO: human number: 10 -2024-02-15 10:19:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:38, INFO: Using device: cpu -2024-02-15 10:19:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:38, INFO: Similarity_func: concatenation -2024-02-15 10:19:38, INFO: Layerwise_graph: False -2024-02-15 10:19:38, INFO: Skip_connection: True -2024-02-15 10:19:38, INFO: Number of layers: 1 -2024-02-15 10:19:38, INFO: Similarity_func: concatenation -2024-02-15 10:19:38, INFO: Layerwise_graph: False -2024-02-15 10:19:38, INFO: Skip_connection: True -2024-02-15 10:19:38, INFO: Number of layers: 1 -2024-02-15 10:19:38, INFO: Planning depth: 1 -2024-02-15 10:19:38, INFO: Planning width: 10 -2024-02-15 10:19:38, INFO: Sparse search: None -2024-02-15 10:19:41, INFO: human number: 10 -2024-02-15 10:19:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:45, INFO: Using device: cpu -2024-02-15 10:19:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:45, INFO: Similarity_func: concatenation -2024-02-15 10:19:45, INFO: Layerwise_graph: False -2024-02-15 10:19:45, INFO: Skip_connection: True -2024-02-15 10:19:45, INFO: Number of layers: 1 -2024-02-15 10:19:45, INFO: Similarity_func: concatenation -2024-02-15 10:19:45, INFO: Layerwise_graph: False -2024-02-15 10:19:45, INFO: Skip_connection: True -2024-02-15 10:19:45, INFO: Number of layers: 1 -2024-02-15 10:19:45, INFO: Planning depth: 1 -2024-02-15 10:19:45, INFO: Planning width: 10 -2024-02-15 10:19:45, INFO: Sparse search: None -2024-02-15 10:19:48, INFO: human number: 10 -2024-02-15 10:19:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:52, INFO: Using device: cpu -2024-02-15 10:19:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:52, INFO: Similarity_func: concatenation -2024-02-15 10:19:52, INFO: Layerwise_graph: False -2024-02-15 10:19:52, INFO: Skip_connection: True -2024-02-15 10:19:52, INFO: Number of layers: 1 -2024-02-15 10:19:52, INFO: Similarity_func: concatenation -2024-02-15 10:19:52, INFO: Layerwise_graph: False -2024-02-15 10:19:52, INFO: Skip_connection: True -2024-02-15 10:19:52, INFO: Number of layers: 1 -2024-02-15 10:19:52, INFO: Planning depth: 1 -2024-02-15 10:19:52, INFO: Planning width: 10 -2024-02-15 10:19:52, INFO: Sparse search: None -2024-02-15 10:19:55, INFO: human number: 10 -2024-02-15 10:19:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:19:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:19:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:19:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:19:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:19:59, INFO: Using device: cpu -2024-02-15 10:19:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:19:59, INFO: Similarity_func: concatenation -2024-02-15 10:19:59, INFO: Layerwise_graph: False -2024-02-15 10:19:59, INFO: Skip_connection: True -2024-02-15 10:19:59, INFO: Number of layers: 1 -2024-02-15 10:19:59, INFO: Similarity_func: concatenation -2024-02-15 10:19:59, INFO: Layerwise_graph: False -2024-02-15 10:19:59, INFO: Skip_connection: True -2024-02-15 10:19:59, INFO: Number of layers: 1 -2024-02-15 10:19:59, INFO: Planning depth: 1 -2024-02-15 10:19:59, INFO: Planning width: 10 -2024-02-15 10:19:59, INFO: Sparse search: None -2024-02-15 10:20:02, INFO: human number: 10 -2024-02-15 10:20:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:06, INFO: Using device: cpu -2024-02-15 10:20:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:06, INFO: Similarity_func: concatenation -2024-02-15 10:20:06, INFO: Layerwise_graph: False -2024-02-15 10:20:06, INFO: Skip_connection: True -2024-02-15 10:20:06, INFO: Number of layers: 1 -2024-02-15 10:20:06, INFO: Similarity_func: concatenation -2024-02-15 10:20:06, INFO: Layerwise_graph: False -2024-02-15 10:20:06, INFO: Skip_connection: True -2024-02-15 10:20:06, INFO: Number of layers: 1 -2024-02-15 10:20:06, INFO: Planning depth: 1 -2024-02-15 10:20:06, INFO: Planning width: 10 -2024-02-15 10:20:06, INFO: Sparse search: None -2024-02-15 10:20:08, INFO: human number: 10 -2024-02-15 10:20:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:13, INFO: Using device: cpu -2024-02-15 10:20:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:13, INFO: Similarity_func: concatenation -2024-02-15 10:20:13, INFO: Layerwise_graph: False -2024-02-15 10:20:13, INFO: Skip_connection: True -2024-02-15 10:20:13, INFO: Number of layers: 1 -2024-02-15 10:20:13, INFO: Similarity_func: concatenation -2024-02-15 10:20:13, INFO: Layerwise_graph: False -2024-02-15 10:20:13, INFO: Skip_connection: True -2024-02-15 10:20:13, INFO: Number of layers: 1 -2024-02-15 10:20:13, INFO: Planning depth: 1 -2024-02-15 10:20:13, INFO: Planning width: 10 -2024-02-15 10:20:13, INFO: Sparse search: None -2024-02-15 10:20:16, INFO: human number: 10 -2024-02-15 10:20:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:20, INFO: Using device: cpu -2024-02-15 10:20:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:20, INFO: Similarity_func: concatenation -2024-02-15 10:20:20, INFO: Layerwise_graph: False -2024-02-15 10:20:20, INFO: Skip_connection: True -2024-02-15 10:20:20, INFO: Number of layers: 1 -2024-02-15 10:20:20, INFO: Similarity_func: concatenation -2024-02-15 10:20:20, INFO: Layerwise_graph: False -2024-02-15 10:20:20, INFO: Skip_connection: True -2024-02-15 10:20:20, INFO: Number of layers: 1 -2024-02-15 10:20:20, INFO: Planning depth: 1 -2024-02-15 10:20:20, INFO: Planning width: 10 -2024-02-15 10:20:20, INFO: Sparse search: None -2024-02-15 10:20:23, INFO: human number: 10 -2024-02-15 10:20:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:27, INFO: Using device: cpu -2024-02-15 10:20:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:27, INFO: Similarity_func: concatenation -2024-02-15 10:20:27, INFO: Layerwise_graph: False -2024-02-15 10:20:27, INFO: Skip_connection: True -2024-02-15 10:20:27, INFO: Number of layers: 1 -2024-02-15 10:20:27, INFO: Similarity_func: concatenation -2024-02-15 10:20:27, INFO: Layerwise_graph: False -2024-02-15 10:20:27, INFO: Skip_connection: True -2024-02-15 10:20:27, INFO: Number of layers: 1 -2024-02-15 10:20:27, INFO: Planning depth: 1 -2024-02-15 10:20:27, INFO: Planning width: 10 -2024-02-15 10:20:27, INFO: Sparse search: None -2024-02-15 10:20:30, INFO: human number: 10 -2024-02-15 10:20:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:34, INFO: Using device: cpu -2024-02-15 10:20:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:34, INFO: Similarity_func: concatenation -2024-02-15 10:20:34, INFO: Layerwise_graph: False -2024-02-15 10:20:34, INFO: Skip_connection: True -2024-02-15 10:20:34, INFO: Number of layers: 1 -2024-02-15 10:20:34, INFO: Similarity_func: concatenation -2024-02-15 10:20:34, INFO: Layerwise_graph: False -2024-02-15 10:20:34, INFO: Skip_connection: True -2024-02-15 10:20:34, INFO: Number of layers: 1 -2024-02-15 10:20:34, INFO: Planning depth: 1 -2024-02-15 10:20:34, INFO: Planning width: 10 -2024-02-15 10:20:34, INFO: Sparse search: None -2024-02-15 10:20:37, INFO: human number: 10 -2024-02-15 10:20:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:41, INFO: Using device: cpu -2024-02-15 10:20:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:41, INFO: Similarity_func: concatenation -2024-02-15 10:20:41, INFO: Layerwise_graph: False -2024-02-15 10:20:41, INFO: Skip_connection: True -2024-02-15 10:20:41, INFO: Number of layers: 1 -2024-02-15 10:20:41, INFO: Similarity_func: concatenation -2024-02-15 10:20:41, INFO: Layerwise_graph: False -2024-02-15 10:20:41, INFO: Skip_connection: True -2024-02-15 10:20:41, INFO: Number of layers: 1 -2024-02-15 10:20:41, INFO: Planning depth: 1 -2024-02-15 10:20:41, INFO: Planning width: 10 -2024-02-15 10:20:41, INFO: Sparse search: None -2024-02-15 10:20:44, INFO: human number: 10 -2024-02-15 10:20:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:48, INFO: Using device: cpu -2024-02-15 10:20:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:48, INFO: Similarity_func: concatenation -2024-02-15 10:20:48, INFO: Layerwise_graph: False -2024-02-15 10:20:48, INFO: Skip_connection: True -2024-02-15 10:20:48, INFO: Number of layers: 1 -2024-02-15 10:20:48, INFO: Similarity_func: concatenation -2024-02-15 10:20:48, INFO: Layerwise_graph: False -2024-02-15 10:20:48, INFO: Skip_connection: True -2024-02-15 10:20:48, INFO: Number of layers: 1 -2024-02-15 10:20:48, INFO: Planning depth: 1 -2024-02-15 10:20:48, INFO: Planning width: 10 -2024-02-15 10:20:48, INFO: Sparse search: None -2024-02-15 10:20:51, INFO: human number: 10 -2024-02-15 10:20:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:20:55, INFO: Using device: cpu -2024-02-15 10:20:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:20:55, INFO: Similarity_func: concatenation -2024-02-15 10:20:55, INFO: Layerwise_graph: False -2024-02-15 10:20:55, INFO: Skip_connection: True -2024-02-15 10:20:55, INFO: Number of layers: 1 -2024-02-15 10:20:55, INFO: Similarity_func: concatenation -2024-02-15 10:20:55, INFO: Layerwise_graph: False -2024-02-15 10:20:55, INFO: Skip_connection: True -2024-02-15 10:20:55, INFO: Number of layers: 1 -2024-02-15 10:20:55, INFO: Planning depth: 1 -2024-02-15 10:20:55, INFO: Planning width: 10 -2024-02-15 10:20:55, INFO: Sparse search: None -2024-02-15 10:20:58, INFO: human number: 10 -2024-02-15 10:20:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:20:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:20:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:20:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:20:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:02, INFO: Using device: cpu -2024-02-15 10:21:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:02, INFO: Similarity_func: concatenation -2024-02-15 10:21:02, INFO: Layerwise_graph: False -2024-02-15 10:21:02, INFO: Skip_connection: True -2024-02-15 10:21:02, INFO: Number of layers: 1 -2024-02-15 10:21:02, INFO: Similarity_func: concatenation -2024-02-15 10:21:02, INFO: Layerwise_graph: False -2024-02-15 10:21:02, INFO: Skip_connection: True -2024-02-15 10:21:02, INFO: Number of layers: 1 -2024-02-15 10:21:02, INFO: Planning depth: 1 -2024-02-15 10:21:02, INFO: Planning width: 10 -2024-02-15 10:21:02, INFO: Sparse search: None -2024-02-15 10:21:05, INFO: human number: 10 -2024-02-15 10:21:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:09, INFO: Using device: cpu -2024-02-15 10:21:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:09, INFO: Similarity_func: concatenation -2024-02-15 10:21:09, INFO: Layerwise_graph: False -2024-02-15 10:21:09, INFO: Skip_connection: True -2024-02-15 10:21:09, INFO: Number of layers: 1 -2024-02-15 10:21:09, INFO: Similarity_func: concatenation -2024-02-15 10:21:09, INFO: Layerwise_graph: False -2024-02-15 10:21:09, INFO: Skip_connection: True -2024-02-15 10:21:09, INFO: Number of layers: 1 -2024-02-15 10:21:09, INFO: Planning depth: 1 -2024-02-15 10:21:09, INFO: Planning width: 10 -2024-02-15 10:21:09, INFO: Sparse search: None -2024-02-15 10:21:12, INFO: human number: 10 -2024-02-15 10:21:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:17, INFO: Using device: cpu -2024-02-15 10:21:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:17, INFO: Similarity_func: concatenation -2024-02-15 10:21:17, INFO: Layerwise_graph: False -2024-02-15 10:21:17, INFO: Skip_connection: True -2024-02-15 10:21:17, INFO: Number of layers: 1 -2024-02-15 10:21:17, INFO: Similarity_func: concatenation -2024-02-15 10:21:17, INFO: Layerwise_graph: False -2024-02-15 10:21:17, INFO: Skip_connection: True -2024-02-15 10:21:17, INFO: Number of layers: 1 -2024-02-15 10:21:17, INFO: Planning depth: 1 -2024-02-15 10:21:17, INFO: Planning width: 10 -2024-02-15 10:21:17, INFO: Sparse search: None -2024-02-15 10:21:19, INFO: human number: 10 -2024-02-15 10:21:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:23, INFO: Using device: cpu -2024-02-15 10:21:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:23, INFO: Similarity_func: concatenation -2024-02-15 10:21:23, INFO: Layerwise_graph: False -2024-02-15 10:21:23, INFO: Skip_connection: True -2024-02-15 10:21:23, INFO: Number of layers: 1 -2024-02-15 10:21:23, INFO: Similarity_func: concatenation -2024-02-15 10:21:23, INFO: Layerwise_graph: False -2024-02-15 10:21:23, INFO: Skip_connection: True -2024-02-15 10:21:23, INFO: Number of layers: 1 -2024-02-15 10:21:23, INFO: Planning depth: 1 -2024-02-15 10:21:23, INFO: Planning width: 10 -2024-02-15 10:21:23, INFO: Sparse search: None -2024-02-15 10:21:26, INFO: human number: 10 -2024-02-15 10:21:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:30, INFO: Using device: cpu -2024-02-15 10:21:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:30, INFO: Similarity_func: concatenation -2024-02-15 10:21:30, INFO: Layerwise_graph: False -2024-02-15 10:21:30, INFO: Skip_connection: True -2024-02-15 10:21:30, INFO: Number of layers: 1 -2024-02-15 10:21:30, INFO: Similarity_func: concatenation -2024-02-15 10:21:30, INFO: Layerwise_graph: False -2024-02-15 10:21:30, INFO: Skip_connection: True -2024-02-15 10:21:30, INFO: Number of layers: 1 -2024-02-15 10:21:30, INFO: Planning depth: 1 -2024-02-15 10:21:30, INFO: Planning width: 10 -2024-02-15 10:21:30, INFO: Sparse search: None -2024-02-15 10:21:33, INFO: human number: 10 -2024-02-15 10:21:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:37, INFO: Using device: cpu -2024-02-15 10:21:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:37, INFO: Similarity_func: concatenation -2024-02-15 10:21:37, INFO: Layerwise_graph: False -2024-02-15 10:21:37, INFO: Skip_connection: True -2024-02-15 10:21:37, INFO: Number of layers: 1 -2024-02-15 10:21:37, INFO: Similarity_func: concatenation -2024-02-15 10:21:37, INFO: Layerwise_graph: False -2024-02-15 10:21:37, INFO: Skip_connection: True -2024-02-15 10:21:37, INFO: Number of layers: 1 -2024-02-15 10:21:37, INFO: Planning depth: 1 -2024-02-15 10:21:37, INFO: Planning width: 10 -2024-02-15 10:21:37, INFO: Sparse search: None -2024-02-15 10:21:39, INFO: human number: 10 -2024-02-15 10:21:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:43, INFO: Using device: cpu -2024-02-15 10:21:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:43, INFO: Similarity_func: concatenation -2024-02-15 10:21:43, INFO: Layerwise_graph: False -2024-02-15 10:21:43, INFO: Skip_connection: True -2024-02-15 10:21:43, INFO: Number of layers: 1 -2024-02-15 10:21:43, INFO: Similarity_func: concatenation -2024-02-15 10:21:43, INFO: Layerwise_graph: False -2024-02-15 10:21:43, INFO: Skip_connection: True -2024-02-15 10:21:43, INFO: Number of layers: 1 -2024-02-15 10:21:43, INFO: Planning depth: 1 -2024-02-15 10:21:43, INFO: Planning width: 10 -2024-02-15 10:21:43, INFO: Sparse search: None -2024-02-15 10:21:46, INFO: human number: 10 -2024-02-15 10:21:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:50, INFO: Using device: cpu -2024-02-15 10:21:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:50, INFO: Similarity_func: concatenation -2024-02-15 10:21:50, INFO: Layerwise_graph: False -2024-02-15 10:21:50, INFO: Skip_connection: True -2024-02-15 10:21:50, INFO: Number of layers: 1 -2024-02-15 10:21:50, INFO: Similarity_func: concatenation -2024-02-15 10:21:50, INFO: Layerwise_graph: False -2024-02-15 10:21:50, INFO: Skip_connection: True -2024-02-15 10:21:50, INFO: Number of layers: 1 -2024-02-15 10:21:50, INFO: Planning depth: 1 -2024-02-15 10:21:50, INFO: Planning width: 10 -2024-02-15 10:21:50, INFO: Sparse search: None -2024-02-15 10:21:53, INFO: human number: 10 -2024-02-15 10:21:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:21:57, INFO: Using device: cpu -2024-02-15 10:21:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:21:57, INFO: Similarity_func: concatenation -2024-02-15 10:21:57, INFO: Layerwise_graph: False -2024-02-15 10:21:57, INFO: Skip_connection: True -2024-02-15 10:21:57, INFO: Number of layers: 1 -2024-02-15 10:21:57, INFO: Similarity_func: concatenation -2024-02-15 10:21:57, INFO: Layerwise_graph: False -2024-02-15 10:21:57, INFO: Skip_connection: True -2024-02-15 10:21:57, INFO: Number of layers: 1 -2024-02-15 10:21:57, INFO: Planning depth: 1 -2024-02-15 10:21:57, INFO: Planning width: 10 -2024-02-15 10:21:57, INFO: Sparse search: None -2024-02-15 10:21:59, INFO: human number: 10 -2024-02-15 10:21:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:21:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:21:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:21:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:21:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:04, INFO: Using device: cpu -2024-02-15 10:22:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:04, INFO: Similarity_func: concatenation -2024-02-15 10:22:04, INFO: Layerwise_graph: False -2024-02-15 10:22:04, INFO: Skip_connection: True -2024-02-15 10:22:04, INFO: Number of layers: 1 -2024-02-15 10:22:04, INFO: Similarity_func: concatenation -2024-02-15 10:22:04, INFO: Layerwise_graph: False -2024-02-15 10:22:04, INFO: Skip_connection: True -2024-02-15 10:22:04, INFO: Number of layers: 1 -2024-02-15 10:22:04, INFO: Planning depth: 1 -2024-02-15 10:22:04, INFO: Planning width: 10 -2024-02-15 10:22:04, INFO: Sparse search: None -2024-02-15 10:22:06, INFO: human number: 10 -2024-02-15 10:22:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:11, INFO: Using device: cpu -2024-02-15 10:22:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:11, INFO: Similarity_func: concatenation -2024-02-15 10:22:11, INFO: Layerwise_graph: False -2024-02-15 10:22:11, INFO: Skip_connection: True -2024-02-15 10:22:11, INFO: Number of layers: 1 -2024-02-15 10:22:11, INFO: Similarity_func: concatenation -2024-02-15 10:22:11, INFO: Layerwise_graph: False -2024-02-15 10:22:11, INFO: Skip_connection: True -2024-02-15 10:22:11, INFO: Number of layers: 1 -2024-02-15 10:22:11, INFO: Planning depth: 1 -2024-02-15 10:22:11, INFO: Planning width: 10 -2024-02-15 10:22:11, INFO: Sparse search: None -2024-02-15 10:22:13, INFO: human number: 10 -2024-02-15 10:22:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:17, INFO: Using device: cpu -2024-02-15 10:22:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:17, INFO: Similarity_func: concatenation -2024-02-15 10:22:17, INFO: Layerwise_graph: False -2024-02-15 10:22:17, INFO: Skip_connection: True -2024-02-15 10:22:17, INFO: Number of layers: 1 -2024-02-15 10:22:17, INFO: Similarity_func: concatenation -2024-02-15 10:22:17, INFO: Layerwise_graph: False -2024-02-15 10:22:17, INFO: Skip_connection: True -2024-02-15 10:22:17, INFO: Number of layers: 1 -2024-02-15 10:22:17, INFO: Planning depth: 1 -2024-02-15 10:22:17, INFO: Planning width: 10 -2024-02-15 10:22:17, INFO: Sparse search: None -2024-02-15 10:22:20, INFO: human number: 10 -2024-02-15 10:22:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:24, INFO: Using device: cpu -2024-02-15 10:22:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:24, INFO: Similarity_func: concatenation -2024-02-15 10:22:24, INFO: Layerwise_graph: False -2024-02-15 10:22:24, INFO: Skip_connection: True -2024-02-15 10:22:24, INFO: Number of layers: 1 -2024-02-15 10:22:24, INFO: Similarity_func: concatenation -2024-02-15 10:22:24, INFO: Layerwise_graph: False -2024-02-15 10:22:24, INFO: Skip_connection: True -2024-02-15 10:22:24, INFO: Number of layers: 1 -2024-02-15 10:22:24, INFO: Planning depth: 1 -2024-02-15 10:22:24, INFO: Planning width: 10 -2024-02-15 10:22:24, INFO: Sparse search: None -2024-02-15 10:22:27, INFO: human number: 10 -2024-02-15 10:22:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:31, INFO: Using device: cpu -2024-02-15 10:22:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:31, INFO: Similarity_func: concatenation -2024-02-15 10:22:31, INFO: Layerwise_graph: False -2024-02-15 10:22:31, INFO: Skip_connection: True -2024-02-15 10:22:31, INFO: Number of layers: 1 -2024-02-15 10:22:31, INFO: Similarity_func: concatenation -2024-02-15 10:22:31, INFO: Layerwise_graph: False -2024-02-15 10:22:31, INFO: Skip_connection: True -2024-02-15 10:22:31, INFO: Number of layers: 1 -2024-02-15 10:22:31, INFO: Planning depth: 1 -2024-02-15 10:22:31, INFO: Planning width: 10 -2024-02-15 10:22:31, INFO: Sparse search: None -2024-02-15 10:22:33, INFO: human number: 10 -2024-02-15 10:22:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:37, INFO: Using device: cpu -2024-02-15 10:22:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:37, INFO: Similarity_func: concatenation -2024-02-15 10:22:37, INFO: Layerwise_graph: False -2024-02-15 10:22:37, INFO: Skip_connection: True -2024-02-15 10:22:37, INFO: Number of layers: 1 -2024-02-15 10:22:37, INFO: Similarity_func: concatenation -2024-02-15 10:22:37, INFO: Layerwise_graph: False -2024-02-15 10:22:37, INFO: Skip_connection: True -2024-02-15 10:22:37, INFO: Number of layers: 1 -2024-02-15 10:22:37, INFO: Planning depth: 1 -2024-02-15 10:22:37, INFO: Planning width: 10 -2024-02-15 10:22:37, INFO: Sparse search: None -2024-02-15 10:22:40, INFO: human number: 10 -2024-02-15 10:22:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:44, INFO: Using device: cpu -2024-02-15 10:22:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:44, INFO: Similarity_func: concatenation -2024-02-15 10:22:44, INFO: Layerwise_graph: False -2024-02-15 10:22:44, INFO: Skip_connection: True -2024-02-15 10:22:44, INFO: Number of layers: 1 -2024-02-15 10:22:44, INFO: Similarity_func: concatenation -2024-02-15 10:22:44, INFO: Layerwise_graph: False -2024-02-15 10:22:44, INFO: Skip_connection: True -2024-02-15 10:22:44, INFO: Number of layers: 1 -2024-02-15 10:22:44, INFO: Planning depth: 1 -2024-02-15 10:22:44, INFO: Planning width: 10 -2024-02-15 10:22:44, INFO: Sparse search: None -2024-02-15 10:22:47, INFO: human number: 10 -2024-02-15 10:22:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:51, INFO: Using device: cpu -2024-02-15 10:22:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:51, INFO: Similarity_func: concatenation -2024-02-15 10:22:51, INFO: Layerwise_graph: False -2024-02-15 10:22:51, INFO: Skip_connection: True -2024-02-15 10:22:51, INFO: Number of layers: 1 -2024-02-15 10:22:51, INFO: Similarity_func: concatenation -2024-02-15 10:22:51, INFO: Layerwise_graph: False -2024-02-15 10:22:51, INFO: Skip_connection: True -2024-02-15 10:22:51, INFO: Number of layers: 1 -2024-02-15 10:22:51, INFO: Planning depth: 1 -2024-02-15 10:22:51, INFO: Planning width: 10 -2024-02-15 10:22:51, INFO: Sparse search: None -2024-02-15 10:22:53, INFO: human number: 10 -2024-02-15 10:22:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:22:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:22:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:22:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:22:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:22:58, INFO: Using device: cpu -2024-02-15 10:22:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:22:58, INFO: Similarity_func: concatenation -2024-02-15 10:22:58, INFO: Layerwise_graph: False -2024-02-15 10:22:58, INFO: Skip_connection: True -2024-02-15 10:22:58, INFO: Number of layers: 1 -2024-02-15 10:22:58, INFO: Similarity_func: concatenation -2024-02-15 10:22:58, INFO: Layerwise_graph: False -2024-02-15 10:22:58, INFO: Skip_connection: True -2024-02-15 10:22:58, INFO: Number of layers: 1 -2024-02-15 10:22:58, INFO: Planning depth: 1 -2024-02-15 10:22:58, INFO: Planning width: 10 -2024-02-15 10:22:58, INFO: Sparse search: None -2024-02-15 10:23:00, INFO: human number: 10 -2024-02-15 10:23:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:05, INFO: Using device: cpu -2024-02-15 10:23:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:05, INFO: Similarity_func: concatenation -2024-02-15 10:23:05, INFO: Layerwise_graph: False -2024-02-15 10:23:05, INFO: Skip_connection: True -2024-02-15 10:23:05, INFO: Number of layers: 1 -2024-02-15 10:23:05, INFO: Similarity_func: concatenation -2024-02-15 10:23:05, INFO: Layerwise_graph: False -2024-02-15 10:23:05, INFO: Skip_connection: True -2024-02-15 10:23:05, INFO: Number of layers: 1 -2024-02-15 10:23:05, INFO: Planning depth: 1 -2024-02-15 10:23:05, INFO: Planning width: 10 -2024-02-15 10:23:05, INFO: Sparse search: None -2024-02-15 10:23:08, INFO: human number: 10 -2024-02-15 10:23:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:12, INFO: Using device: cpu -2024-02-15 10:23:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:12, INFO: Similarity_func: concatenation -2024-02-15 10:23:12, INFO: Layerwise_graph: False -2024-02-15 10:23:12, INFO: Skip_connection: True -2024-02-15 10:23:12, INFO: Number of layers: 1 -2024-02-15 10:23:12, INFO: Similarity_func: concatenation -2024-02-15 10:23:12, INFO: Layerwise_graph: False -2024-02-15 10:23:12, INFO: Skip_connection: True -2024-02-15 10:23:12, INFO: Number of layers: 1 -2024-02-15 10:23:12, INFO: Planning depth: 1 -2024-02-15 10:23:12, INFO: Planning width: 10 -2024-02-15 10:23:12, INFO: Sparse search: None -2024-02-15 10:23:15, INFO: human number: 10 -2024-02-15 10:23:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:19, INFO: Using device: cpu -2024-02-15 10:23:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:19, INFO: Similarity_func: concatenation -2024-02-15 10:23:19, INFO: Layerwise_graph: False -2024-02-15 10:23:19, INFO: Skip_connection: True -2024-02-15 10:23:19, INFO: Number of layers: 1 -2024-02-15 10:23:19, INFO: Similarity_func: concatenation -2024-02-15 10:23:19, INFO: Layerwise_graph: False -2024-02-15 10:23:19, INFO: Skip_connection: True -2024-02-15 10:23:19, INFO: Number of layers: 1 -2024-02-15 10:23:19, INFO: Planning depth: 1 -2024-02-15 10:23:19, INFO: Planning width: 10 -2024-02-15 10:23:19, INFO: Sparse search: None -2024-02-15 10:23:22, INFO: human number: 10 -2024-02-15 10:23:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:26, INFO: Using device: cpu -2024-02-15 10:23:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:26, INFO: Similarity_func: concatenation -2024-02-15 10:23:26, INFO: Layerwise_graph: False -2024-02-15 10:23:26, INFO: Skip_connection: True -2024-02-15 10:23:26, INFO: Number of layers: 1 -2024-02-15 10:23:26, INFO: Similarity_func: concatenation -2024-02-15 10:23:26, INFO: Layerwise_graph: False -2024-02-15 10:23:26, INFO: Skip_connection: True -2024-02-15 10:23:26, INFO: Number of layers: 1 -2024-02-15 10:23:26, INFO: Planning depth: 1 -2024-02-15 10:23:26, INFO: Planning width: 10 -2024-02-15 10:23:26, INFO: Sparse search: None -2024-02-15 10:23:28, INFO: human number: 10 -2024-02-15 10:23:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:28, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:32, INFO: Using device: cpu -2024-02-15 10:23:32, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:32, INFO: Similarity_func: concatenation -2024-02-15 10:23:32, INFO: Layerwise_graph: False -2024-02-15 10:23:32, INFO: Skip_connection: True -2024-02-15 10:23:32, INFO: Number of layers: 1 -2024-02-15 10:23:32, INFO: Similarity_func: concatenation -2024-02-15 10:23:32, INFO: Layerwise_graph: False -2024-02-15 10:23:32, INFO: Skip_connection: True -2024-02-15 10:23:32, INFO: Number of layers: 1 -2024-02-15 10:23:32, INFO: Planning depth: 1 -2024-02-15 10:23:32, INFO: Planning width: 10 -2024-02-15 10:23:32, INFO: Sparse search: None -2024-02-15 10:23:35, INFO: human number: 10 -2024-02-15 10:23:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:35, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:40, INFO: Using device: cpu -2024-02-15 10:23:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:40, INFO: Similarity_func: concatenation -2024-02-15 10:23:40, INFO: Layerwise_graph: False -2024-02-15 10:23:40, INFO: Skip_connection: True -2024-02-15 10:23:40, INFO: Number of layers: 1 -2024-02-15 10:23:40, INFO: Similarity_func: concatenation -2024-02-15 10:23:40, INFO: Layerwise_graph: False -2024-02-15 10:23:40, INFO: Skip_connection: True -2024-02-15 10:23:40, INFO: Number of layers: 1 -2024-02-15 10:23:40, INFO: Planning depth: 1 -2024-02-15 10:23:40, INFO: Planning width: 10 -2024-02-15 10:23:40, INFO: Sparse search: None -2024-02-15 10:23:42, INFO: human number: 10 -2024-02-15 10:23:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:47, INFO: Using device: cpu -2024-02-15 10:23:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:47, INFO: Similarity_func: concatenation -2024-02-15 10:23:47, INFO: Layerwise_graph: False -2024-02-15 10:23:47, INFO: Skip_connection: True -2024-02-15 10:23:47, INFO: Number of layers: 1 -2024-02-15 10:23:47, INFO: Similarity_func: concatenation -2024-02-15 10:23:47, INFO: Layerwise_graph: False -2024-02-15 10:23:47, INFO: Skip_connection: True -2024-02-15 10:23:47, INFO: Number of layers: 1 -2024-02-15 10:23:47, INFO: Planning depth: 1 -2024-02-15 10:23:47, INFO: Planning width: 10 -2024-02-15 10:23:47, INFO: Sparse search: None -2024-02-15 10:23:49, INFO: human number: 10 -2024-02-15 10:23:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:23:54, INFO: Using device: cpu -2024-02-15 10:23:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:23:54, INFO: Similarity_func: concatenation -2024-02-15 10:23:54, INFO: Layerwise_graph: False -2024-02-15 10:23:54, INFO: Skip_connection: True -2024-02-15 10:23:54, INFO: Number of layers: 1 -2024-02-15 10:23:54, INFO: Similarity_func: concatenation -2024-02-15 10:23:54, INFO: Layerwise_graph: False -2024-02-15 10:23:54, INFO: Skip_connection: True -2024-02-15 10:23:54, INFO: Number of layers: 1 -2024-02-15 10:23:54, INFO: Planning depth: 1 -2024-02-15 10:23:54, INFO: Planning width: 10 -2024-02-15 10:23:54, INFO: Sparse search: None -2024-02-15 10:23:56, INFO: human number: 10 -2024-02-15 10:23:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:23:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:23:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:23:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:23:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:00, INFO: Using device: cpu -2024-02-15 10:24:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:00, INFO: Similarity_func: concatenation -2024-02-15 10:24:00, INFO: Layerwise_graph: False -2024-02-15 10:24:00, INFO: Skip_connection: True -2024-02-15 10:24:00, INFO: Number of layers: 1 -2024-02-15 10:24:00, INFO: Similarity_func: concatenation -2024-02-15 10:24:00, INFO: Layerwise_graph: False -2024-02-15 10:24:00, INFO: Skip_connection: True -2024-02-15 10:24:00, INFO: Number of layers: 1 -2024-02-15 10:24:00, INFO: Planning depth: 1 -2024-02-15 10:24:00, INFO: Planning width: 10 -2024-02-15 10:24:00, INFO: Sparse search: None -2024-02-15 10:24:03, INFO: human number: 10 -2024-02-15 10:24:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:07, INFO: Using device: cpu -2024-02-15 10:24:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:07, INFO: Similarity_func: concatenation -2024-02-15 10:24:07, INFO: Layerwise_graph: False -2024-02-15 10:24:07, INFO: Skip_connection: True -2024-02-15 10:24:07, INFO: Number of layers: 1 -2024-02-15 10:24:07, INFO: Similarity_func: concatenation -2024-02-15 10:24:07, INFO: Layerwise_graph: False -2024-02-15 10:24:07, INFO: Skip_connection: True -2024-02-15 10:24:07, INFO: Number of layers: 1 -2024-02-15 10:24:07, INFO: Planning depth: 1 -2024-02-15 10:24:07, INFO: Planning width: 10 -2024-02-15 10:24:07, INFO: Sparse search: None -2024-02-15 10:24:10, INFO: human number: 10 -2024-02-15 10:24:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:14, INFO: Using device: cpu -2024-02-15 10:24:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:14, INFO: Similarity_func: concatenation -2024-02-15 10:24:14, INFO: Layerwise_graph: False -2024-02-15 10:24:14, INFO: Skip_connection: True -2024-02-15 10:24:14, INFO: Number of layers: 1 -2024-02-15 10:24:14, INFO: Similarity_func: concatenation -2024-02-15 10:24:14, INFO: Layerwise_graph: False -2024-02-15 10:24:14, INFO: Skip_connection: True -2024-02-15 10:24:14, INFO: Number of layers: 1 -2024-02-15 10:24:14, INFO: Planning depth: 1 -2024-02-15 10:24:14, INFO: Planning width: 10 -2024-02-15 10:24:14, INFO: Sparse search: None -2024-02-15 10:24:17, INFO: human number: 10 -2024-02-15 10:24:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:21, INFO: Using device: cpu -2024-02-15 10:24:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:21, INFO: Similarity_func: concatenation -2024-02-15 10:24:21, INFO: Layerwise_graph: False -2024-02-15 10:24:21, INFO: Skip_connection: True -2024-02-15 10:24:21, INFO: Number of layers: 1 -2024-02-15 10:24:21, INFO: Similarity_func: concatenation -2024-02-15 10:24:21, INFO: Layerwise_graph: False -2024-02-15 10:24:21, INFO: Skip_connection: True -2024-02-15 10:24:21, INFO: Number of layers: 1 -2024-02-15 10:24:21, INFO: Planning depth: 1 -2024-02-15 10:24:21, INFO: Planning width: 10 -2024-02-15 10:24:21, INFO: Sparse search: None -2024-02-15 10:24:24, INFO: human number: 10 -2024-02-15 10:24:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:28, INFO: Using device: cpu -2024-02-15 10:24:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:28, INFO: Similarity_func: concatenation -2024-02-15 10:24:28, INFO: Layerwise_graph: False -2024-02-15 10:24:28, INFO: Skip_connection: True -2024-02-15 10:24:28, INFO: Number of layers: 1 -2024-02-15 10:24:28, INFO: Similarity_func: concatenation -2024-02-15 10:24:28, INFO: Layerwise_graph: False -2024-02-15 10:24:28, INFO: Skip_connection: True -2024-02-15 10:24:28, INFO: Number of layers: 1 -2024-02-15 10:24:28, INFO: Planning depth: 1 -2024-02-15 10:24:28, INFO: Planning width: 10 -2024-02-15 10:24:28, INFO: Sparse search: None -2024-02-15 10:24:31, INFO: human number: 10 -2024-02-15 10:24:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:35, INFO: Using device: cpu -2024-02-15 10:24:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:35, INFO: Similarity_func: concatenation -2024-02-15 10:24:35, INFO: Layerwise_graph: False -2024-02-15 10:24:35, INFO: Skip_connection: True -2024-02-15 10:24:35, INFO: Number of layers: 1 -2024-02-15 10:24:35, INFO: Similarity_func: concatenation -2024-02-15 10:24:35, INFO: Layerwise_graph: False -2024-02-15 10:24:35, INFO: Skip_connection: True -2024-02-15 10:24:35, INFO: Number of layers: 1 -2024-02-15 10:24:35, INFO: Planning depth: 1 -2024-02-15 10:24:35, INFO: Planning width: 10 -2024-02-15 10:24:35, INFO: Sparse search: None -2024-02-15 10:24:38, INFO: human number: 10 -2024-02-15 10:24:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:42, INFO: Using device: cpu -2024-02-15 10:24:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:42, INFO: Similarity_func: concatenation -2024-02-15 10:24:42, INFO: Layerwise_graph: False -2024-02-15 10:24:42, INFO: Skip_connection: True -2024-02-15 10:24:42, INFO: Number of layers: 1 -2024-02-15 10:24:42, INFO: Similarity_func: concatenation -2024-02-15 10:24:42, INFO: Layerwise_graph: False -2024-02-15 10:24:42, INFO: Skip_connection: True -2024-02-15 10:24:42, INFO: Number of layers: 1 -2024-02-15 10:24:42, INFO: Planning depth: 1 -2024-02-15 10:24:42, INFO: Planning width: 10 -2024-02-15 10:24:42, INFO: Sparse search: None -2024-02-15 10:24:45, INFO: human number: 10 -2024-02-15 10:24:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:49, INFO: Using device: cpu -2024-02-15 10:24:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:49, INFO: Similarity_func: concatenation -2024-02-15 10:24:49, INFO: Layerwise_graph: False -2024-02-15 10:24:49, INFO: Skip_connection: True -2024-02-15 10:24:49, INFO: Number of layers: 1 -2024-02-15 10:24:49, INFO: Similarity_func: concatenation -2024-02-15 10:24:49, INFO: Layerwise_graph: False -2024-02-15 10:24:49, INFO: Skip_connection: True -2024-02-15 10:24:49, INFO: Number of layers: 1 -2024-02-15 10:24:49, INFO: Planning depth: 1 -2024-02-15 10:24:49, INFO: Planning width: 10 -2024-02-15 10:24:49, INFO: Sparse search: None -2024-02-15 10:24:52, INFO: human number: 10 -2024-02-15 10:24:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:24:56, INFO: Using device: cpu -2024-02-15 10:24:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:24:56, INFO: Similarity_func: concatenation -2024-02-15 10:24:56, INFO: Layerwise_graph: False -2024-02-15 10:24:56, INFO: Skip_connection: True -2024-02-15 10:24:56, INFO: Number of layers: 1 -2024-02-15 10:24:56, INFO: Similarity_func: concatenation -2024-02-15 10:24:56, INFO: Layerwise_graph: False -2024-02-15 10:24:56, INFO: Skip_connection: True -2024-02-15 10:24:56, INFO: Number of layers: 1 -2024-02-15 10:24:56, INFO: Planning depth: 1 -2024-02-15 10:24:56, INFO: Planning width: 10 -2024-02-15 10:24:56, INFO: Sparse search: None -2024-02-15 10:24:59, INFO: human number: 10 -2024-02-15 10:24:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:24:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:24:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:24:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:24:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:03, INFO: Using device: cpu -2024-02-15 10:25:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:03, INFO: Similarity_func: concatenation -2024-02-15 10:25:03, INFO: Layerwise_graph: False -2024-02-15 10:25:03, INFO: Skip_connection: True -2024-02-15 10:25:03, INFO: Number of layers: 1 -2024-02-15 10:25:03, INFO: Similarity_func: concatenation -2024-02-15 10:25:03, INFO: Layerwise_graph: False -2024-02-15 10:25:03, INFO: Skip_connection: True -2024-02-15 10:25:03, INFO: Number of layers: 1 -2024-02-15 10:25:03, INFO: Planning depth: 1 -2024-02-15 10:25:03, INFO: Planning width: 10 -2024-02-15 10:25:03, INFO: Sparse search: None -2024-02-15 10:25:06, INFO: human number: 10 -2024-02-15 10:25:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:10, INFO: Using device: cpu -2024-02-15 10:25:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:10, INFO: Similarity_func: concatenation -2024-02-15 10:25:10, INFO: Layerwise_graph: False -2024-02-15 10:25:10, INFO: Skip_connection: True -2024-02-15 10:25:10, INFO: Number of layers: 1 -2024-02-15 10:25:10, INFO: Similarity_func: concatenation -2024-02-15 10:25:10, INFO: Layerwise_graph: False -2024-02-15 10:25:10, INFO: Skip_connection: True -2024-02-15 10:25:10, INFO: Number of layers: 1 -2024-02-15 10:25:10, INFO: Planning depth: 1 -2024-02-15 10:25:10, INFO: Planning width: 10 -2024-02-15 10:25:10, INFO: Sparse search: None -2024-02-15 10:25:12, INFO: human number: 10 -2024-02-15 10:25:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:17, INFO: Using device: cpu -2024-02-15 10:25:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:17, INFO: Similarity_func: concatenation -2024-02-15 10:25:17, INFO: Layerwise_graph: False -2024-02-15 10:25:17, INFO: Skip_connection: True -2024-02-15 10:25:17, INFO: Number of layers: 1 -2024-02-15 10:25:17, INFO: Similarity_func: concatenation -2024-02-15 10:25:17, INFO: Layerwise_graph: False -2024-02-15 10:25:17, INFO: Skip_connection: True -2024-02-15 10:25:17, INFO: Number of layers: 1 -2024-02-15 10:25:17, INFO: Planning depth: 1 -2024-02-15 10:25:17, INFO: Planning width: 10 -2024-02-15 10:25:17, INFO: Sparse search: None -2024-02-15 10:25:19, INFO: human number: 10 -2024-02-15 10:25:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:24, INFO: Using device: cpu -2024-02-15 10:25:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:24, INFO: Similarity_func: concatenation -2024-02-15 10:25:24, INFO: Layerwise_graph: False -2024-02-15 10:25:24, INFO: Skip_connection: True -2024-02-15 10:25:24, INFO: Number of layers: 1 -2024-02-15 10:25:24, INFO: Similarity_func: concatenation -2024-02-15 10:25:24, INFO: Layerwise_graph: False -2024-02-15 10:25:24, INFO: Skip_connection: True -2024-02-15 10:25:24, INFO: Number of layers: 1 -2024-02-15 10:25:24, INFO: Planning depth: 1 -2024-02-15 10:25:24, INFO: Planning width: 10 -2024-02-15 10:25:24, INFO: Sparse search: None -2024-02-15 10:25:27, INFO: human number: 10 -2024-02-15 10:25:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:31, INFO: Using device: cpu -2024-02-15 10:25:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:31, INFO: Similarity_func: concatenation -2024-02-15 10:25:31, INFO: Layerwise_graph: False -2024-02-15 10:25:31, INFO: Skip_connection: True -2024-02-15 10:25:31, INFO: Number of layers: 1 -2024-02-15 10:25:31, INFO: Similarity_func: concatenation -2024-02-15 10:25:31, INFO: Layerwise_graph: False -2024-02-15 10:25:31, INFO: Skip_connection: True -2024-02-15 10:25:31, INFO: Number of layers: 1 -2024-02-15 10:25:31, INFO: Planning depth: 1 -2024-02-15 10:25:31, INFO: Planning width: 10 -2024-02-15 10:25:31, INFO: Sparse search: None -2024-02-15 10:25:34, INFO: human number: 10 -2024-02-15 10:25:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:38, INFO: Using device: cpu -2024-02-15 10:25:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:38, INFO: Similarity_func: concatenation -2024-02-15 10:25:38, INFO: Layerwise_graph: False -2024-02-15 10:25:38, INFO: Skip_connection: True -2024-02-15 10:25:38, INFO: Number of layers: 1 -2024-02-15 10:25:38, INFO: Similarity_func: concatenation -2024-02-15 10:25:38, INFO: Layerwise_graph: False -2024-02-15 10:25:38, INFO: Skip_connection: True -2024-02-15 10:25:38, INFO: Number of layers: 1 -2024-02-15 10:25:38, INFO: Planning depth: 1 -2024-02-15 10:25:38, INFO: Planning width: 10 -2024-02-15 10:25:38, INFO: Sparse search: None -2024-02-15 10:25:40, INFO: human number: 10 -2024-02-15 10:25:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:45, INFO: Using device: cpu -2024-02-15 10:25:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:45, INFO: Similarity_func: concatenation -2024-02-15 10:25:45, INFO: Layerwise_graph: False -2024-02-15 10:25:45, INFO: Skip_connection: True -2024-02-15 10:25:45, INFO: Number of layers: 1 -2024-02-15 10:25:45, INFO: Similarity_func: concatenation -2024-02-15 10:25:45, INFO: Layerwise_graph: False -2024-02-15 10:25:45, INFO: Skip_connection: True -2024-02-15 10:25:45, INFO: Number of layers: 1 -2024-02-15 10:25:45, INFO: Planning depth: 1 -2024-02-15 10:25:45, INFO: Planning width: 10 -2024-02-15 10:25:45, INFO: Sparse search: None -2024-02-15 10:25:47, INFO: human number: 10 -2024-02-15 10:25:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:52, INFO: Using device: cpu -2024-02-15 10:25:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:52, INFO: Similarity_func: concatenation -2024-02-15 10:25:52, INFO: Layerwise_graph: False -2024-02-15 10:25:52, INFO: Skip_connection: True -2024-02-15 10:25:52, INFO: Number of layers: 1 -2024-02-15 10:25:52, INFO: Similarity_func: concatenation -2024-02-15 10:25:52, INFO: Layerwise_graph: False -2024-02-15 10:25:52, INFO: Skip_connection: True -2024-02-15 10:25:52, INFO: Number of layers: 1 -2024-02-15 10:25:52, INFO: Planning depth: 1 -2024-02-15 10:25:52, INFO: Planning width: 10 -2024-02-15 10:25:52, INFO: Sparse search: None -2024-02-15 10:25:54, INFO: human number: 10 -2024-02-15 10:25:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:25:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:25:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:25:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:25:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:25:58, INFO: Using device: cpu -2024-02-15 10:25:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:25:58, INFO: Similarity_func: concatenation -2024-02-15 10:25:58, INFO: Layerwise_graph: False -2024-02-15 10:25:58, INFO: Skip_connection: True -2024-02-15 10:25:58, INFO: Number of layers: 1 -2024-02-15 10:25:58, INFO: Similarity_func: concatenation -2024-02-15 10:25:58, INFO: Layerwise_graph: False -2024-02-15 10:25:58, INFO: Skip_connection: True -2024-02-15 10:25:58, INFO: Number of layers: 1 -2024-02-15 10:25:58, INFO: Planning depth: 1 -2024-02-15 10:25:58, INFO: Planning width: 10 -2024-02-15 10:25:58, INFO: Sparse search: None -2024-02-15 10:26:01, INFO: human number: 10 -2024-02-15 10:26:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:05, INFO: Using device: cpu -2024-02-15 10:26:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:05, INFO: Similarity_func: concatenation -2024-02-15 10:26:05, INFO: Layerwise_graph: False -2024-02-15 10:26:05, INFO: Skip_connection: True -2024-02-15 10:26:05, INFO: Number of layers: 1 -2024-02-15 10:26:05, INFO: Similarity_func: concatenation -2024-02-15 10:26:05, INFO: Layerwise_graph: False -2024-02-15 10:26:05, INFO: Skip_connection: True -2024-02-15 10:26:05, INFO: Number of layers: 1 -2024-02-15 10:26:05, INFO: Planning depth: 1 -2024-02-15 10:26:05, INFO: Planning width: 10 -2024-02-15 10:26:05, INFO: Sparse search: None -2024-02-15 10:26:08, INFO: human number: 10 -2024-02-15 10:26:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:12, INFO: Using device: cpu -2024-02-15 10:26:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:12, INFO: Similarity_func: concatenation -2024-02-15 10:26:12, INFO: Layerwise_graph: False -2024-02-15 10:26:12, INFO: Skip_connection: True -2024-02-15 10:26:12, INFO: Number of layers: 1 -2024-02-15 10:26:12, INFO: Similarity_func: concatenation -2024-02-15 10:26:12, INFO: Layerwise_graph: False -2024-02-15 10:26:12, INFO: Skip_connection: True -2024-02-15 10:26:12, INFO: Number of layers: 1 -2024-02-15 10:26:12, INFO: Planning depth: 1 -2024-02-15 10:26:12, INFO: Planning width: 10 -2024-02-15 10:26:12, INFO: Sparse search: None -2024-02-15 10:26:15, INFO: human number: 10 -2024-02-15 10:26:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:20, INFO: Using device: cpu -2024-02-15 10:26:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:20, INFO: Similarity_func: concatenation -2024-02-15 10:26:20, INFO: Layerwise_graph: False -2024-02-15 10:26:20, INFO: Skip_connection: True -2024-02-15 10:26:20, INFO: Number of layers: 1 -2024-02-15 10:26:20, INFO: Similarity_func: concatenation -2024-02-15 10:26:20, INFO: Layerwise_graph: False -2024-02-15 10:26:20, INFO: Skip_connection: True -2024-02-15 10:26:20, INFO: Number of layers: 1 -2024-02-15 10:26:20, INFO: Planning depth: 1 -2024-02-15 10:26:20, INFO: Planning width: 10 -2024-02-15 10:26:20, INFO: Sparse search: None -2024-02-15 10:26:23, INFO: human number: 10 -2024-02-15 10:26:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:27, INFO: Using device: cpu -2024-02-15 10:26:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:27, INFO: Similarity_func: concatenation -2024-02-15 10:26:27, INFO: Layerwise_graph: False -2024-02-15 10:26:27, INFO: Skip_connection: True -2024-02-15 10:26:27, INFO: Number of layers: 1 -2024-02-15 10:26:27, INFO: Similarity_func: concatenation -2024-02-15 10:26:27, INFO: Layerwise_graph: False -2024-02-15 10:26:27, INFO: Skip_connection: True -2024-02-15 10:26:27, INFO: Number of layers: 1 -2024-02-15 10:26:27, INFO: Planning depth: 1 -2024-02-15 10:26:27, INFO: Planning width: 10 -2024-02-15 10:26:27, INFO: Sparse search: None -2024-02-15 10:26:29, INFO: human number: 10 -2024-02-15 10:26:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:34, INFO: Using device: cpu -2024-02-15 10:26:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:34, INFO: Similarity_func: concatenation -2024-02-15 10:26:34, INFO: Layerwise_graph: False -2024-02-15 10:26:34, INFO: Skip_connection: True -2024-02-15 10:26:34, INFO: Number of layers: 1 -2024-02-15 10:26:34, INFO: Similarity_func: concatenation -2024-02-15 10:26:34, INFO: Layerwise_graph: False -2024-02-15 10:26:34, INFO: Skip_connection: True -2024-02-15 10:26:34, INFO: Number of layers: 1 -2024-02-15 10:26:34, INFO: Planning depth: 1 -2024-02-15 10:26:34, INFO: Planning width: 10 -2024-02-15 10:26:34, INFO: Sparse search: None -2024-02-15 10:26:36, INFO: human number: 10 -2024-02-15 10:26:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:41, INFO: Using device: cpu -2024-02-15 10:26:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:41, INFO: Similarity_func: concatenation -2024-02-15 10:26:41, INFO: Layerwise_graph: False -2024-02-15 10:26:41, INFO: Skip_connection: True -2024-02-15 10:26:41, INFO: Number of layers: 1 -2024-02-15 10:26:41, INFO: Similarity_func: concatenation -2024-02-15 10:26:41, INFO: Layerwise_graph: False -2024-02-15 10:26:41, INFO: Skip_connection: True -2024-02-15 10:26:41, INFO: Number of layers: 1 -2024-02-15 10:26:41, INFO: Planning depth: 1 -2024-02-15 10:26:41, INFO: Planning width: 10 -2024-02-15 10:26:41, INFO: Sparse search: None -2024-02-15 10:26:43, INFO: human number: 10 -2024-02-15 10:26:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:48, INFO: Using device: cpu -2024-02-15 10:26:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:48, INFO: Similarity_func: concatenation -2024-02-15 10:26:48, INFO: Layerwise_graph: False -2024-02-15 10:26:48, INFO: Skip_connection: True -2024-02-15 10:26:48, INFO: Number of layers: 1 -2024-02-15 10:26:48, INFO: Similarity_func: concatenation -2024-02-15 10:26:48, INFO: Layerwise_graph: False -2024-02-15 10:26:48, INFO: Skip_connection: True -2024-02-15 10:26:48, INFO: Number of layers: 1 -2024-02-15 10:26:48, INFO: Planning depth: 1 -2024-02-15 10:26:48, INFO: Planning width: 10 -2024-02-15 10:26:48, INFO: Sparse search: None -2024-02-15 10:26:51, INFO: human number: 10 -2024-02-15 10:26:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:26:55, INFO: Using device: cpu -2024-02-15 10:26:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:26:55, INFO: Similarity_func: concatenation -2024-02-15 10:26:55, INFO: Layerwise_graph: False -2024-02-15 10:26:55, INFO: Skip_connection: True -2024-02-15 10:26:55, INFO: Number of layers: 1 -2024-02-15 10:26:55, INFO: Similarity_func: concatenation -2024-02-15 10:26:55, INFO: Layerwise_graph: False -2024-02-15 10:26:55, INFO: Skip_connection: True -2024-02-15 10:26:55, INFO: Number of layers: 1 -2024-02-15 10:26:55, INFO: Planning depth: 1 -2024-02-15 10:26:55, INFO: Planning width: 10 -2024-02-15 10:26:55, INFO: Sparse search: None -2024-02-15 10:26:58, INFO: human number: 10 -2024-02-15 10:26:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:26:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:26:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:26:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:26:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:02, INFO: Using device: cpu -2024-02-15 10:27:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:02, INFO: Similarity_func: concatenation -2024-02-15 10:27:02, INFO: Layerwise_graph: False -2024-02-15 10:27:02, INFO: Skip_connection: True -2024-02-15 10:27:02, INFO: Number of layers: 1 -2024-02-15 10:27:02, INFO: Similarity_func: concatenation -2024-02-15 10:27:02, INFO: Layerwise_graph: False -2024-02-15 10:27:02, INFO: Skip_connection: True -2024-02-15 10:27:02, INFO: Number of layers: 1 -2024-02-15 10:27:02, INFO: Planning depth: 1 -2024-02-15 10:27:02, INFO: Planning width: 10 -2024-02-15 10:27:02, INFO: Sparse search: None -2024-02-15 10:27:05, INFO: human number: 10 -2024-02-15 10:27:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:09, INFO: Using device: cpu -2024-02-15 10:27:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:09, INFO: Similarity_func: concatenation -2024-02-15 10:27:09, INFO: Layerwise_graph: False -2024-02-15 10:27:09, INFO: Skip_connection: True -2024-02-15 10:27:09, INFO: Number of layers: 1 -2024-02-15 10:27:09, INFO: Similarity_func: concatenation -2024-02-15 10:27:09, INFO: Layerwise_graph: False -2024-02-15 10:27:09, INFO: Skip_connection: True -2024-02-15 10:27:09, INFO: Number of layers: 1 -2024-02-15 10:27:09, INFO: Planning depth: 1 -2024-02-15 10:27:09, INFO: Planning width: 10 -2024-02-15 10:27:09, INFO: Sparse search: None -2024-02-15 10:27:12, INFO: human number: 10 -2024-02-15 10:27:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:16, INFO: Using device: cpu -2024-02-15 10:27:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:16, INFO: Similarity_func: concatenation -2024-02-15 10:27:16, INFO: Layerwise_graph: False -2024-02-15 10:27:16, INFO: Skip_connection: True -2024-02-15 10:27:16, INFO: Number of layers: 1 -2024-02-15 10:27:16, INFO: Similarity_func: concatenation -2024-02-15 10:27:16, INFO: Layerwise_graph: False -2024-02-15 10:27:16, INFO: Skip_connection: True -2024-02-15 10:27:16, INFO: Number of layers: 1 -2024-02-15 10:27:16, INFO: Planning depth: 1 -2024-02-15 10:27:16, INFO: Planning width: 10 -2024-02-15 10:27:16, INFO: Sparse search: None -2024-02-15 10:27:18, INFO: human number: 10 -2024-02-15 10:27:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:22, INFO: Using device: cpu -2024-02-15 10:27:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:22, INFO: Similarity_func: concatenation -2024-02-15 10:27:22, INFO: Layerwise_graph: False -2024-02-15 10:27:22, INFO: Skip_connection: True -2024-02-15 10:27:22, INFO: Number of layers: 1 -2024-02-15 10:27:22, INFO: Similarity_func: concatenation -2024-02-15 10:27:22, INFO: Layerwise_graph: False -2024-02-15 10:27:22, INFO: Skip_connection: True -2024-02-15 10:27:22, INFO: Number of layers: 1 -2024-02-15 10:27:22, INFO: Planning depth: 1 -2024-02-15 10:27:22, INFO: Planning width: 10 -2024-02-15 10:27:22, INFO: Sparse search: None -2024-02-15 10:27:25, INFO: human number: 10 -2024-02-15 10:27:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:25, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:29, INFO: Using device: cpu -2024-02-15 10:27:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:29, INFO: Similarity_func: concatenation -2024-02-15 10:27:29, INFO: Layerwise_graph: False -2024-02-15 10:27:29, INFO: Skip_connection: True -2024-02-15 10:27:29, INFO: Number of layers: 1 -2024-02-15 10:27:29, INFO: Similarity_func: concatenation -2024-02-15 10:27:29, INFO: Layerwise_graph: False -2024-02-15 10:27:29, INFO: Skip_connection: True -2024-02-15 10:27:29, INFO: Number of layers: 1 -2024-02-15 10:27:29, INFO: Planning depth: 1 -2024-02-15 10:27:29, INFO: Planning width: 10 -2024-02-15 10:27:29, INFO: Sparse search: None -2024-02-15 10:27:32, INFO: human number: 10 -2024-02-15 10:27:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:36, INFO: Using device: cpu -2024-02-15 10:27:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:36, INFO: Similarity_func: concatenation -2024-02-15 10:27:36, INFO: Layerwise_graph: False -2024-02-15 10:27:36, INFO: Skip_connection: True -2024-02-15 10:27:36, INFO: Number of layers: 1 -2024-02-15 10:27:36, INFO: Similarity_func: concatenation -2024-02-15 10:27:36, INFO: Layerwise_graph: False -2024-02-15 10:27:36, INFO: Skip_connection: True -2024-02-15 10:27:36, INFO: Number of layers: 1 -2024-02-15 10:27:36, INFO: Planning depth: 1 -2024-02-15 10:27:36, INFO: Planning width: 10 -2024-02-15 10:27:36, INFO: Sparse search: None -2024-02-15 10:27:39, INFO: human number: 10 -2024-02-15 10:27:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:44, INFO: Using device: cpu -2024-02-15 10:27:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:44, INFO: Similarity_func: concatenation -2024-02-15 10:27:44, INFO: Layerwise_graph: False -2024-02-15 10:27:44, INFO: Skip_connection: True -2024-02-15 10:27:44, INFO: Number of layers: 1 -2024-02-15 10:27:44, INFO: Similarity_func: concatenation -2024-02-15 10:27:44, INFO: Layerwise_graph: False -2024-02-15 10:27:44, INFO: Skip_connection: True -2024-02-15 10:27:44, INFO: Number of layers: 1 -2024-02-15 10:27:44, INFO: Planning depth: 1 -2024-02-15 10:27:44, INFO: Planning width: 10 -2024-02-15 10:27:44, INFO: Sparse search: None -2024-02-15 10:27:47, INFO: human number: 10 -2024-02-15 10:27:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:51, INFO: Using device: cpu -2024-02-15 10:27:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:51, INFO: Similarity_func: concatenation -2024-02-15 10:27:51, INFO: Layerwise_graph: False -2024-02-15 10:27:51, INFO: Skip_connection: True -2024-02-15 10:27:51, INFO: Number of layers: 1 -2024-02-15 10:27:51, INFO: Similarity_func: concatenation -2024-02-15 10:27:51, INFO: Layerwise_graph: False -2024-02-15 10:27:51, INFO: Skip_connection: True -2024-02-15 10:27:51, INFO: Number of layers: 1 -2024-02-15 10:27:51, INFO: Planning depth: 1 -2024-02-15 10:27:51, INFO: Planning width: 10 -2024-02-15 10:27:51, INFO: Sparse search: None -2024-02-15 10:27:53, INFO: human number: 10 -2024-02-15 10:27:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:27:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:27:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:27:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:27:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:27:57, INFO: Using device: cpu -2024-02-15 10:27:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:27:57, INFO: Similarity_func: concatenation -2024-02-15 10:27:57, INFO: Layerwise_graph: False -2024-02-15 10:27:57, INFO: Skip_connection: True -2024-02-15 10:27:57, INFO: Number of layers: 1 -2024-02-15 10:27:58, INFO: Similarity_func: concatenation -2024-02-15 10:27:58, INFO: Layerwise_graph: False -2024-02-15 10:27:58, INFO: Skip_connection: True -2024-02-15 10:27:58, INFO: Number of layers: 1 -2024-02-15 10:27:58, INFO: Planning depth: 1 -2024-02-15 10:27:58, INFO: Planning width: 10 -2024-02-15 10:27:58, INFO: Sparse search: None -2024-02-15 10:28:00, INFO: human number: 10 -2024-02-15 10:28:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:05, INFO: Using device: cpu -2024-02-15 10:28:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:05, INFO: Similarity_func: concatenation -2024-02-15 10:28:05, INFO: Layerwise_graph: False -2024-02-15 10:28:05, INFO: Skip_connection: True -2024-02-15 10:28:05, INFO: Number of layers: 1 -2024-02-15 10:28:05, INFO: Similarity_func: concatenation -2024-02-15 10:28:05, INFO: Layerwise_graph: False -2024-02-15 10:28:05, INFO: Skip_connection: True -2024-02-15 10:28:05, INFO: Number of layers: 1 -2024-02-15 10:28:05, INFO: Planning depth: 1 -2024-02-15 10:28:05, INFO: Planning width: 10 -2024-02-15 10:28:05, INFO: Sparse search: None -2024-02-15 10:28:07, INFO: human number: 10 -2024-02-15 10:28:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:07, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:12, INFO: Using device: cpu -2024-02-15 10:28:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:12, INFO: Similarity_func: concatenation -2024-02-15 10:28:12, INFO: Layerwise_graph: False -2024-02-15 10:28:12, INFO: Skip_connection: True -2024-02-15 10:28:12, INFO: Number of layers: 1 -2024-02-15 10:28:12, INFO: Similarity_func: concatenation -2024-02-15 10:28:12, INFO: Layerwise_graph: False -2024-02-15 10:28:12, INFO: Skip_connection: True -2024-02-15 10:28:12, INFO: Number of layers: 1 -2024-02-15 10:28:12, INFO: Planning depth: 1 -2024-02-15 10:28:12, INFO: Planning width: 10 -2024-02-15 10:28:12, INFO: Sparse search: None -2024-02-15 10:28:14, INFO: human number: 10 -2024-02-15 10:28:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:14, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:18, INFO: Using device: cpu -2024-02-15 10:28:18, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:18, INFO: Similarity_func: concatenation -2024-02-15 10:28:18, INFO: Layerwise_graph: False -2024-02-15 10:28:18, INFO: Skip_connection: True -2024-02-15 10:28:18, INFO: Number of layers: 1 -2024-02-15 10:28:18, INFO: Similarity_func: concatenation -2024-02-15 10:28:18, INFO: Layerwise_graph: False -2024-02-15 10:28:18, INFO: Skip_connection: True -2024-02-15 10:28:18, INFO: Number of layers: 1 -2024-02-15 10:28:18, INFO: Planning depth: 1 -2024-02-15 10:28:18, INFO: Planning width: 10 -2024-02-15 10:28:18, INFO: Sparse search: None -2024-02-15 10:28:21, INFO: human number: 10 -2024-02-15 10:28:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:21, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:25, INFO: Using device: cpu -2024-02-15 10:28:25, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:25, INFO: Similarity_func: concatenation -2024-02-15 10:28:25, INFO: Layerwise_graph: False -2024-02-15 10:28:25, INFO: Skip_connection: True -2024-02-15 10:28:25, INFO: Number of layers: 1 -2024-02-15 10:28:25, INFO: Similarity_func: concatenation -2024-02-15 10:28:25, INFO: Layerwise_graph: False -2024-02-15 10:28:25, INFO: Skip_connection: True -2024-02-15 10:28:25, INFO: Number of layers: 1 -2024-02-15 10:28:25, INFO: Planning depth: 1 -2024-02-15 10:28:25, INFO: Planning width: 10 -2024-02-15 10:28:25, INFO: Sparse search: None -2024-02-15 10:28:28, INFO: human number: 10 -2024-02-15 10:28:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:28, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:33, INFO: Using device: cpu -2024-02-15 10:28:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:33, INFO: Similarity_func: concatenation -2024-02-15 10:28:33, INFO: Layerwise_graph: False -2024-02-15 10:28:33, INFO: Skip_connection: True -2024-02-15 10:28:33, INFO: Number of layers: 1 -2024-02-15 10:28:33, INFO: Similarity_func: concatenation -2024-02-15 10:28:33, INFO: Layerwise_graph: False -2024-02-15 10:28:33, INFO: Skip_connection: True -2024-02-15 10:28:33, INFO: Number of layers: 1 -2024-02-15 10:28:33, INFO: Planning depth: 1 -2024-02-15 10:28:33, INFO: Planning width: 10 -2024-02-15 10:28:33, INFO: Sparse search: None -2024-02-15 10:28:35, INFO: human number: 10 -2024-02-15 10:28:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:35, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:39, INFO: Using device: cpu -2024-02-15 10:28:39, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:39, INFO: Similarity_func: concatenation -2024-02-15 10:28:39, INFO: Layerwise_graph: False -2024-02-15 10:28:39, INFO: Skip_connection: True -2024-02-15 10:28:39, INFO: Number of layers: 1 -2024-02-15 10:28:39, INFO: Similarity_func: concatenation -2024-02-15 10:28:39, INFO: Layerwise_graph: False -2024-02-15 10:28:39, INFO: Skip_connection: True -2024-02-15 10:28:39, INFO: Number of layers: 1 -2024-02-15 10:28:39, INFO: Planning depth: 1 -2024-02-15 10:28:39, INFO: Planning width: 10 -2024-02-15 10:28:39, INFO: Sparse search: None -2024-02-15 10:28:42, INFO: human number: 10 -2024-02-15 10:28:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:46, INFO: Using device: cpu -2024-02-15 10:28:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:46, INFO: Similarity_func: concatenation -2024-02-15 10:28:46, INFO: Layerwise_graph: False -2024-02-15 10:28:46, INFO: Skip_connection: True -2024-02-15 10:28:46, INFO: Number of layers: 1 -2024-02-15 10:28:46, INFO: Similarity_func: concatenation -2024-02-15 10:28:46, INFO: Layerwise_graph: False -2024-02-15 10:28:46, INFO: Skip_connection: True -2024-02-15 10:28:46, INFO: Number of layers: 1 -2024-02-15 10:28:46, INFO: Planning depth: 1 -2024-02-15 10:28:46, INFO: Planning width: 10 -2024-02-15 10:28:46, INFO: Sparse search: None -2024-02-15 10:28:49, INFO: human number: 10 -2024-02-15 10:28:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:53, INFO: Using device: cpu -2024-02-15 10:28:53, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:53, INFO: Similarity_func: concatenation -2024-02-15 10:28:53, INFO: Layerwise_graph: False -2024-02-15 10:28:53, INFO: Skip_connection: True -2024-02-15 10:28:53, INFO: Number of layers: 1 -2024-02-15 10:28:53, INFO: Similarity_func: concatenation -2024-02-15 10:28:53, INFO: Layerwise_graph: False -2024-02-15 10:28:53, INFO: Skip_connection: True -2024-02-15 10:28:53, INFO: Number of layers: 1 -2024-02-15 10:28:53, INFO: Planning depth: 1 -2024-02-15 10:28:53, INFO: Planning width: 10 -2024-02-15 10:28:53, INFO: Sparse search: None -2024-02-15 10:28:56, INFO: human number: 10 -2024-02-15 10:28:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:28:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:28:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:28:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:28:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:28:59, INFO: Using device: cpu -2024-02-15 10:28:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:28:59, INFO: Similarity_func: concatenation -2024-02-15 10:28:59, INFO: Layerwise_graph: False -2024-02-15 10:28:59, INFO: Skip_connection: True -2024-02-15 10:28:59, INFO: Number of layers: 1 -2024-02-15 10:28:59, INFO: Similarity_func: concatenation -2024-02-15 10:28:59, INFO: Layerwise_graph: False -2024-02-15 10:28:59, INFO: Skip_connection: True -2024-02-15 10:28:59, INFO: Number of layers: 1 -2024-02-15 10:28:59, INFO: Planning depth: 1 -2024-02-15 10:28:59, INFO: Planning width: 10 -2024-02-15 10:28:59, INFO: Sparse search: None -2024-02-15 10:29:02, INFO: human number: 10 -2024-02-15 10:29:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:06, INFO: Using device: cpu -2024-02-15 10:29:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:06, INFO: Similarity_func: concatenation -2024-02-15 10:29:06, INFO: Layerwise_graph: False -2024-02-15 10:29:06, INFO: Skip_connection: True -2024-02-15 10:29:06, INFO: Number of layers: 1 -2024-02-15 10:29:06, INFO: Similarity_func: concatenation -2024-02-15 10:29:06, INFO: Layerwise_graph: False -2024-02-15 10:29:06, INFO: Skip_connection: True -2024-02-15 10:29:06, INFO: Number of layers: 1 -2024-02-15 10:29:06, INFO: Planning depth: 1 -2024-02-15 10:29:06, INFO: Planning width: 10 -2024-02-15 10:29:06, INFO: Sparse search: None -2024-02-15 10:29:09, INFO: human number: 10 -2024-02-15 10:29:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:13, INFO: Using device: cpu -2024-02-15 10:29:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:13, INFO: Similarity_func: concatenation -2024-02-15 10:29:13, INFO: Layerwise_graph: False -2024-02-15 10:29:13, INFO: Skip_connection: True -2024-02-15 10:29:13, INFO: Number of layers: 1 -2024-02-15 10:29:13, INFO: Similarity_func: concatenation -2024-02-15 10:29:13, INFO: Layerwise_graph: False -2024-02-15 10:29:13, INFO: Skip_connection: True -2024-02-15 10:29:13, INFO: Number of layers: 1 -2024-02-15 10:29:13, INFO: Planning depth: 1 -2024-02-15 10:29:13, INFO: Planning width: 10 -2024-02-15 10:29:13, INFO: Sparse search: None -2024-02-15 10:29:16, INFO: human number: 10 -2024-02-15 10:29:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:20, INFO: Using device: cpu -2024-02-15 10:29:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:20, INFO: Similarity_func: concatenation -2024-02-15 10:29:20, INFO: Layerwise_graph: False -2024-02-15 10:29:20, INFO: Skip_connection: True -2024-02-15 10:29:20, INFO: Number of layers: 1 -2024-02-15 10:29:20, INFO: Similarity_func: concatenation -2024-02-15 10:29:20, INFO: Layerwise_graph: False -2024-02-15 10:29:20, INFO: Skip_connection: True -2024-02-15 10:29:20, INFO: Number of layers: 1 -2024-02-15 10:29:20, INFO: Planning depth: 1 -2024-02-15 10:29:20, INFO: Planning width: 10 -2024-02-15 10:29:20, INFO: Sparse search: None -2024-02-15 10:29:23, INFO: human number: 10 -2024-02-15 10:29:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:28, INFO: Using device: cpu -2024-02-15 10:29:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:28, INFO: Similarity_func: concatenation -2024-02-15 10:29:28, INFO: Layerwise_graph: False -2024-02-15 10:29:28, INFO: Skip_connection: True -2024-02-15 10:29:28, INFO: Number of layers: 1 -2024-02-15 10:29:28, INFO: Similarity_func: concatenation -2024-02-15 10:29:28, INFO: Layerwise_graph: False -2024-02-15 10:29:28, INFO: Skip_connection: True -2024-02-15 10:29:28, INFO: Number of layers: 1 -2024-02-15 10:29:28, INFO: Planning depth: 1 -2024-02-15 10:29:28, INFO: Planning width: 10 -2024-02-15 10:29:28, INFO: Sparse search: None -2024-02-15 10:29:31, INFO: human number: 10 -2024-02-15 10:29:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:35, INFO: Using device: cpu -2024-02-15 10:29:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:35, INFO: Similarity_func: concatenation -2024-02-15 10:29:35, INFO: Layerwise_graph: False -2024-02-15 10:29:35, INFO: Skip_connection: True -2024-02-15 10:29:35, INFO: Number of layers: 1 -2024-02-15 10:29:35, INFO: Similarity_func: concatenation -2024-02-15 10:29:35, INFO: Layerwise_graph: False -2024-02-15 10:29:35, INFO: Skip_connection: True -2024-02-15 10:29:35, INFO: Number of layers: 1 -2024-02-15 10:29:35, INFO: Planning depth: 1 -2024-02-15 10:29:35, INFO: Planning width: 10 -2024-02-15 10:29:35, INFO: Sparse search: None -2024-02-15 10:29:38, INFO: human number: 10 -2024-02-15 10:29:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:42, INFO: Using device: cpu -2024-02-15 10:29:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:42, INFO: Similarity_func: concatenation -2024-02-15 10:29:42, INFO: Layerwise_graph: False -2024-02-15 10:29:42, INFO: Skip_connection: True -2024-02-15 10:29:42, INFO: Number of layers: 1 -2024-02-15 10:29:42, INFO: Similarity_func: concatenation -2024-02-15 10:29:42, INFO: Layerwise_graph: False -2024-02-15 10:29:42, INFO: Skip_connection: True -2024-02-15 10:29:42, INFO: Number of layers: 1 -2024-02-15 10:29:42, INFO: Planning depth: 1 -2024-02-15 10:29:42, INFO: Planning width: 10 -2024-02-15 10:29:42, INFO: Sparse search: None -2024-02-15 10:29:45, INFO: human number: 10 -2024-02-15 10:29:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:49, INFO: Using device: cpu -2024-02-15 10:29:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:49, INFO: Similarity_func: concatenation -2024-02-15 10:29:49, INFO: Layerwise_graph: False -2024-02-15 10:29:49, INFO: Skip_connection: True -2024-02-15 10:29:49, INFO: Number of layers: 1 -2024-02-15 10:29:49, INFO: Similarity_func: concatenation -2024-02-15 10:29:49, INFO: Layerwise_graph: False -2024-02-15 10:29:49, INFO: Skip_connection: True -2024-02-15 10:29:49, INFO: Number of layers: 1 -2024-02-15 10:29:49, INFO: Planning depth: 1 -2024-02-15 10:29:49, INFO: Planning width: 10 -2024-02-15 10:29:49, INFO: Sparse search: None -2024-02-15 10:29:51, INFO: human number: 10 -2024-02-15 10:29:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:29:55, INFO: Using device: cpu -2024-02-15 10:29:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:29:55, INFO: Similarity_func: concatenation -2024-02-15 10:29:55, INFO: Layerwise_graph: False -2024-02-15 10:29:55, INFO: Skip_connection: True -2024-02-15 10:29:55, INFO: Number of layers: 1 -2024-02-15 10:29:55, INFO: Similarity_func: concatenation -2024-02-15 10:29:55, INFO: Layerwise_graph: False -2024-02-15 10:29:55, INFO: Skip_connection: True -2024-02-15 10:29:55, INFO: Number of layers: 1 -2024-02-15 10:29:55, INFO: Planning depth: 1 -2024-02-15 10:29:55, INFO: Planning width: 10 -2024-02-15 10:29:55, INFO: Sparse search: None -2024-02-15 10:29:58, INFO: human number: 10 -2024-02-15 10:29:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:29:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:29:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:29:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:29:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:02, INFO: Using device: cpu -2024-02-15 10:30:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:02, INFO: Similarity_func: concatenation -2024-02-15 10:30:02, INFO: Layerwise_graph: False -2024-02-15 10:30:02, INFO: Skip_connection: True -2024-02-15 10:30:02, INFO: Number of layers: 1 -2024-02-15 10:30:02, INFO: Similarity_func: concatenation -2024-02-15 10:30:02, INFO: Layerwise_graph: False -2024-02-15 10:30:02, INFO: Skip_connection: True -2024-02-15 10:30:02, INFO: Number of layers: 1 -2024-02-15 10:30:02, INFO: Planning depth: 1 -2024-02-15 10:30:02, INFO: Planning width: 10 -2024-02-15 10:30:02, INFO: Sparse search: None -2024-02-15 10:30:05, INFO: human number: 10 -2024-02-15 10:30:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:09, INFO: Using device: cpu -2024-02-15 10:30:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:09, INFO: Similarity_func: concatenation -2024-02-15 10:30:09, INFO: Layerwise_graph: False -2024-02-15 10:30:09, INFO: Skip_connection: True -2024-02-15 10:30:09, INFO: Number of layers: 1 -2024-02-15 10:30:09, INFO: Similarity_func: concatenation -2024-02-15 10:30:09, INFO: Layerwise_graph: False -2024-02-15 10:30:09, INFO: Skip_connection: True -2024-02-15 10:30:09, INFO: Number of layers: 1 -2024-02-15 10:30:09, INFO: Planning depth: 1 -2024-02-15 10:30:09, INFO: Planning width: 10 -2024-02-15 10:30:09, INFO: Sparse search: None -2024-02-15 10:30:11, INFO: human number: 10 -2024-02-15 10:30:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:15, INFO: Using device: cpu -2024-02-15 10:30:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:15, INFO: Similarity_func: concatenation -2024-02-15 10:30:15, INFO: Layerwise_graph: False -2024-02-15 10:30:15, INFO: Skip_connection: True -2024-02-15 10:30:15, INFO: Number of layers: 1 -2024-02-15 10:30:15, INFO: Similarity_func: concatenation -2024-02-15 10:30:15, INFO: Layerwise_graph: False -2024-02-15 10:30:15, INFO: Skip_connection: True -2024-02-15 10:30:15, INFO: Number of layers: 1 -2024-02-15 10:30:15, INFO: Planning depth: 1 -2024-02-15 10:30:15, INFO: Planning width: 10 -2024-02-15 10:30:15, INFO: Sparse search: None -2024-02-15 10:30:18, INFO: human number: 10 -2024-02-15 10:30:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:22, INFO: Using device: cpu -2024-02-15 10:30:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:22, INFO: Similarity_func: concatenation -2024-02-15 10:30:22, INFO: Layerwise_graph: False -2024-02-15 10:30:22, INFO: Skip_connection: True -2024-02-15 10:30:22, INFO: Number of layers: 1 -2024-02-15 10:30:22, INFO: Similarity_func: concatenation -2024-02-15 10:30:22, INFO: Layerwise_graph: False -2024-02-15 10:30:22, INFO: Skip_connection: True -2024-02-15 10:30:22, INFO: Number of layers: 1 -2024-02-15 10:30:22, INFO: Planning depth: 1 -2024-02-15 10:30:22, INFO: Planning width: 10 -2024-02-15 10:30:22, INFO: Sparse search: None -2024-02-15 10:30:25, INFO: human number: 10 -2024-02-15 10:30:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:25, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:29, INFO: Using device: cpu -2024-02-15 10:30:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:29, INFO: Similarity_func: concatenation -2024-02-15 10:30:29, INFO: Layerwise_graph: False -2024-02-15 10:30:29, INFO: Skip_connection: True -2024-02-15 10:30:29, INFO: Number of layers: 1 -2024-02-15 10:30:29, INFO: Similarity_func: concatenation -2024-02-15 10:30:29, INFO: Layerwise_graph: False -2024-02-15 10:30:29, INFO: Skip_connection: True -2024-02-15 10:30:29, INFO: Number of layers: 1 -2024-02-15 10:30:29, INFO: Planning depth: 1 -2024-02-15 10:30:29, INFO: Planning width: 10 -2024-02-15 10:30:29, INFO: Sparse search: None -2024-02-15 10:30:32, INFO: human number: 10 -2024-02-15 10:30:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:36, INFO: Using device: cpu -2024-02-15 10:30:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:36, INFO: Similarity_func: concatenation -2024-02-15 10:30:36, INFO: Layerwise_graph: False -2024-02-15 10:30:36, INFO: Skip_connection: True -2024-02-15 10:30:36, INFO: Number of layers: 1 -2024-02-15 10:30:36, INFO: Similarity_func: concatenation -2024-02-15 10:30:36, INFO: Layerwise_graph: False -2024-02-15 10:30:36, INFO: Skip_connection: True -2024-02-15 10:30:36, INFO: Number of layers: 1 -2024-02-15 10:30:36, INFO: Planning depth: 1 -2024-02-15 10:30:36, INFO: Planning width: 10 -2024-02-15 10:30:36, INFO: Sparse search: None -2024-02-15 10:30:39, INFO: human number: 10 -2024-02-15 10:30:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:43, INFO: Using device: cpu -2024-02-15 10:30:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:43, INFO: Similarity_func: concatenation -2024-02-15 10:30:43, INFO: Layerwise_graph: False -2024-02-15 10:30:43, INFO: Skip_connection: True -2024-02-15 10:30:43, INFO: Number of layers: 1 -2024-02-15 10:30:43, INFO: Similarity_func: concatenation -2024-02-15 10:30:43, INFO: Layerwise_graph: False -2024-02-15 10:30:43, INFO: Skip_connection: True -2024-02-15 10:30:43, INFO: Number of layers: 1 -2024-02-15 10:30:43, INFO: Planning depth: 1 -2024-02-15 10:30:43, INFO: Planning width: 10 -2024-02-15 10:30:43, INFO: Sparse search: None -2024-02-15 10:30:46, INFO: human number: 10 -2024-02-15 10:30:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:30:52, INFO: Using device: cpu -2024-02-15 10:30:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:30:52, INFO: Similarity_func: concatenation -2024-02-15 10:30:52, INFO: Layerwise_graph: False -2024-02-15 10:30:52, INFO: Skip_connection: True -2024-02-15 10:30:52, INFO: Number of layers: 1 -2024-02-15 10:30:52, INFO: Similarity_func: concatenation -2024-02-15 10:30:52, INFO: Layerwise_graph: False -2024-02-15 10:30:52, INFO: Skip_connection: True -2024-02-15 10:30:52, INFO: Number of layers: 1 -2024-02-15 10:30:52, INFO: Planning depth: 1 -2024-02-15 10:30:52, INFO: Planning width: 10 -2024-02-15 10:30:52, INFO: Sparse search: None -2024-02-15 10:30:54, INFO: human number: 10 -2024-02-15 10:30:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:30:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:30:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:30:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:30:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:00, INFO: Using device: cpu -2024-02-15 10:31:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:00, INFO: Similarity_func: concatenation -2024-02-15 10:31:00, INFO: Layerwise_graph: False -2024-02-15 10:31:00, INFO: Skip_connection: True -2024-02-15 10:31:00, INFO: Number of layers: 1 -2024-02-15 10:31:00, INFO: Similarity_func: concatenation -2024-02-15 10:31:00, INFO: Layerwise_graph: False -2024-02-15 10:31:00, INFO: Skip_connection: True -2024-02-15 10:31:00, INFO: Number of layers: 1 -2024-02-15 10:31:00, INFO: Planning depth: 1 -2024-02-15 10:31:00, INFO: Planning width: 10 -2024-02-15 10:31:00, INFO: Sparse search: None -2024-02-15 10:31:03, INFO: human number: 10 -2024-02-15 10:31:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:07, INFO: Using device: cpu -2024-02-15 10:31:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:07, INFO: Similarity_func: concatenation -2024-02-15 10:31:07, INFO: Layerwise_graph: False -2024-02-15 10:31:07, INFO: Skip_connection: True -2024-02-15 10:31:07, INFO: Number of layers: 1 -2024-02-15 10:31:07, INFO: Similarity_func: concatenation -2024-02-15 10:31:07, INFO: Layerwise_graph: False -2024-02-15 10:31:07, INFO: Skip_connection: True -2024-02-15 10:31:07, INFO: Number of layers: 1 -2024-02-15 10:31:07, INFO: Planning depth: 1 -2024-02-15 10:31:07, INFO: Planning width: 10 -2024-02-15 10:31:07, INFO: Sparse search: None -2024-02-15 10:31:10, INFO: human number: 10 -2024-02-15 10:31:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:14, INFO: Using device: cpu -2024-02-15 10:31:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:14, INFO: Similarity_func: concatenation -2024-02-15 10:31:14, INFO: Layerwise_graph: False -2024-02-15 10:31:14, INFO: Skip_connection: True -2024-02-15 10:31:14, INFO: Number of layers: 1 -2024-02-15 10:31:14, INFO: Similarity_func: concatenation -2024-02-15 10:31:14, INFO: Layerwise_graph: False -2024-02-15 10:31:14, INFO: Skip_connection: True -2024-02-15 10:31:14, INFO: Number of layers: 1 -2024-02-15 10:31:14, INFO: Planning depth: 1 -2024-02-15 10:31:14, INFO: Planning width: 10 -2024-02-15 10:31:14, INFO: Sparse search: None -2024-02-15 10:31:17, INFO: human number: 10 -2024-02-15 10:31:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:21, INFO: Using device: cpu -2024-02-15 10:31:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:21, INFO: Similarity_func: concatenation -2024-02-15 10:31:21, INFO: Layerwise_graph: False -2024-02-15 10:31:21, INFO: Skip_connection: True -2024-02-15 10:31:21, INFO: Number of layers: 1 -2024-02-15 10:31:21, INFO: Similarity_func: concatenation -2024-02-15 10:31:21, INFO: Layerwise_graph: False -2024-02-15 10:31:21, INFO: Skip_connection: True -2024-02-15 10:31:21, INFO: Number of layers: 1 -2024-02-15 10:31:21, INFO: Planning depth: 1 -2024-02-15 10:31:21, INFO: Planning width: 10 -2024-02-15 10:31:21, INFO: Sparse search: None -2024-02-15 10:31:24, INFO: human number: 10 -2024-02-15 10:31:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:28, INFO: Using device: cpu -2024-02-15 10:31:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:28, INFO: Similarity_func: concatenation -2024-02-15 10:31:28, INFO: Layerwise_graph: False -2024-02-15 10:31:28, INFO: Skip_connection: True -2024-02-15 10:31:28, INFO: Number of layers: 1 -2024-02-15 10:31:28, INFO: Similarity_func: concatenation -2024-02-15 10:31:28, INFO: Layerwise_graph: False -2024-02-15 10:31:28, INFO: Skip_connection: True -2024-02-15 10:31:28, INFO: Number of layers: 1 -2024-02-15 10:31:28, INFO: Planning depth: 1 -2024-02-15 10:31:28, INFO: Planning width: 10 -2024-02-15 10:31:28, INFO: Sparse search: None -2024-02-15 10:31:31, INFO: human number: 10 -2024-02-15 10:31:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:36, INFO: Using device: cpu -2024-02-15 10:31:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:36, INFO: Similarity_func: concatenation -2024-02-15 10:31:36, INFO: Layerwise_graph: False -2024-02-15 10:31:36, INFO: Skip_connection: True -2024-02-15 10:31:36, INFO: Number of layers: 1 -2024-02-15 10:31:36, INFO: Similarity_func: concatenation -2024-02-15 10:31:36, INFO: Layerwise_graph: False -2024-02-15 10:31:36, INFO: Skip_connection: True -2024-02-15 10:31:36, INFO: Number of layers: 1 -2024-02-15 10:31:36, INFO: Planning depth: 1 -2024-02-15 10:31:36, INFO: Planning width: 10 -2024-02-15 10:31:36, INFO: Sparse search: None -2024-02-15 10:31:38, INFO: human number: 10 -2024-02-15 10:31:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:42, INFO: Using device: cpu -2024-02-15 10:31:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:42, INFO: Similarity_func: concatenation -2024-02-15 10:31:42, INFO: Layerwise_graph: False -2024-02-15 10:31:42, INFO: Skip_connection: True -2024-02-15 10:31:42, INFO: Number of layers: 1 -2024-02-15 10:31:42, INFO: Similarity_func: concatenation -2024-02-15 10:31:42, INFO: Layerwise_graph: False -2024-02-15 10:31:42, INFO: Skip_connection: True -2024-02-15 10:31:42, INFO: Number of layers: 1 -2024-02-15 10:31:42, INFO: Planning depth: 1 -2024-02-15 10:31:42, INFO: Planning width: 10 -2024-02-15 10:31:42, INFO: Sparse search: None -2024-02-15 10:31:45, INFO: human number: 10 -2024-02-15 10:31:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:49, INFO: Using device: cpu -2024-02-15 10:31:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:49, INFO: Similarity_func: concatenation -2024-02-15 10:31:49, INFO: Layerwise_graph: False -2024-02-15 10:31:49, INFO: Skip_connection: True -2024-02-15 10:31:49, INFO: Number of layers: 1 -2024-02-15 10:31:49, INFO: Similarity_func: concatenation -2024-02-15 10:31:49, INFO: Layerwise_graph: False -2024-02-15 10:31:49, INFO: Skip_connection: True -2024-02-15 10:31:49, INFO: Number of layers: 1 -2024-02-15 10:31:49, INFO: Planning depth: 1 -2024-02-15 10:31:49, INFO: Planning width: 10 -2024-02-15 10:31:49, INFO: Sparse search: None -2024-02-15 10:31:52, INFO: human number: 10 -2024-02-15 10:31:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:31:56, INFO: Using device: cpu -2024-02-15 10:31:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:31:56, INFO: Similarity_func: concatenation -2024-02-15 10:31:56, INFO: Layerwise_graph: False -2024-02-15 10:31:56, INFO: Skip_connection: True -2024-02-15 10:31:56, INFO: Number of layers: 1 -2024-02-15 10:31:56, INFO: Similarity_func: concatenation -2024-02-15 10:31:56, INFO: Layerwise_graph: False -2024-02-15 10:31:56, INFO: Skip_connection: True -2024-02-15 10:31:56, INFO: Number of layers: 1 -2024-02-15 10:31:56, INFO: Planning depth: 1 -2024-02-15 10:31:56, INFO: Planning width: 10 -2024-02-15 10:31:56, INFO: Sparse search: None -2024-02-15 10:31:59, INFO: human number: 10 -2024-02-15 10:31:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:31:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:31:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:31:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:31:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:03, INFO: Using device: cpu -2024-02-15 10:32:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:03, INFO: Similarity_func: concatenation -2024-02-15 10:32:03, INFO: Layerwise_graph: False -2024-02-15 10:32:03, INFO: Skip_connection: True -2024-02-15 10:32:03, INFO: Number of layers: 1 -2024-02-15 10:32:03, INFO: Similarity_func: concatenation -2024-02-15 10:32:03, INFO: Layerwise_graph: False -2024-02-15 10:32:03, INFO: Skip_connection: True -2024-02-15 10:32:03, INFO: Number of layers: 1 -2024-02-15 10:32:03, INFO: Planning depth: 1 -2024-02-15 10:32:03, INFO: Planning width: 10 -2024-02-15 10:32:03, INFO: Sparse search: None -2024-02-15 10:32:06, INFO: human number: 10 -2024-02-15 10:32:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:10, INFO: Using device: cpu -2024-02-15 10:32:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:10, INFO: Similarity_func: concatenation -2024-02-15 10:32:10, INFO: Layerwise_graph: False -2024-02-15 10:32:10, INFO: Skip_connection: True -2024-02-15 10:32:10, INFO: Number of layers: 1 -2024-02-15 10:32:10, INFO: Similarity_func: concatenation -2024-02-15 10:32:10, INFO: Layerwise_graph: False -2024-02-15 10:32:10, INFO: Skip_connection: True -2024-02-15 10:32:10, INFO: Number of layers: 1 -2024-02-15 10:32:10, INFO: Planning depth: 1 -2024-02-15 10:32:10, INFO: Planning width: 10 -2024-02-15 10:32:10, INFO: Sparse search: None -2024-02-15 10:32:13, INFO: human number: 10 -2024-02-15 10:32:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:17, INFO: Using device: cpu -2024-02-15 10:32:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:17, INFO: Similarity_func: concatenation -2024-02-15 10:32:17, INFO: Layerwise_graph: False -2024-02-15 10:32:17, INFO: Skip_connection: True -2024-02-15 10:32:17, INFO: Number of layers: 1 -2024-02-15 10:32:17, INFO: Similarity_func: concatenation -2024-02-15 10:32:17, INFO: Layerwise_graph: False -2024-02-15 10:32:17, INFO: Skip_connection: True -2024-02-15 10:32:17, INFO: Number of layers: 1 -2024-02-15 10:32:17, INFO: Planning depth: 1 -2024-02-15 10:32:17, INFO: Planning width: 10 -2024-02-15 10:32:17, INFO: Sparse search: None -2024-02-15 10:32:20, INFO: human number: 10 -2024-02-15 10:32:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:25, INFO: Using device: cpu -2024-02-15 10:32:25, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:25, INFO: Similarity_func: concatenation -2024-02-15 10:32:25, INFO: Layerwise_graph: False -2024-02-15 10:32:25, INFO: Skip_connection: True -2024-02-15 10:32:25, INFO: Number of layers: 1 -2024-02-15 10:32:25, INFO: Similarity_func: concatenation -2024-02-15 10:32:25, INFO: Layerwise_graph: False -2024-02-15 10:32:25, INFO: Skip_connection: True -2024-02-15 10:32:25, INFO: Number of layers: 1 -2024-02-15 10:32:25, INFO: Planning depth: 1 -2024-02-15 10:32:25, INFO: Planning width: 10 -2024-02-15 10:32:25, INFO: Sparse search: None -2024-02-15 10:32:27, INFO: human number: 10 -2024-02-15 10:32:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:31, INFO: Using device: cpu -2024-02-15 10:32:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:31, INFO: Similarity_func: concatenation -2024-02-15 10:32:31, INFO: Layerwise_graph: False -2024-02-15 10:32:31, INFO: Skip_connection: True -2024-02-15 10:32:31, INFO: Number of layers: 1 -2024-02-15 10:32:31, INFO: Similarity_func: concatenation -2024-02-15 10:32:31, INFO: Layerwise_graph: False -2024-02-15 10:32:31, INFO: Skip_connection: True -2024-02-15 10:32:31, INFO: Number of layers: 1 -2024-02-15 10:32:31, INFO: Planning depth: 1 -2024-02-15 10:32:31, INFO: Planning width: 10 -2024-02-15 10:32:31, INFO: Sparse search: None -2024-02-15 10:32:34, INFO: human number: 10 -2024-02-15 10:32:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:38, INFO: Using device: cpu -2024-02-15 10:32:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:38, INFO: Similarity_func: concatenation -2024-02-15 10:32:38, INFO: Layerwise_graph: False -2024-02-15 10:32:38, INFO: Skip_connection: True -2024-02-15 10:32:38, INFO: Number of layers: 1 -2024-02-15 10:32:38, INFO: Similarity_func: concatenation -2024-02-15 10:32:38, INFO: Layerwise_graph: False -2024-02-15 10:32:38, INFO: Skip_connection: True -2024-02-15 10:32:38, INFO: Number of layers: 1 -2024-02-15 10:32:38, INFO: Planning depth: 1 -2024-02-15 10:32:38, INFO: Planning width: 10 -2024-02-15 10:32:38, INFO: Sparse search: None -2024-02-15 10:32:41, INFO: human number: 10 -2024-02-15 10:32:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:45, INFO: Using device: cpu -2024-02-15 10:32:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:45, INFO: Similarity_func: concatenation -2024-02-15 10:32:45, INFO: Layerwise_graph: False -2024-02-15 10:32:45, INFO: Skip_connection: True -2024-02-15 10:32:45, INFO: Number of layers: 1 -2024-02-15 10:32:45, INFO: Similarity_func: concatenation -2024-02-15 10:32:45, INFO: Layerwise_graph: False -2024-02-15 10:32:45, INFO: Skip_connection: True -2024-02-15 10:32:45, INFO: Number of layers: 1 -2024-02-15 10:32:45, INFO: Planning depth: 1 -2024-02-15 10:32:45, INFO: Planning width: 10 -2024-02-15 10:32:45, INFO: Sparse search: None -2024-02-15 10:32:47, INFO: human number: 10 -2024-02-15 10:32:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:52, INFO: Using device: cpu -2024-02-15 10:32:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:52, INFO: Similarity_func: concatenation -2024-02-15 10:32:52, INFO: Layerwise_graph: False -2024-02-15 10:32:52, INFO: Skip_connection: True -2024-02-15 10:32:52, INFO: Number of layers: 1 -2024-02-15 10:32:52, INFO: Similarity_func: concatenation -2024-02-15 10:32:52, INFO: Layerwise_graph: False -2024-02-15 10:32:52, INFO: Skip_connection: True -2024-02-15 10:32:52, INFO: Number of layers: 1 -2024-02-15 10:32:52, INFO: Planning depth: 1 -2024-02-15 10:32:52, INFO: Planning width: 10 -2024-02-15 10:32:52, INFO: Sparse search: None -2024-02-15 10:32:55, INFO: human number: 10 -2024-02-15 10:32:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:32:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:32:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:32:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:32:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:32:59, INFO: Using device: cpu -2024-02-15 10:32:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:32:59, INFO: Similarity_func: concatenation -2024-02-15 10:32:59, INFO: Layerwise_graph: False -2024-02-15 10:32:59, INFO: Skip_connection: True -2024-02-15 10:32:59, INFO: Number of layers: 1 -2024-02-15 10:32:59, INFO: Similarity_func: concatenation -2024-02-15 10:32:59, INFO: Layerwise_graph: False -2024-02-15 10:32:59, INFO: Skip_connection: True -2024-02-15 10:32:59, INFO: Number of layers: 1 -2024-02-15 10:32:59, INFO: Planning depth: 1 -2024-02-15 10:32:59, INFO: Planning width: 10 -2024-02-15 10:32:59, INFO: Sparse search: None -2024-02-15 10:33:02, INFO: human number: 10 -2024-02-15 10:33:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:06, INFO: Using device: cpu -2024-02-15 10:33:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:06, INFO: Similarity_func: concatenation -2024-02-15 10:33:06, INFO: Layerwise_graph: False -2024-02-15 10:33:06, INFO: Skip_connection: True -2024-02-15 10:33:06, INFO: Number of layers: 1 -2024-02-15 10:33:06, INFO: Similarity_func: concatenation -2024-02-15 10:33:06, INFO: Layerwise_graph: False -2024-02-15 10:33:06, INFO: Skip_connection: True -2024-02-15 10:33:06, INFO: Number of layers: 1 -2024-02-15 10:33:06, INFO: Planning depth: 1 -2024-02-15 10:33:06, INFO: Planning width: 10 -2024-02-15 10:33:06, INFO: Sparse search: None -2024-02-15 10:33:09, INFO: human number: 10 -2024-02-15 10:33:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:13, INFO: Using device: cpu -2024-02-15 10:33:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:13, INFO: Similarity_func: concatenation -2024-02-15 10:33:13, INFO: Layerwise_graph: False -2024-02-15 10:33:13, INFO: Skip_connection: True -2024-02-15 10:33:13, INFO: Number of layers: 1 -2024-02-15 10:33:13, INFO: Similarity_func: concatenation -2024-02-15 10:33:13, INFO: Layerwise_graph: False -2024-02-15 10:33:13, INFO: Skip_connection: True -2024-02-15 10:33:13, INFO: Number of layers: 1 -2024-02-15 10:33:13, INFO: Planning depth: 1 -2024-02-15 10:33:13, INFO: Planning width: 10 -2024-02-15 10:33:13, INFO: Sparse search: None -2024-02-15 10:33:16, INFO: human number: 10 -2024-02-15 10:33:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:19, INFO: Using device: cpu -2024-02-15 10:33:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:19, INFO: Similarity_func: concatenation -2024-02-15 10:33:19, INFO: Layerwise_graph: False -2024-02-15 10:33:19, INFO: Skip_connection: True -2024-02-15 10:33:19, INFO: Number of layers: 1 -2024-02-15 10:33:19, INFO: Similarity_func: concatenation -2024-02-15 10:33:19, INFO: Layerwise_graph: False -2024-02-15 10:33:19, INFO: Skip_connection: True -2024-02-15 10:33:19, INFO: Number of layers: 1 -2024-02-15 10:33:19, INFO: Planning depth: 1 -2024-02-15 10:33:19, INFO: Planning width: 10 -2024-02-15 10:33:19, INFO: Sparse search: None -2024-02-15 10:33:22, INFO: human number: 10 -2024-02-15 10:33:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:26, INFO: Using device: cpu -2024-02-15 10:33:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:26, INFO: Similarity_func: concatenation -2024-02-15 10:33:26, INFO: Layerwise_graph: False -2024-02-15 10:33:26, INFO: Skip_connection: True -2024-02-15 10:33:26, INFO: Number of layers: 1 -2024-02-15 10:33:26, INFO: Similarity_func: concatenation -2024-02-15 10:33:26, INFO: Layerwise_graph: False -2024-02-15 10:33:26, INFO: Skip_connection: True -2024-02-15 10:33:26, INFO: Number of layers: 1 -2024-02-15 10:33:26, INFO: Planning depth: 1 -2024-02-15 10:33:26, INFO: Planning width: 10 -2024-02-15 10:33:26, INFO: Sparse search: None -2024-02-15 10:33:29, INFO: human number: 10 -2024-02-15 10:33:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:33, INFO: Using device: cpu -2024-02-15 10:33:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:33, INFO: Similarity_func: concatenation -2024-02-15 10:33:33, INFO: Layerwise_graph: False -2024-02-15 10:33:33, INFO: Skip_connection: True -2024-02-15 10:33:33, INFO: Number of layers: 1 -2024-02-15 10:33:33, INFO: Similarity_func: concatenation -2024-02-15 10:33:33, INFO: Layerwise_graph: False -2024-02-15 10:33:33, INFO: Skip_connection: True -2024-02-15 10:33:33, INFO: Number of layers: 1 -2024-02-15 10:33:33, INFO: Planning depth: 1 -2024-02-15 10:33:33, INFO: Planning width: 10 -2024-02-15 10:33:33, INFO: Sparse search: None -2024-02-15 10:33:36, INFO: human number: 10 -2024-02-15 10:33:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:40, INFO: Using device: cpu -2024-02-15 10:33:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:40, INFO: Similarity_func: concatenation -2024-02-15 10:33:40, INFO: Layerwise_graph: False -2024-02-15 10:33:40, INFO: Skip_connection: True -2024-02-15 10:33:40, INFO: Number of layers: 1 -2024-02-15 10:33:40, INFO: Similarity_func: concatenation -2024-02-15 10:33:40, INFO: Layerwise_graph: False -2024-02-15 10:33:40, INFO: Skip_connection: True -2024-02-15 10:33:40, INFO: Number of layers: 1 -2024-02-15 10:33:40, INFO: Planning depth: 1 -2024-02-15 10:33:40, INFO: Planning width: 10 -2024-02-15 10:33:40, INFO: Sparse search: None -2024-02-15 10:33:42, INFO: human number: 10 -2024-02-15 10:33:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:47, INFO: Using device: cpu -2024-02-15 10:33:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:47, INFO: Similarity_func: concatenation -2024-02-15 10:33:47, INFO: Layerwise_graph: False -2024-02-15 10:33:47, INFO: Skip_connection: True -2024-02-15 10:33:47, INFO: Number of layers: 1 -2024-02-15 10:33:47, INFO: Similarity_func: concatenation -2024-02-15 10:33:47, INFO: Layerwise_graph: False -2024-02-15 10:33:47, INFO: Skip_connection: True -2024-02-15 10:33:47, INFO: Number of layers: 1 -2024-02-15 10:33:47, INFO: Planning depth: 1 -2024-02-15 10:33:47, INFO: Planning width: 10 -2024-02-15 10:33:47, INFO: Sparse search: None -2024-02-15 10:33:49, INFO: human number: 10 -2024-02-15 10:33:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:33:54, INFO: Using device: cpu -2024-02-15 10:33:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:33:54, INFO: Similarity_func: concatenation -2024-02-15 10:33:54, INFO: Layerwise_graph: False -2024-02-15 10:33:54, INFO: Skip_connection: True -2024-02-15 10:33:54, INFO: Number of layers: 1 -2024-02-15 10:33:54, INFO: Similarity_func: concatenation -2024-02-15 10:33:54, INFO: Layerwise_graph: False -2024-02-15 10:33:54, INFO: Skip_connection: True -2024-02-15 10:33:54, INFO: Number of layers: 1 -2024-02-15 10:33:54, INFO: Planning depth: 1 -2024-02-15 10:33:54, INFO: Planning width: 10 -2024-02-15 10:33:54, INFO: Sparse search: None -2024-02-15 10:33:56, INFO: human number: 10 -2024-02-15 10:33:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:33:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:33:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:33:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:33:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:00, INFO: Using device: cpu -2024-02-15 10:34:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:00, INFO: Similarity_func: concatenation -2024-02-15 10:34:00, INFO: Layerwise_graph: False -2024-02-15 10:34:00, INFO: Skip_connection: True -2024-02-15 10:34:00, INFO: Number of layers: 1 -2024-02-15 10:34:01, INFO: Similarity_func: concatenation -2024-02-15 10:34:01, INFO: Layerwise_graph: False -2024-02-15 10:34:01, INFO: Skip_connection: True -2024-02-15 10:34:01, INFO: Number of layers: 1 -2024-02-15 10:34:01, INFO: Planning depth: 1 -2024-02-15 10:34:01, INFO: Planning width: 10 -2024-02-15 10:34:01, INFO: Sparse search: None -2024-02-15 10:34:03, INFO: human number: 10 -2024-02-15 10:34:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:07, INFO: Using device: cpu -2024-02-15 10:34:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:07, INFO: Similarity_func: concatenation -2024-02-15 10:34:07, INFO: Layerwise_graph: False -2024-02-15 10:34:07, INFO: Skip_connection: True -2024-02-15 10:34:07, INFO: Number of layers: 1 -2024-02-15 10:34:07, INFO: Similarity_func: concatenation -2024-02-15 10:34:07, INFO: Layerwise_graph: False -2024-02-15 10:34:07, INFO: Skip_connection: True -2024-02-15 10:34:07, INFO: Number of layers: 1 -2024-02-15 10:34:07, INFO: Planning depth: 1 -2024-02-15 10:34:07, INFO: Planning width: 10 -2024-02-15 10:34:07, INFO: Sparse search: None -2024-02-15 10:34:10, INFO: human number: 10 -2024-02-15 10:34:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:14, INFO: Using device: cpu -2024-02-15 10:34:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:14, INFO: Similarity_func: concatenation -2024-02-15 10:34:14, INFO: Layerwise_graph: False -2024-02-15 10:34:14, INFO: Skip_connection: True -2024-02-15 10:34:14, INFO: Number of layers: 1 -2024-02-15 10:34:14, INFO: Similarity_func: concatenation -2024-02-15 10:34:14, INFO: Layerwise_graph: False -2024-02-15 10:34:14, INFO: Skip_connection: True -2024-02-15 10:34:14, INFO: Number of layers: 1 -2024-02-15 10:34:14, INFO: Planning depth: 1 -2024-02-15 10:34:14, INFO: Planning width: 10 -2024-02-15 10:34:14, INFO: Sparse search: None -2024-02-15 10:34:17, INFO: human number: 10 -2024-02-15 10:34:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:21, INFO: Using device: cpu -2024-02-15 10:34:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:21, INFO: Similarity_func: concatenation -2024-02-15 10:34:21, INFO: Layerwise_graph: False -2024-02-15 10:34:21, INFO: Skip_connection: True -2024-02-15 10:34:21, INFO: Number of layers: 1 -2024-02-15 10:34:21, INFO: Similarity_func: concatenation -2024-02-15 10:34:21, INFO: Layerwise_graph: False -2024-02-15 10:34:21, INFO: Skip_connection: True -2024-02-15 10:34:21, INFO: Number of layers: 1 -2024-02-15 10:34:21, INFO: Planning depth: 1 -2024-02-15 10:34:21, INFO: Planning width: 10 -2024-02-15 10:34:21, INFO: Sparse search: None -2024-02-15 10:34:23, INFO: human number: 10 -2024-02-15 10:34:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:27, INFO: Using device: cpu -2024-02-15 10:34:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:27, INFO: Similarity_func: concatenation -2024-02-15 10:34:27, INFO: Layerwise_graph: False -2024-02-15 10:34:27, INFO: Skip_connection: True -2024-02-15 10:34:27, INFO: Number of layers: 1 -2024-02-15 10:34:27, INFO: Similarity_func: concatenation -2024-02-15 10:34:27, INFO: Layerwise_graph: False -2024-02-15 10:34:27, INFO: Skip_connection: True -2024-02-15 10:34:27, INFO: Number of layers: 1 -2024-02-15 10:34:27, INFO: Planning depth: 1 -2024-02-15 10:34:27, INFO: Planning width: 10 -2024-02-15 10:34:27, INFO: Sparse search: None -2024-02-15 10:34:30, INFO: human number: 10 -2024-02-15 10:34:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:34, INFO: Using device: cpu -2024-02-15 10:34:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:34, INFO: Similarity_func: concatenation -2024-02-15 10:34:34, INFO: Layerwise_graph: False -2024-02-15 10:34:34, INFO: Skip_connection: True -2024-02-15 10:34:34, INFO: Number of layers: 1 -2024-02-15 10:34:34, INFO: Similarity_func: concatenation -2024-02-15 10:34:34, INFO: Layerwise_graph: False -2024-02-15 10:34:34, INFO: Skip_connection: True -2024-02-15 10:34:34, INFO: Number of layers: 1 -2024-02-15 10:34:34, INFO: Planning depth: 1 -2024-02-15 10:34:34, INFO: Planning width: 10 -2024-02-15 10:34:34, INFO: Sparse search: None -2024-02-15 10:34:37, INFO: human number: 10 -2024-02-15 10:34:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:41, INFO: Using device: cpu -2024-02-15 10:34:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:41, INFO: Similarity_func: concatenation -2024-02-15 10:34:41, INFO: Layerwise_graph: False -2024-02-15 10:34:41, INFO: Skip_connection: True -2024-02-15 10:34:41, INFO: Number of layers: 1 -2024-02-15 10:34:41, INFO: Similarity_func: concatenation -2024-02-15 10:34:41, INFO: Layerwise_graph: False -2024-02-15 10:34:41, INFO: Skip_connection: True -2024-02-15 10:34:41, INFO: Number of layers: 1 -2024-02-15 10:34:41, INFO: Planning depth: 1 -2024-02-15 10:34:41, INFO: Planning width: 10 -2024-02-15 10:34:41, INFO: Sparse search: None -2024-02-15 10:34:44, INFO: human number: 10 -2024-02-15 10:34:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:48, INFO: Using device: cpu -2024-02-15 10:34:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:48, INFO: Similarity_func: concatenation -2024-02-15 10:34:48, INFO: Layerwise_graph: False -2024-02-15 10:34:48, INFO: Skip_connection: True -2024-02-15 10:34:48, INFO: Number of layers: 1 -2024-02-15 10:34:48, INFO: Similarity_func: concatenation -2024-02-15 10:34:48, INFO: Layerwise_graph: False -2024-02-15 10:34:48, INFO: Skip_connection: True -2024-02-15 10:34:48, INFO: Number of layers: 1 -2024-02-15 10:34:48, INFO: Planning depth: 1 -2024-02-15 10:34:48, INFO: Planning width: 10 -2024-02-15 10:34:48, INFO: Sparse search: None -2024-02-15 10:34:51, INFO: human number: 10 -2024-02-15 10:34:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:34:55, INFO: Using device: cpu -2024-02-15 10:34:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:34:55, INFO: Similarity_func: concatenation -2024-02-15 10:34:55, INFO: Layerwise_graph: False -2024-02-15 10:34:55, INFO: Skip_connection: True -2024-02-15 10:34:55, INFO: Number of layers: 1 -2024-02-15 10:34:55, INFO: Similarity_func: concatenation -2024-02-15 10:34:55, INFO: Layerwise_graph: False -2024-02-15 10:34:55, INFO: Skip_connection: True -2024-02-15 10:34:55, INFO: Number of layers: 1 -2024-02-15 10:34:55, INFO: Planning depth: 1 -2024-02-15 10:34:55, INFO: Planning width: 10 -2024-02-15 10:34:55, INFO: Sparse search: None -2024-02-15 10:34:58, INFO: human number: 10 -2024-02-15 10:34:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:34:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:34:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:34:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:34:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:02, INFO: Using device: cpu -2024-02-15 10:35:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:02, INFO: Similarity_func: concatenation -2024-02-15 10:35:02, INFO: Layerwise_graph: False -2024-02-15 10:35:02, INFO: Skip_connection: True -2024-02-15 10:35:02, INFO: Number of layers: 1 -2024-02-15 10:35:02, INFO: Similarity_func: concatenation -2024-02-15 10:35:02, INFO: Layerwise_graph: False -2024-02-15 10:35:02, INFO: Skip_connection: True -2024-02-15 10:35:02, INFO: Number of layers: 1 -2024-02-15 10:35:02, INFO: Planning depth: 1 -2024-02-15 10:35:02, INFO: Planning width: 10 -2024-02-15 10:35:02, INFO: Sparse search: None -2024-02-15 10:35:05, INFO: human number: 10 -2024-02-15 10:35:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:09, INFO: Using device: cpu -2024-02-15 10:35:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:09, INFO: Similarity_func: concatenation -2024-02-15 10:35:09, INFO: Layerwise_graph: False -2024-02-15 10:35:09, INFO: Skip_connection: True -2024-02-15 10:35:09, INFO: Number of layers: 1 -2024-02-15 10:35:09, INFO: Similarity_func: concatenation -2024-02-15 10:35:09, INFO: Layerwise_graph: False -2024-02-15 10:35:09, INFO: Skip_connection: True -2024-02-15 10:35:09, INFO: Number of layers: 1 -2024-02-15 10:35:09, INFO: Planning depth: 1 -2024-02-15 10:35:09, INFO: Planning width: 10 -2024-02-15 10:35:09, INFO: Sparse search: None -2024-02-15 10:35:12, INFO: human number: 10 -2024-02-15 10:35:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:16, INFO: Using device: cpu -2024-02-15 10:35:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:16, INFO: Similarity_func: concatenation -2024-02-15 10:35:16, INFO: Layerwise_graph: False -2024-02-15 10:35:16, INFO: Skip_connection: True -2024-02-15 10:35:16, INFO: Number of layers: 1 -2024-02-15 10:35:16, INFO: Similarity_func: concatenation -2024-02-15 10:35:16, INFO: Layerwise_graph: False -2024-02-15 10:35:16, INFO: Skip_connection: True -2024-02-15 10:35:16, INFO: Number of layers: 1 -2024-02-15 10:35:16, INFO: Planning depth: 1 -2024-02-15 10:35:16, INFO: Planning width: 10 -2024-02-15 10:35:16, INFO: Sparse search: None -2024-02-15 10:35:19, INFO: human number: 10 -2024-02-15 10:35:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:23, INFO: Using device: cpu -2024-02-15 10:35:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:23, INFO: Similarity_func: concatenation -2024-02-15 10:35:23, INFO: Layerwise_graph: False -2024-02-15 10:35:23, INFO: Skip_connection: True -2024-02-15 10:35:23, INFO: Number of layers: 1 -2024-02-15 10:35:23, INFO: Similarity_func: concatenation -2024-02-15 10:35:23, INFO: Layerwise_graph: False -2024-02-15 10:35:23, INFO: Skip_connection: True -2024-02-15 10:35:23, INFO: Number of layers: 1 -2024-02-15 10:35:23, INFO: Planning depth: 1 -2024-02-15 10:35:23, INFO: Planning width: 10 -2024-02-15 10:35:23, INFO: Sparse search: None -2024-02-15 10:35:26, INFO: human number: 10 -2024-02-15 10:35:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:30, INFO: Using device: cpu -2024-02-15 10:35:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:30, INFO: Similarity_func: concatenation -2024-02-15 10:35:30, INFO: Layerwise_graph: False -2024-02-15 10:35:30, INFO: Skip_connection: True -2024-02-15 10:35:30, INFO: Number of layers: 1 -2024-02-15 10:35:30, INFO: Similarity_func: concatenation -2024-02-15 10:35:30, INFO: Layerwise_graph: False -2024-02-15 10:35:30, INFO: Skip_connection: True -2024-02-15 10:35:30, INFO: Number of layers: 1 -2024-02-15 10:35:30, INFO: Planning depth: 1 -2024-02-15 10:35:30, INFO: Planning width: 10 -2024-02-15 10:35:30, INFO: Sparse search: None -2024-02-15 10:35:33, INFO: human number: 10 -2024-02-15 10:35:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:36, INFO: Using device: cpu -2024-02-15 10:35:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:36, INFO: Similarity_func: concatenation -2024-02-15 10:35:36, INFO: Layerwise_graph: False -2024-02-15 10:35:36, INFO: Skip_connection: True -2024-02-15 10:35:36, INFO: Number of layers: 1 -2024-02-15 10:35:36, INFO: Similarity_func: concatenation -2024-02-15 10:35:36, INFO: Layerwise_graph: False -2024-02-15 10:35:36, INFO: Skip_connection: True -2024-02-15 10:35:36, INFO: Number of layers: 1 -2024-02-15 10:35:36, INFO: Planning depth: 1 -2024-02-15 10:35:36, INFO: Planning width: 10 -2024-02-15 10:35:36, INFO: Sparse search: None -2024-02-15 10:35:39, INFO: human number: 10 -2024-02-15 10:35:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:44, INFO: Using device: cpu -2024-02-15 10:35:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:44, INFO: Similarity_func: concatenation -2024-02-15 10:35:44, INFO: Layerwise_graph: False -2024-02-15 10:35:44, INFO: Skip_connection: True -2024-02-15 10:35:44, INFO: Number of layers: 1 -2024-02-15 10:35:44, INFO: Similarity_func: concatenation -2024-02-15 10:35:44, INFO: Layerwise_graph: False -2024-02-15 10:35:44, INFO: Skip_connection: True -2024-02-15 10:35:44, INFO: Number of layers: 1 -2024-02-15 10:35:44, INFO: Planning depth: 1 -2024-02-15 10:35:44, INFO: Planning width: 10 -2024-02-15 10:35:44, INFO: Sparse search: None -2024-02-15 10:35:47, INFO: human number: 10 -2024-02-15 10:35:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:51, INFO: Using device: cpu -2024-02-15 10:35:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:51, INFO: Similarity_func: concatenation -2024-02-15 10:35:51, INFO: Layerwise_graph: False -2024-02-15 10:35:51, INFO: Skip_connection: True -2024-02-15 10:35:51, INFO: Number of layers: 1 -2024-02-15 10:35:51, INFO: Similarity_func: concatenation -2024-02-15 10:35:51, INFO: Layerwise_graph: False -2024-02-15 10:35:51, INFO: Skip_connection: True -2024-02-15 10:35:51, INFO: Number of layers: 1 -2024-02-15 10:35:51, INFO: Planning depth: 1 -2024-02-15 10:35:51, INFO: Planning width: 10 -2024-02-15 10:35:51, INFO: Sparse search: None -2024-02-15 10:35:54, INFO: human number: 10 -2024-02-15 10:35:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:35:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:35:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:35:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:35:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:35:57, INFO: Using device: cpu -2024-02-15 10:35:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:35:57, INFO: Similarity_func: concatenation -2024-02-15 10:35:57, INFO: Layerwise_graph: False -2024-02-15 10:35:57, INFO: Skip_connection: True -2024-02-15 10:35:57, INFO: Number of layers: 1 -2024-02-15 10:35:57, INFO: Similarity_func: concatenation -2024-02-15 10:35:57, INFO: Layerwise_graph: False -2024-02-15 10:35:57, INFO: Skip_connection: True -2024-02-15 10:35:57, INFO: Number of layers: 1 -2024-02-15 10:35:57, INFO: Planning depth: 1 -2024-02-15 10:35:57, INFO: Planning width: 10 -2024-02-15 10:35:57, INFO: Sparse search: None -2024-02-15 10:36:00, INFO: human number: 10 -2024-02-15 10:36:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:04, INFO: Using device: cpu -2024-02-15 10:36:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:04, INFO: Similarity_func: concatenation -2024-02-15 10:36:04, INFO: Layerwise_graph: False -2024-02-15 10:36:04, INFO: Skip_connection: True -2024-02-15 10:36:04, INFO: Number of layers: 1 -2024-02-15 10:36:04, INFO: Similarity_func: concatenation -2024-02-15 10:36:04, INFO: Layerwise_graph: False -2024-02-15 10:36:04, INFO: Skip_connection: True -2024-02-15 10:36:04, INFO: Number of layers: 1 -2024-02-15 10:36:04, INFO: Planning depth: 1 -2024-02-15 10:36:04, INFO: Planning width: 10 -2024-02-15 10:36:04, INFO: Sparse search: None -2024-02-15 10:36:07, INFO: human number: 10 -2024-02-15 10:36:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:07, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:11, INFO: Using device: cpu -2024-02-15 10:36:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:11, INFO: Similarity_func: concatenation -2024-02-15 10:36:11, INFO: Layerwise_graph: False -2024-02-15 10:36:11, INFO: Skip_connection: True -2024-02-15 10:36:11, INFO: Number of layers: 1 -2024-02-15 10:36:11, INFO: Similarity_func: concatenation -2024-02-15 10:36:11, INFO: Layerwise_graph: False -2024-02-15 10:36:11, INFO: Skip_connection: True -2024-02-15 10:36:11, INFO: Number of layers: 1 -2024-02-15 10:36:11, INFO: Planning depth: 1 -2024-02-15 10:36:11, INFO: Planning width: 10 -2024-02-15 10:36:11, INFO: Sparse search: None -2024-02-15 10:36:14, INFO: human number: 10 -2024-02-15 10:36:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:14, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:21, INFO: Using device: cpu -2024-02-15 10:36:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:21, INFO: Similarity_func: concatenation -2024-02-15 10:36:21, INFO: Layerwise_graph: False -2024-02-15 10:36:21, INFO: Skip_connection: True -2024-02-15 10:36:21, INFO: Number of layers: 1 -2024-02-15 10:36:21, INFO: Similarity_func: concatenation -2024-02-15 10:36:21, INFO: Layerwise_graph: False -2024-02-15 10:36:21, INFO: Skip_connection: True -2024-02-15 10:36:21, INFO: Number of layers: 1 -2024-02-15 10:36:21, INFO: Planning depth: 1 -2024-02-15 10:36:21, INFO: Planning width: 10 -2024-02-15 10:36:21, INFO: Sparse search: None -2024-02-15 10:36:23, INFO: human number: 10 -2024-02-15 10:36:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:28, INFO: Using device: cpu -2024-02-15 10:36:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:28, INFO: Similarity_func: concatenation -2024-02-15 10:36:28, INFO: Layerwise_graph: False -2024-02-15 10:36:28, INFO: Skip_connection: True -2024-02-15 10:36:28, INFO: Number of layers: 1 -2024-02-15 10:36:28, INFO: Similarity_func: concatenation -2024-02-15 10:36:28, INFO: Layerwise_graph: False -2024-02-15 10:36:28, INFO: Skip_connection: True -2024-02-15 10:36:28, INFO: Number of layers: 1 -2024-02-15 10:36:28, INFO: Planning depth: 1 -2024-02-15 10:36:28, INFO: Planning width: 10 -2024-02-15 10:36:28, INFO: Sparse search: None -2024-02-15 10:36:30, INFO: human number: 10 -2024-02-15 10:36:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:35, INFO: Using device: cpu -2024-02-15 10:36:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:35, INFO: Similarity_func: concatenation -2024-02-15 10:36:35, INFO: Layerwise_graph: False -2024-02-15 10:36:35, INFO: Skip_connection: True -2024-02-15 10:36:35, INFO: Number of layers: 1 -2024-02-15 10:36:35, INFO: Similarity_func: concatenation -2024-02-15 10:36:35, INFO: Layerwise_graph: False -2024-02-15 10:36:35, INFO: Skip_connection: True -2024-02-15 10:36:35, INFO: Number of layers: 1 -2024-02-15 10:36:35, INFO: Planning depth: 1 -2024-02-15 10:36:35, INFO: Planning width: 10 -2024-02-15 10:36:35, INFO: Sparse search: None -2024-02-15 10:36:38, INFO: human number: 10 -2024-02-15 10:36:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:42, INFO: Using device: cpu -2024-02-15 10:36:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:42, INFO: Similarity_func: concatenation -2024-02-15 10:36:42, INFO: Layerwise_graph: False -2024-02-15 10:36:42, INFO: Skip_connection: True -2024-02-15 10:36:42, INFO: Number of layers: 1 -2024-02-15 10:36:42, INFO: Similarity_func: concatenation -2024-02-15 10:36:42, INFO: Layerwise_graph: False -2024-02-15 10:36:42, INFO: Skip_connection: True -2024-02-15 10:36:42, INFO: Number of layers: 1 -2024-02-15 10:36:42, INFO: Planning depth: 1 -2024-02-15 10:36:42, INFO: Planning width: 10 -2024-02-15 10:36:42, INFO: Sparse search: None -2024-02-15 10:36:45, INFO: human number: 10 -2024-02-15 10:36:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:49, INFO: Using device: cpu -2024-02-15 10:36:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:49, INFO: Similarity_func: concatenation -2024-02-15 10:36:49, INFO: Layerwise_graph: False -2024-02-15 10:36:49, INFO: Skip_connection: True -2024-02-15 10:36:49, INFO: Number of layers: 1 -2024-02-15 10:36:49, INFO: Similarity_func: concatenation -2024-02-15 10:36:49, INFO: Layerwise_graph: False -2024-02-15 10:36:49, INFO: Skip_connection: True -2024-02-15 10:36:49, INFO: Number of layers: 1 -2024-02-15 10:36:49, INFO: Planning depth: 1 -2024-02-15 10:36:49, INFO: Planning width: 10 -2024-02-15 10:36:49, INFO: Sparse search: None -2024-02-15 10:36:52, INFO: human number: 10 -2024-02-15 10:36:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:36:56, INFO: Using device: cpu -2024-02-15 10:36:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:36:56, INFO: Similarity_func: concatenation -2024-02-15 10:36:56, INFO: Layerwise_graph: False -2024-02-15 10:36:56, INFO: Skip_connection: True -2024-02-15 10:36:56, INFO: Number of layers: 1 -2024-02-15 10:36:56, INFO: Similarity_func: concatenation -2024-02-15 10:36:56, INFO: Layerwise_graph: False -2024-02-15 10:36:56, INFO: Skip_connection: True -2024-02-15 10:36:56, INFO: Number of layers: 1 -2024-02-15 10:36:56, INFO: Planning depth: 1 -2024-02-15 10:36:56, INFO: Planning width: 10 -2024-02-15 10:36:56, INFO: Sparse search: None -2024-02-15 10:36:59, INFO: human number: 10 -2024-02-15 10:36:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:36:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:36:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:36:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:36:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:03, INFO: Using device: cpu -2024-02-15 10:37:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:03, INFO: Similarity_func: concatenation -2024-02-15 10:37:03, INFO: Layerwise_graph: False -2024-02-15 10:37:03, INFO: Skip_connection: True -2024-02-15 10:37:03, INFO: Number of layers: 1 -2024-02-15 10:37:03, INFO: Similarity_func: concatenation -2024-02-15 10:37:03, INFO: Layerwise_graph: False -2024-02-15 10:37:03, INFO: Skip_connection: True -2024-02-15 10:37:03, INFO: Number of layers: 1 -2024-02-15 10:37:03, INFO: Planning depth: 1 -2024-02-15 10:37:03, INFO: Planning width: 10 -2024-02-15 10:37:03, INFO: Sparse search: None -2024-02-15 10:37:06, INFO: human number: 10 -2024-02-15 10:37:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:10, INFO: Using device: cpu -2024-02-15 10:37:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:10, INFO: Similarity_func: concatenation -2024-02-15 10:37:10, INFO: Layerwise_graph: False -2024-02-15 10:37:10, INFO: Skip_connection: True -2024-02-15 10:37:10, INFO: Number of layers: 1 -2024-02-15 10:37:10, INFO: Similarity_func: concatenation -2024-02-15 10:37:10, INFO: Layerwise_graph: False -2024-02-15 10:37:10, INFO: Skip_connection: True -2024-02-15 10:37:10, INFO: Number of layers: 1 -2024-02-15 10:37:10, INFO: Planning depth: 1 -2024-02-15 10:37:10, INFO: Planning width: 10 -2024-02-15 10:37:10, INFO: Sparse search: None -2024-02-15 10:37:13, INFO: human number: 10 -2024-02-15 10:37:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:17, INFO: Using device: cpu -2024-02-15 10:37:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:17, INFO: Similarity_func: concatenation -2024-02-15 10:37:17, INFO: Layerwise_graph: False -2024-02-15 10:37:17, INFO: Skip_connection: True -2024-02-15 10:37:17, INFO: Number of layers: 1 -2024-02-15 10:37:17, INFO: Similarity_func: concatenation -2024-02-15 10:37:17, INFO: Layerwise_graph: False -2024-02-15 10:37:17, INFO: Skip_connection: True -2024-02-15 10:37:17, INFO: Number of layers: 1 -2024-02-15 10:37:17, INFO: Planning depth: 1 -2024-02-15 10:37:17, INFO: Planning width: 10 -2024-02-15 10:37:17, INFO: Sparse search: None -2024-02-15 10:37:20, INFO: human number: 10 -2024-02-15 10:37:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:24, INFO: Using device: cpu -2024-02-15 10:37:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:24, INFO: Similarity_func: concatenation -2024-02-15 10:37:24, INFO: Layerwise_graph: False -2024-02-15 10:37:24, INFO: Skip_connection: True -2024-02-15 10:37:24, INFO: Number of layers: 1 -2024-02-15 10:37:24, INFO: Similarity_func: concatenation -2024-02-15 10:37:24, INFO: Layerwise_graph: False -2024-02-15 10:37:24, INFO: Skip_connection: True -2024-02-15 10:37:24, INFO: Number of layers: 1 -2024-02-15 10:37:24, INFO: Planning depth: 1 -2024-02-15 10:37:24, INFO: Planning width: 10 -2024-02-15 10:37:24, INFO: Sparse search: None -2024-02-15 10:37:27, INFO: human number: 10 -2024-02-15 10:37:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:31, INFO: Using device: cpu -2024-02-15 10:37:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:31, INFO: Similarity_func: concatenation -2024-02-15 10:37:31, INFO: Layerwise_graph: False -2024-02-15 10:37:31, INFO: Skip_connection: True -2024-02-15 10:37:31, INFO: Number of layers: 1 -2024-02-15 10:37:31, INFO: Similarity_func: concatenation -2024-02-15 10:37:31, INFO: Layerwise_graph: False -2024-02-15 10:37:31, INFO: Skip_connection: True -2024-02-15 10:37:31, INFO: Number of layers: 1 -2024-02-15 10:37:31, INFO: Planning depth: 1 -2024-02-15 10:37:31, INFO: Planning width: 10 -2024-02-15 10:37:31, INFO: Sparse search: None -2024-02-15 10:37:34, INFO: human number: 10 -2024-02-15 10:37:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:38, INFO: Using device: cpu -2024-02-15 10:37:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:38, INFO: Similarity_func: concatenation -2024-02-15 10:37:38, INFO: Layerwise_graph: False -2024-02-15 10:37:38, INFO: Skip_connection: True -2024-02-15 10:37:38, INFO: Number of layers: 1 -2024-02-15 10:37:38, INFO: Similarity_func: concatenation -2024-02-15 10:37:38, INFO: Layerwise_graph: False -2024-02-15 10:37:38, INFO: Skip_connection: True -2024-02-15 10:37:38, INFO: Number of layers: 1 -2024-02-15 10:37:38, INFO: Planning depth: 1 -2024-02-15 10:37:38, INFO: Planning width: 10 -2024-02-15 10:37:38, INFO: Sparse search: None -2024-02-15 10:37:41, INFO: human number: 10 -2024-02-15 10:37:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:45, INFO: Using device: cpu -2024-02-15 10:37:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:45, INFO: Similarity_func: concatenation -2024-02-15 10:37:45, INFO: Layerwise_graph: False -2024-02-15 10:37:45, INFO: Skip_connection: True -2024-02-15 10:37:45, INFO: Number of layers: 1 -2024-02-15 10:37:45, INFO: Similarity_func: concatenation -2024-02-15 10:37:45, INFO: Layerwise_graph: False -2024-02-15 10:37:45, INFO: Skip_connection: True -2024-02-15 10:37:45, INFO: Number of layers: 1 -2024-02-15 10:37:45, INFO: Planning depth: 1 -2024-02-15 10:37:45, INFO: Planning width: 10 -2024-02-15 10:37:45, INFO: Sparse search: None -2024-02-15 10:37:48, INFO: human number: 10 -2024-02-15 10:37:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:52, INFO: Using device: cpu -2024-02-15 10:37:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:52, INFO: Similarity_func: concatenation -2024-02-15 10:37:52, INFO: Layerwise_graph: False -2024-02-15 10:37:52, INFO: Skip_connection: True -2024-02-15 10:37:52, INFO: Number of layers: 1 -2024-02-15 10:37:52, INFO: Similarity_func: concatenation -2024-02-15 10:37:52, INFO: Layerwise_graph: False -2024-02-15 10:37:52, INFO: Skip_connection: True -2024-02-15 10:37:52, INFO: Number of layers: 1 -2024-02-15 10:37:52, INFO: Planning depth: 1 -2024-02-15 10:37:52, INFO: Planning width: 10 -2024-02-15 10:37:52, INFO: Sparse search: None -2024-02-15 10:37:55, INFO: human number: 10 -2024-02-15 10:37:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:37:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:37:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:37:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:37:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:37:59, INFO: Using device: cpu -2024-02-15 10:37:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:37:59, INFO: Similarity_func: concatenation -2024-02-15 10:37:59, INFO: Layerwise_graph: False -2024-02-15 10:37:59, INFO: Skip_connection: True -2024-02-15 10:37:59, INFO: Number of layers: 1 -2024-02-15 10:37:59, INFO: Similarity_func: concatenation -2024-02-15 10:37:59, INFO: Layerwise_graph: False -2024-02-15 10:37:59, INFO: Skip_connection: True -2024-02-15 10:37:59, INFO: Number of layers: 1 -2024-02-15 10:37:59, INFO: Planning depth: 1 -2024-02-15 10:37:59, INFO: Planning width: 10 -2024-02-15 10:37:59, INFO: Sparse search: None -2024-02-15 10:38:02, INFO: human number: 10 -2024-02-15 10:38:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:06, INFO: Using device: cpu -2024-02-15 10:38:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:06, INFO: Similarity_func: concatenation -2024-02-15 10:38:06, INFO: Layerwise_graph: False -2024-02-15 10:38:06, INFO: Skip_connection: True -2024-02-15 10:38:06, INFO: Number of layers: 1 -2024-02-15 10:38:06, INFO: Similarity_func: concatenation -2024-02-15 10:38:06, INFO: Layerwise_graph: False -2024-02-15 10:38:06, INFO: Skip_connection: True -2024-02-15 10:38:06, INFO: Number of layers: 1 -2024-02-15 10:38:06, INFO: Planning depth: 1 -2024-02-15 10:38:06, INFO: Planning width: 10 -2024-02-15 10:38:06, INFO: Sparse search: None -2024-02-15 10:38:09, INFO: human number: 10 -2024-02-15 10:38:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:14, INFO: Using device: cpu -2024-02-15 10:38:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:14, INFO: Similarity_func: concatenation -2024-02-15 10:38:14, INFO: Layerwise_graph: False -2024-02-15 10:38:14, INFO: Skip_connection: True -2024-02-15 10:38:14, INFO: Number of layers: 1 -2024-02-15 10:38:14, INFO: Similarity_func: concatenation -2024-02-15 10:38:14, INFO: Layerwise_graph: False -2024-02-15 10:38:14, INFO: Skip_connection: True -2024-02-15 10:38:14, INFO: Number of layers: 1 -2024-02-15 10:38:14, INFO: Planning depth: 1 -2024-02-15 10:38:14, INFO: Planning width: 10 -2024-02-15 10:38:14, INFO: Sparse search: None -2024-02-15 10:38:17, INFO: human number: 10 -2024-02-15 10:38:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:21, INFO: Using device: cpu -2024-02-15 10:38:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:21, INFO: Similarity_func: concatenation -2024-02-15 10:38:21, INFO: Layerwise_graph: False -2024-02-15 10:38:21, INFO: Skip_connection: True -2024-02-15 10:38:21, INFO: Number of layers: 1 -2024-02-15 10:38:21, INFO: Similarity_func: concatenation -2024-02-15 10:38:21, INFO: Layerwise_graph: False -2024-02-15 10:38:21, INFO: Skip_connection: True -2024-02-15 10:38:21, INFO: Number of layers: 1 -2024-02-15 10:38:21, INFO: Planning depth: 1 -2024-02-15 10:38:21, INFO: Planning width: 10 -2024-02-15 10:38:21, INFO: Sparse search: None -2024-02-15 10:38:23, INFO: human number: 10 -2024-02-15 10:38:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:27, INFO: Using device: cpu -2024-02-15 10:38:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:27, INFO: Similarity_func: concatenation -2024-02-15 10:38:27, INFO: Layerwise_graph: False -2024-02-15 10:38:27, INFO: Skip_connection: True -2024-02-15 10:38:27, INFO: Number of layers: 1 -2024-02-15 10:38:27, INFO: Similarity_func: concatenation -2024-02-15 10:38:27, INFO: Layerwise_graph: False -2024-02-15 10:38:27, INFO: Skip_connection: True -2024-02-15 10:38:27, INFO: Number of layers: 1 -2024-02-15 10:38:27, INFO: Planning depth: 1 -2024-02-15 10:38:27, INFO: Planning width: 10 -2024-02-15 10:38:27, INFO: Sparse search: None -2024-02-15 10:38:30, INFO: human number: 10 -2024-02-15 10:38:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:34, INFO: Using device: cpu -2024-02-15 10:38:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:34, INFO: Similarity_func: concatenation -2024-02-15 10:38:34, INFO: Layerwise_graph: False -2024-02-15 10:38:34, INFO: Skip_connection: True -2024-02-15 10:38:34, INFO: Number of layers: 1 -2024-02-15 10:38:34, INFO: Similarity_func: concatenation -2024-02-15 10:38:34, INFO: Layerwise_graph: False -2024-02-15 10:38:34, INFO: Skip_connection: True -2024-02-15 10:38:34, INFO: Number of layers: 1 -2024-02-15 10:38:34, INFO: Planning depth: 1 -2024-02-15 10:38:34, INFO: Planning width: 10 -2024-02-15 10:38:34, INFO: Sparse search: None -2024-02-15 10:38:37, INFO: human number: 10 -2024-02-15 10:38:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:41, INFO: Using device: cpu -2024-02-15 10:38:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:41, INFO: Similarity_func: concatenation -2024-02-15 10:38:41, INFO: Layerwise_graph: False -2024-02-15 10:38:41, INFO: Skip_connection: True -2024-02-15 10:38:41, INFO: Number of layers: 1 -2024-02-15 10:38:41, INFO: Similarity_func: concatenation -2024-02-15 10:38:41, INFO: Layerwise_graph: False -2024-02-15 10:38:41, INFO: Skip_connection: True -2024-02-15 10:38:41, INFO: Number of layers: 1 -2024-02-15 10:38:41, INFO: Planning depth: 1 -2024-02-15 10:38:41, INFO: Planning width: 10 -2024-02-15 10:38:41, INFO: Sparse search: None -2024-02-15 10:38:44, INFO: human number: 10 -2024-02-15 10:38:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:48, INFO: Using device: cpu -2024-02-15 10:38:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:48, INFO: Similarity_func: concatenation -2024-02-15 10:38:48, INFO: Layerwise_graph: False -2024-02-15 10:38:48, INFO: Skip_connection: True -2024-02-15 10:38:48, INFO: Number of layers: 1 -2024-02-15 10:38:48, INFO: Similarity_func: concatenation -2024-02-15 10:38:48, INFO: Layerwise_graph: False -2024-02-15 10:38:48, INFO: Skip_connection: True -2024-02-15 10:38:48, INFO: Number of layers: 1 -2024-02-15 10:38:48, INFO: Planning depth: 1 -2024-02-15 10:38:48, INFO: Planning width: 10 -2024-02-15 10:38:48, INFO: Sparse search: None -2024-02-15 10:38:50, INFO: human number: 10 -2024-02-15 10:38:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:38:54, INFO: Using device: cpu -2024-02-15 10:38:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:38:54, INFO: Similarity_func: concatenation -2024-02-15 10:38:54, INFO: Layerwise_graph: False -2024-02-15 10:38:54, INFO: Skip_connection: True -2024-02-15 10:38:54, INFO: Number of layers: 1 -2024-02-15 10:38:54, INFO: Similarity_func: concatenation -2024-02-15 10:38:54, INFO: Layerwise_graph: False -2024-02-15 10:38:54, INFO: Skip_connection: True -2024-02-15 10:38:54, INFO: Number of layers: 1 -2024-02-15 10:38:54, INFO: Planning depth: 1 -2024-02-15 10:38:54, INFO: Planning width: 10 -2024-02-15 10:38:54, INFO: Sparse search: None -2024-02-15 10:38:57, INFO: human number: 10 -2024-02-15 10:38:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:38:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:38:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:38:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:38:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:02, INFO: Using device: cpu -2024-02-15 10:39:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:02, INFO: Similarity_func: concatenation -2024-02-15 10:39:02, INFO: Layerwise_graph: False -2024-02-15 10:39:02, INFO: Skip_connection: True -2024-02-15 10:39:02, INFO: Number of layers: 1 -2024-02-15 10:39:02, INFO: Similarity_func: concatenation -2024-02-15 10:39:02, INFO: Layerwise_graph: False -2024-02-15 10:39:02, INFO: Skip_connection: True -2024-02-15 10:39:02, INFO: Number of layers: 1 -2024-02-15 10:39:02, INFO: Planning depth: 1 -2024-02-15 10:39:02, INFO: Planning width: 10 -2024-02-15 10:39:02, INFO: Sparse search: None -2024-02-15 10:39:04, INFO: human number: 10 -2024-02-15 10:39:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:09, INFO: Using device: cpu -2024-02-15 10:39:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:09, INFO: Similarity_func: concatenation -2024-02-15 10:39:09, INFO: Layerwise_graph: False -2024-02-15 10:39:09, INFO: Skip_connection: True -2024-02-15 10:39:09, INFO: Number of layers: 1 -2024-02-15 10:39:09, INFO: Similarity_func: concatenation -2024-02-15 10:39:09, INFO: Layerwise_graph: False -2024-02-15 10:39:09, INFO: Skip_connection: True -2024-02-15 10:39:09, INFO: Number of layers: 1 -2024-02-15 10:39:09, INFO: Planning depth: 1 -2024-02-15 10:39:09, INFO: Planning width: 10 -2024-02-15 10:39:09, INFO: Sparse search: None -2024-02-15 10:39:11, INFO: human number: 10 -2024-02-15 10:39:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:17, INFO: Using device: cpu -2024-02-15 10:39:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:17, INFO: Similarity_func: concatenation -2024-02-15 10:39:17, INFO: Layerwise_graph: False -2024-02-15 10:39:17, INFO: Skip_connection: True -2024-02-15 10:39:17, INFO: Number of layers: 1 -2024-02-15 10:39:17, INFO: Similarity_func: concatenation -2024-02-15 10:39:17, INFO: Layerwise_graph: False -2024-02-15 10:39:17, INFO: Skip_connection: True -2024-02-15 10:39:17, INFO: Number of layers: 1 -2024-02-15 10:39:17, INFO: Planning depth: 1 -2024-02-15 10:39:17, INFO: Planning width: 10 -2024-02-15 10:39:17, INFO: Sparse search: None -2024-02-15 10:39:20, INFO: human number: 10 -2024-02-15 10:39:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:24, INFO: Using device: cpu -2024-02-15 10:39:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:24, INFO: Similarity_func: concatenation -2024-02-15 10:39:24, INFO: Layerwise_graph: False -2024-02-15 10:39:24, INFO: Skip_connection: True -2024-02-15 10:39:24, INFO: Number of layers: 1 -2024-02-15 10:39:24, INFO: Similarity_func: concatenation -2024-02-15 10:39:24, INFO: Layerwise_graph: False -2024-02-15 10:39:24, INFO: Skip_connection: True -2024-02-15 10:39:24, INFO: Number of layers: 1 -2024-02-15 10:39:24, INFO: Planning depth: 1 -2024-02-15 10:39:24, INFO: Planning width: 10 -2024-02-15 10:39:24, INFO: Sparse search: None -2024-02-15 10:39:27, INFO: human number: 10 -2024-02-15 10:39:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:31, INFO: Using device: cpu -2024-02-15 10:39:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:31, INFO: Similarity_func: concatenation -2024-02-15 10:39:31, INFO: Layerwise_graph: False -2024-02-15 10:39:31, INFO: Skip_connection: True -2024-02-15 10:39:31, INFO: Number of layers: 1 -2024-02-15 10:39:31, INFO: Similarity_func: concatenation -2024-02-15 10:39:31, INFO: Layerwise_graph: False -2024-02-15 10:39:31, INFO: Skip_connection: True -2024-02-15 10:39:31, INFO: Number of layers: 1 -2024-02-15 10:39:31, INFO: Planning depth: 1 -2024-02-15 10:39:31, INFO: Planning width: 10 -2024-02-15 10:39:31, INFO: Sparse search: None -2024-02-15 10:39:34, INFO: human number: 10 -2024-02-15 10:39:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:38, INFO: Using device: cpu -2024-02-15 10:39:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:38, INFO: Similarity_func: concatenation -2024-02-15 10:39:38, INFO: Layerwise_graph: False -2024-02-15 10:39:38, INFO: Skip_connection: True -2024-02-15 10:39:38, INFO: Number of layers: 1 -2024-02-15 10:39:38, INFO: Similarity_func: concatenation -2024-02-15 10:39:38, INFO: Layerwise_graph: False -2024-02-15 10:39:38, INFO: Skip_connection: True -2024-02-15 10:39:38, INFO: Number of layers: 1 -2024-02-15 10:39:38, INFO: Planning depth: 1 -2024-02-15 10:39:38, INFO: Planning width: 10 -2024-02-15 10:39:38, INFO: Sparse search: None -2024-02-15 10:39:41, INFO: human number: 10 -2024-02-15 10:39:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:45, INFO: Using device: cpu -2024-02-15 10:39:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:45, INFO: Similarity_func: concatenation -2024-02-15 10:39:45, INFO: Layerwise_graph: False -2024-02-15 10:39:45, INFO: Skip_connection: True -2024-02-15 10:39:45, INFO: Number of layers: 1 -2024-02-15 10:39:45, INFO: Similarity_func: concatenation -2024-02-15 10:39:45, INFO: Layerwise_graph: False -2024-02-15 10:39:45, INFO: Skip_connection: True -2024-02-15 10:39:45, INFO: Number of layers: 1 -2024-02-15 10:39:45, INFO: Planning depth: 1 -2024-02-15 10:39:45, INFO: Planning width: 10 -2024-02-15 10:39:45, INFO: Sparse search: None -2024-02-15 10:39:48, INFO: human number: 10 -2024-02-15 10:39:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:39:52, INFO: Using device: cpu -2024-02-15 10:39:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:39:52, INFO: Similarity_func: concatenation -2024-02-15 10:39:52, INFO: Layerwise_graph: False -2024-02-15 10:39:52, INFO: Skip_connection: True -2024-02-15 10:39:52, INFO: Number of layers: 1 -2024-02-15 10:39:52, INFO: Similarity_func: concatenation -2024-02-15 10:39:52, INFO: Layerwise_graph: False -2024-02-15 10:39:52, INFO: Skip_connection: True -2024-02-15 10:39:52, INFO: Number of layers: 1 -2024-02-15 10:39:52, INFO: Planning depth: 1 -2024-02-15 10:39:52, INFO: Planning width: 10 -2024-02-15 10:39:52, INFO: Sparse search: None -2024-02-15 10:39:55, INFO: human number: 10 -2024-02-15 10:39:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:39:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:39:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:39:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:39:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:00, INFO: Using device: cpu -2024-02-15 10:40:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:00, INFO: Similarity_func: concatenation -2024-02-15 10:40:00, INFO: Layerwise_graph: False -2024-02-15 10:40:00, INFO: Skip_connection: True -2024-02-15 10:40:00, INFO: Number of layers: 1 -2024-02-15 10:40:00, INFO: Similarity_func: concatenation -2024-02-15 10:40:00, INFO: Layerwise_graph: False -2024-02-15 10:40:00, INFO: Skip_connection: True -2024-02-15 10:40:00, INFO: Number of layers: 1 -2024-02-15 10:40:00, INFO: Planning depth: 1 -2024-02-15 10:40:00, INFO: Planning width: 10 -2024-02-15 10:40:00, INFO: Sparse search: None -2024-02-15 10:40:03, INFO: human number: 10 -2024-02-15 10:40:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:07, INFO: Using device: cpu -2024-02-15 10:40:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:07, INFO: Similarity_func: concatenation -2024-02-15 10:40:07, INFO: Layerwise_graph: False -2024-02-15 10:40:07, INFO: Skip_connection: True -2024-02-15 10:40:07, INFO: Number of layers: 1 -2024-02-15 10:40:07, INFO: Similarity_func: concatenation -2024-02-15 10:40:07, INFO: Layerwise_graph: False -2024-02-15 10:40:07, INFO: Skip_connection: True -2024-02-15 10:40:07, INFO: Number of layers: 1 -2024-02-15 10:40:07, INFO: Planning depth: 1 -2024-02-15 10:40:07, INFO: Planning width: 10 -2024-02-15 10:40:07, INFO: Sparse search: None -2024-02-15 10:40:09, INFO: human number: 10 -2024-02-15 10:40:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:14, INFO: Using device: cpu -2024-02-15 10:40:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:14, INFO: Similarity_func: concatenation -2024-02-15 10:40:14, INFO: Layerwise_graph: False -2024-02-15 10:40:14, INFO: Skip_connection: True -2024-02-15 10:40:14, INFO: Number of layers: 1 -2024-02-15 10:40:14, INFO: Similarity_func: concatenation -2024-02-15 10:40:14, INFO: Layerwise_graph: False -2024-02-15 10:40:14, INFO: Skip_connection: True -2024-02-15 10:40:14, INFO: Number of layers: 1 -2024-02-15 10:40:14, INFO: Planning depth: 1 -2024-02-15 10:40:14, INFO: Planning width: 10 -2024-02-15 10:40:14, INFO: Sparse search: None -2024-02-15 10:40:16, INFO: human number: 10 -2024-02-15 10:40:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:20, INFO: Using device: cpu -2024-02-15 10:40:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:20, INFO: Similarity_func: concatenation -2024-02-15 10:40:20, INFO: Layerwise_graph: False -2024-02-15 10:40:20, INFO: Skip_connection: True -2024-02-15 10:40:20, INFO: Number of layers: 1 -2024-02-15 10:40:20, INFO: Similarity_func: concatenation -2024-02-15 10:40:20, INFO: Layerwise_graph: False -2024-02-15 10:40:20, INFO: Skip_connection: True -2024-02-15 10:40:20, INFO: Number of layers: 1 -2024-02-15 10:40:20, INFO: Planning depth: 1 -2024-02-15 10:40:20, INFO: Planning width: 10 -2024-02-15 10:40:20, INFO: Sparse search: None -2024-02-15 10:40:23, INFO: human number: 10 -2024-02-15 10:40:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:27, INFO: Using device: cpu -2024-02-15 10:40:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:27, INFO: Similarity_func: concatenation -2024-02-15 10:40:27, INFO: Layerwise_graph: False -2024-02-15 10:40:27, INFO: Skip_connection: True -2024-02-15 10:40:27, INFO: Number of layers: 1 -2024-02-15 10:40:27, INFO: Similarity_func: concatenation -2024-02-15 10:40:27, INFO: Layerwise_graph: False -2024-02-15 10:40:27, INFO: Skip_connection: True -2024-02-15 10:40:27, INFO: Number of layers: 1 -2024-02-15 10:40:27, INFO: Planning depth: 1 -2024-02-15 10:40:27, INFO: Planning width: 10 -2024-02-15 10:40:27, INFO: Sparse search: None -2024-02-15 10:40:30, INFO: human number: 10 -2024-02-15 10:40:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:34, INFO: Using device: cpu -2024-02-15 10:40:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:34, INFO: Similarity_func: concatenation -2024-02-15 10:40:34, INFO: Layerwise_graph: False -2024-02-15 10:40:34, INFO: Skip_connection: True -2024-02-15 10:40:34, INFO: Number of layers: 1 -2024-02-15 10:40:34, INFO: Similarity_func: concatenation -2024-02-15 10:40:34, INFO: Layerwise_graph: False -2024-02-15 10:40:34, INFO: Skip_connection: True -2024-02-15 10:40:34, INFO: Number of layers: 1 -2024-02-15 10:40:34, INFO: Planning depth: 1 -2024-02-15 10:40:34, INFO: Planning width: 10 -2024-02-15 10:40:34, INFO: Sparse search: None -2024-02-15 10:40:37, INFO: human number: 10 -2024-02-15 10:40:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:41, INFO: Using device: cpu -2024-02-15 10:40:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:41, INFO: Similarity_func: concatenation -2024-02-15 10:40:41, INFO: Layerwise_graph: False -2024-02-15 10:40:41, INFO: Skip_connection: True -2024-02-15 10:40:41, INFO: Number of layers: 1 -2024-02-15 10:40:41, INFO: Similarity_func: concatenation -2024-02-15 10:40:41, INFO: Layerwise_graph: False -2024-02-15 10:40:41, INFO: Skip_connection: True -2024-02-15 10:40:41, INFO: Number of layers: 1 -2024-02-15 10:40:41, INFO: Planning depth: 1 -2024-02-15 10:40:41, INFO: Planning width: 10 -2024-02-15 10:40:41, INFO: Sparse search: None -2024-02-15 10:40:44, INFO: human number: 10 -2024-02-15 10:40:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:48, INFO: Using device: cpu -2024-02-15 10:40:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:48, INFO: Similarity_func: concatenation -2024-02-15 10:40:48, INFO: Layerwise_graph: False -2024-02-15 10:40:48, INFO: Skip_connection: True -2024-02-15 10:40:48, INFO: Number of layers: 1 -2024-02-15 10:40:48, INFO: Similarity_func: concatenation -2024-02-15 10:40:48, INFO: Layerwise_graph: False -2024-02-15 10:40:48, INFO: Skip_connection: True -2024-02-15 10:40:48, INFO: Number of layers: 1 -2024-02-15 10:40:48, INFO: Planning depth: 1 -2024-02-15 10:40:48, INFO: Planning width: 10 -2024-02-15 10:40:48, INFO: Sparse search: None -2024-02-15 10:40:51, INFO: human number: 10 -2024-02-15 10:40:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:40:55, INFO: Using device: cpu -2024-02-15 10:40:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:40:55, INFO: Similarity_func: concatenation -2024-02-15 10:40:55, INFO: Layerwise_graph: False -2024-02-15 10:40:55, INFO: Skip_connection: True -2024-02-15 10:40:55, INFO: Number of layers: 1 -2024-02-15 10:40:55, INFO: Similarity_func: concatenation -2024-02-15 10:40:55, INFO: Layerwise_graph: False -2024-02-15 10:40:55, INFO: Skip_connection: True -2024-02-15 10:40:55, INFO: Number of layers: 1 -2024-02-15 10:40:55, INFO: Planning depth: 1 -2024-02-15 10:40:55, INFO: Planning width: 10 -2024-02-15 10:40:55, INFO: Sparse search: None -2024-02-15 10:40:58, INFO: human number: 10 -2024-02-15 10:40:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:40:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:40:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:40:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:40:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:02, INFO: Using device: cpu -2024-02-15 10:41:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:02, INFO: Similarity_func: concatenation -2024-02-15 10:41:02, INFO: Layerwise_graph: False -2024-02-15 10:41:02, INFO: Skip_connection: True -2024-02-15 10:41:02, INFO: Number of layers: 1 -2024-02-15 10:41:02, INFO: Similarity_func: concatenation -2024-02-15 10:41:02, INFO: Layerwise_graph: False -2024-02-15 10:41:02, INFO: Skip_connection: True -2024-02-15 10:41:02, INFO: Number of layers: 1 -2024-02-15 10:41:02, INFO: Planning depth: 1 -2024-02-15 10:41:02, INFO: Planning width: 10 -2024-02-15 10:41:02, INFO: Sparse search: None -2024-02-15 10:41:04, INFO: human number: 10 -2024-02-15 10:41:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:09, INFO: Using device: cpu -2024-02-15 10:41:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:09, INFO: Similarity_func: concatenation -2024-02-15 10:41:09, INFO: Layerwise_graph: False -2024-02-15 10:41:09, INFO: Skip_connection: True -2024-02-15 10:41:09, INFO: Number of layers: 1 -2024-02-15 10:41:09, INFO: Similarity_func: concatenation -2024-02-15 10:41:09, INFO: Layerwise_graph: False -2024-02-15 10:41:09, INFO: Skip_connection: True -2024-02-15 10:41:09, INFO: Number of layers: 1 -2024-02-15 10:41:09, INFO: Planning depth: 1 -2024-02-15 10:41:09, INFO: Planning width: 10 -2024-02-15 10:41:09, INFO: Sparse search: None -2024-02-15 10:41:12, INFO: human number: 10 -2024-02-15 10:41:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:16, INFO: Using device: cpu -2024-02-15 10:41:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:16, INFO: Similarity_func: concatenation -2024-02-15 10:41:16, INFO: Layerwise_graph: False -2024-02-15 10:41:16, INFO: Skip_connection: True -2024-02-15 10:41:16, INFO: Number of layers: 1 -2024-02-15 10:41:16, INFO: Similarity_func: concatenation -2024-02-15 10:41:16, INFO: Layerwise_graph: False -2024-02-15 10:41:16, INFO: Skip_connection: True -2024-02-15 10:41:16, INFO: Number of layers: 1 -2024-02-15 10:41:16, INFO: Planning depth: 1 -2024-02-15 10:41:16, INFO: Planning width: 10 -2024-02-15 10:41:16, INFO: Sparse search: None -2024-02-15 10:41:19, INFO: human number: 10 -2024-02-15 10:41:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:23, INFO: Using device: cpu -2024-02-15 10:41:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:23, INFO: Similarity_func: concatenation -2024-02-15 10:41:23, INFO: Layerwise_graph: False -2024-02-15 10:41:23, INFO: Skip_connection: True -2024-02-15 10:41:23, INFO: Number of layers: 1 -2024-02-15 10:41:23, INFO: Similarity_func: concatenation -2024-02-15 10:41:23, INFO: Layerwise_graph: False -2024-02-15 10:41:23, INFO: Skip_connection: True -2024-02-15 10:41:23, INFO: Number of layers: 1 -2024-02-15 10:41:23, INFO: Planning depth: 1 -2024-02-15 10:41:23, INFO: Planning width: 10 -2024-02-15 10:41:23, INFO: Sparse search: None -2024-02-15 10:41:26, INFO: human number: 10 -2024-02-15 10:41:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:30, INFO: Using device: cpu -2024-02-15 10:41:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:30, INFO: Similarity_func: concatenation -2024-02-15 10:41:30, INFO: Layerwise_graph: False -2024-02-15 10:41:30, INFO: Skip_connection: True -2024-02-15 10:41:30, INFO: Number of layers: 1 -2024-02-15 10:41:30, INFO: Similarity_func: concatenation -2024-02-15 10:41:30, INFO: Layerwise_graph: False -2024-02-15 10:41:30, INFO: Skip_connection: True -2024-02-15 10:41:30, INFO: Number of layers: 1 -2024-02-15 10:41:30, INFO: Planning depth: 1 -2024-02-15 10:41:30, INFO: Planning width: 10 -2024-02-15 10:41:30, INFO: Sparse search: None -2024-02-15 10:41:33, INFO: human number: 10 -2024-02-15 10:41:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:37, INFO: Using device: cpu -2024-02-15 10:41:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:37, INFO: Similarity_func: concatenation -2024-02-15 10:41:37, INFO: Layerwise_graph: False -2024-02-15 10:41:37, INFO: Skip_connection: True -2024-02-15 10:41:37, INFO: Number of layers: 1 -2024-02-15 10:41:37, INFO: Similarity_func: concatenation -2024-02-15 10:41:37, INFO: Layerwise_graph: False -2024-02-15 10:41:37, INFO: Skip_connection: True -2024-02-15 10:41:37, INFO: Number of layers: 1 -2024-02-15 10:41:37, INFO: Planning depth: 1 -2024-02-15 10:41:37, INFO: Planning width: 10 -2024-02-15 10:41:37, INFO: Sparse search: None -2024-02-15 10:41:40, INFO: human number: 10 -2024-02-15 10:41:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:45, INFO: Using device: cpu -2024-02-15 10:41:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:45, INFO: Similarity_func: concatenation -2024-02-15 10:41:45, INFO: Layerwise_graph: False -2024-02-15 10:41:45, INFO: Skip_connection: True -2024-02-15 10:41:45, INFO: Number of layers: 1 -2024-02-15 10:41:45, INFO: Similarity_func: concatenation -2024-02-15 10:41:45, INFO: Layerwise_graph: False -2024-02-15 10:41:45, INFO: Skip_connection: True -2024-02-15 10:41:45, INFO: Number of layers: 1 -2024-02-15 10:41:45, INFO: Planning depth: 1 -2024-02-15 10:41:45, INFO: Planning width: 10 -2024-02-15 10:41:45, INFO: Sparse search: None -2024-02-15 10:41:48, INFO: human number: 10 -2024-02-15 10:41:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:52, INFO: Using device: cpu -2024-02-15 10:41:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:52, INFO: Similarity_func: concatenation -2024-02-15 10:41:52, INFO: Layerwise_graph: False -2024-02-15 10:41:52, INFO: Skip_connection: True -2024-02-15 10:41:52, INFO: Number of layers: 1 -2024-02-15 10:41:52, INFO: Similarity_func: concatenation -2024-02-15 10:41:52, INFO: Layerwise_graph: False -2024-02-15 10:41:52, INFO: Skip_connection: True -2024-02-15 10:41:52, INFO: Number of layers: 1 -2024-02-15 10:41:52, INFO: Planning depth: 1 -2024-02-15 10:41:52, INFO: Planning width: 10 -2024-02-15 10:41:52, INFO: Sparse search: None -2024-02-15 10:41:55, INFO: human number: 10 -2024-02-15 10:41:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:41:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:41:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:41:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:41:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:41:59, INFO: Using device: cpu -2024-02-15 10:41:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:41:59, INFO: Similarity_func: concatenation -2024-02-15 10:41:59, INFO: Layerwise_graph: False -2024-02-15 10:41:59, INFO: Skip_connection: True -2024-02-15 10:41:59, INFO: Number of layers: 1 -2024-02-15 10:41:59, INFO: Similarity_func: concatenation -2024-02-15 10:41:59, INFO: Layerwise_graph: False -2024-02-15 10:41:59, INFO: Skip_connection: True -2024-02-15 10:41:59, INFO: Number of layers: 1 -2024-02-15 10:41:59, INFO: Planning depth: 1 -2024-02-15 10:41:59, INFO: Planning width: 10 -2024-02-15 10:41:59, INFO: Sparse search: None -2024-02-15 10:42:01, INFO: human number: 10 -2024-02-15 10:42:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:06, INFO: Using device: cpu -2024-02-15 10:42:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:06, INFO: Similarity_func: concatenation -2024-02-15 10:42:06, INFO: Layerwise_graph: False -2024-02-15 10:42:06, INFO: Skip_connection: True -2024-02-15 10:42:06, INFO: Number of layers: 1 -2024-02-15 10:42:06, INFO: Similarity_func: concatenation -2024-02-15 10:42:06, INFO: Layerwise_graph: False -2024-02-15 10:42:06, INFO: Skip_connection: True -2024-02-15 10:42:06, INFO: Number of layers: 1 -2024-02-15 10:42:06, INFO: Planning depth: 1 -2024-02-15 10:42:06, INFO: Planning width: 10 -2024-02-15 10:42:06, INFO: Sparse search: None -2024-02-15 10:42:08, INFO: human number: 10 -2024-02-15 10:42:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:12, INFO: Using device: cpu -2024-02-15 10:42:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:12, INFO: Similarity_func: concatenation -2024-02-15 10:42:12, INFO: Layerwise_graph: False -2024-02-15 10:42:12, INFO: Skip_connection: True -2024-02-15 10:42:12, INFO: Number of layers: 1 -2024-02-15 10:42:12, INFO: Similarity_func: concatenation -2024-02-15 10:42:12, INFO: Layerwise_graph: False -2024-02-15 10:42:12, INFO: Skip_connection: True -2024-02-15 10:42:12, INFO: Number of layers: 1 -2024-02-15 10:42:12, INFO: Planning depth: 1 -2024-02-15 10:42:12, INFO: Planning width: 10 -2024-02-15 10:42:12, INFO: Sparse search: None -2024-02-15 10:42:15, INFO: human number: 10 -2024-02-15 10:42:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:19, INFO: Using device: cpu -2024-02-15 10:42:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:19, INFO: Similarity_func: concatenation -2024-02-15 10:42:19, INFO: Layerwise_graph: False -2024-02-15 10:42:19, INFO: Skip_connection: True -2024-02-15 10:42:19, INFO: Number of layers: 1 -2024-02-15 10:42:19, INFO: Similarity_func: concatenation -2024-02-15 10:42:19, INFO: Layerwise_graph: False -2024-02-15 10:42:19, INFO: Skip_connection: True -2024-02-15 10:42:19, INFO: Number of layers: 1 -2024-02-15 10:42:19, INFO: Planning depth: 1 -2024-02-15 10:42:19, INFO: Planning width: 10 -2024-02-15 10:42:19, INFO: Sparse search: None -2024-02-15 10:42:22, INFO: human number: 10 -2024-02-15 10:42:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:26, INFO: Using device: cpu -2024-02-15 10:42:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:26, INFO: Similarity_func: concatenation -2024-02-15 10:42:26, INFO: Layerwise_graph: False -2024-02-15 10:42:26, INFO: Skip_connection: True -2024-02-15 10:42:26, INFO: Number of layers: 1 -2024-02-15 10:42:26, INFO: Similarity_func: concatenation -2024-02-15 10:42:26, INFO: Layerwise_graph: False -2024-02-15 10:42:26, INFO: Skip_connection: True -2024-02-15 10:42:26, INFO: Number of layers: 1 -2024-02-15 10:42:26, INFO: Planning depth: 1 -2024-02-15 10:42:26, INFO: Planning width: 10 -2024-02-15 10:42:26, INFO: Sparse search: None -2024-02-15 10:42:29, INFO: human number: 10 -2024-02-15 10:42:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:33, INFO: Using device: cpu -2024-02-15 10:42:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:33, INFO: Similarity_func: concatenation -2024-02-15 10:42:33, INFO: Layerwise_graph: False -2024-02-15 10:42:33, INFO: Skip_connection: True -2024-02-15 10:42:33, INFO: Number of layers: 1 -2024-02-15 10:42:33, INFO: Similarity_func: concatenation -2024-02-15 10:42:33, INFO: Layerwise_graph: False -2024-02-15 10:42:33, INFO: Skip_connection: True -2024-02-15 10:42:33, INFO: Number of layers: 1 -2024-02-15 10:42:33, INFO: Planning depth: 1 -2024-02-15 10:42:33, INFO: Planning width: 10 -2024-02-15 10:42:33, INFO: Sparse search: None -2024-02-15 10:42:36, INFO: human number: 10 -2024-02-15 10:42:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:40, INFO: Using device: cpu -2024-02-15 10:42:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:40, INFO: Similarity_func: concatenation -2024-02-15 10:42:40, INFO: Layerwise_graph: False -2024-02-15 10:42:40, INFO: Skip_connection: True -2024-02-15 10:42:40, INFO: Number of layers: 1 -2024-02-15 10:42:40, INFO: Similarity_func: concatenation -2024-02-15 10:42:40, INFO: Layerwise_graph: False -2024-02-15 10:42:40, INFO: Skip_connection: True -2024-02-15 10:42:40, INFO: Number of layers: 1 -2024-02-15 10:42:40, INFO: Planning depth: 1 -2024-02-15 10:42:40, INFO: Planning width: 10 -2024-02-15 10:42:40, INFO: Sparse search: None -2024-02-15 10:42:43, INFO: human number: 10 -2024-02-15 10:42:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:47, INFO: Using device: cpu -2024-02-15 10:42:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:47, INFO: Similarity_func: concatenation -2024-02-15 10:42:47, INFO: Layerwise_graph: False -2024-02-15 10:42:47, INFO: Skip_connection: True -2024-02-15 10:42:47, INFO: Number of layers: 1 -2024-02-15 10:42:47, INFO: Similarity_func: concatenation -2024-02-15 10:42:47, INFO: Layerwise_graph: False -2024-02-15 10:42:47, INFO: Skip_connection: True -2024-02-15 10:42:47, INFO: Number of layers: 1 -2024-02-15 10:42:47, INFO: Planning depth: 1 -2024-02-15 10:42:47, INFO: Planning width: 10 -2024-02-15 10:42:47, INFO: Sparse search: None -2024-02-15 10:42:50, INFO: human number: 10 -2024-02-15 10:42:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:42:54, INFO: Using device: cpu -2024-02-15 10:42:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:42:54, INFO: Similarity_func: concatenation -2024-02-15 10:42:54, INFO: Layerwise_graph: False -2024-02-15 10:42:54, INFO: Skip_connection: True -2024-02-15 10:42:54, INFO: Number of layers: 1 -2024-02-15 10:42:54, INFO: Similarity_func: concatenation -2024-02-15 10:42:54, INFO: Layerwise_graph: False -2024-02-15 10:42:54, INFO: Skip_connection: True -2024-02-15 10:42:54, INFO: Number of layers: 1 -2024-02-15 10:42:54, INFO: Planning depth: 1 -2024-02-15 10:42:54, INFO: Planning width: 10 -2024-02-15 10:42:54, INFO: Sparse search: None -2024-02-15 10:42:57, INFO: human number: 10 -2024-02-15 10:42:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:42:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:42:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:42:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:42:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:01, INFO: Using device: cpu -2024-02-15 10:43:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:01, INFO: Similarity_func: concatenation -2024-02-15 10:43:01, INFO: Layerwise_graph: False -2024-02-15 10:43:01, INFO: Skip_connection: True -2024-02-15 10:43:01, INFO: Number of layers: 1 -2024-02-15 10:43:01, INFO: Similarity_func: concatenation -2024-02-15 10:43:01, INFO: Layerwise_graph: False -2024-02-15 10:43:01, INFO: Skip_connection: True -2024-02-15 10:43:01, INFO: Number of layers: 1 -2024-02-15 10:43:01, INFO: Planning depth: 1 -2024-02-15 10:43:01, INFO: Planning width: 10 -2024-02-15 10:43:01, INFO: Sparse search: None -2024-02-15 10:43:03, INFO: human number: 10 -2024-02-15 10:43:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:08, INFO: Using device: cpu -2024-02-15 10:43:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:08, INFO: Similarity_func: concatenation -2024-02-15 10:43:08, INFO: Layerwise_graph: False -2024-02-15 10:43:08, INFO: Skip_connection: True -2024-02-15 10:43:08, INFO: Number of layers: 1 -2024-02-15 10:43:08, INFO: Similarity_func: concatenation -2024-02-15 10:43:08, INFO: Layerwise_graph: False -2024-02-15 10:43:08, INFO: Skip_connection: True -2024-02-15 10:43:08, INFO: Number of layers: 1 -2024-02-15 10:43:08, INFO: Planning depth: 1 -2024-02-15 10:43:08, INFO: Planning width: 10 -2024-02-15 10:43:08, INFO: Sparse search: None -2024-02-15 10:43:11, INFO: human number: 10 -2024-02-15 10:43:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:15, INFO: Using device: cpu -2024-02-15 10:43:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:15, INFO: Similarity_func: concatenation -2024-02-15 10:43:15, INFO: Layerwise_graph: False -2024-02-15 10:43:15, INFO: Skip_connection: True -2024-02-15 10:43:15, INFO: Number of layers: 1 -2024-02-15 10:43:15, INFO: Similarity_func: concatenation -2024-02-15 10:43:15, INFO: Layerwise_graph: False -2024-02-15 10:43:15, INFO: Skip_connection: True -2024-02-15 10:43:15, INFO: Number of layers: 1 -2024-02-15 10:43:15, INFO: Planning depth: 1 -2024-02-15 10:43:15, INFO: Planning width: 10 -2024-02-15 10:43:15, INFO: Sparse search: None -2024-02-15 10:43:18, INFO: human number: 10 -2024-02-15 10:43:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:22, INFO: Using device: cpu -2024-02-15 10:43:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:22, INFO: Similarity_func: concatenation -2024-02-15 10:43:22, INFO: Layerwise_graph: False -2024-02-15 10:43:22, INFO: Skip_connection: True -2024-02-15 10:43:22, INFO: Number of layers: 1 -2024-02-15 10:43:22, INFO: Similarity_func: concatenation -2024-02-15 10:43:22, INFO: Layerwise_graph: False -2024-02-15 10:43:22, INFO: Skip_connection: True -2024-02-15 10:43:22, INFO: Number of layers: 1 -2024-02-15 10:43:22, INFO: Planning depth: 1 -2024-02-15 10:43:22, INFO: Planning width: 10 -2024-02-15 10:43:22, INFO: Sparse search: None -2024-02-15 10:43:25, INFO: human number: 10 -2024-02-15 10:43:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:25, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:29, INFO: Using device: cpu -2024-02-15 10:43:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:29, INFO: Similarity_func: concatenation -2024-02-15 10:43:29, INFO: Layerwise_graph: False -2024-02-15 10:43:29, INFO: Skip_connection: True -2024-02-15 10:43:29, INFO: Number of layers: 1 -2024-02-15 10:43:29, INFO: Similarity_func: concatenation -2024-02-15 10:43:29, INFO: Layerwise_graph: False -2024-02-15 10:43:29, INFO: Skip_connection: True -2024-02-15 10:43:29, INFO: Number of layers: 1 -2024-02-15 10:43:29, INFO: Planning depth: 1 -2024-02-15 10:43:29, INFO: Planning width: 10 -2024-02-15 10:43:29, INFO: Sparse search: None -2024-02-15 10:43:32, INFO: human number: 10 -2024-02-15 10:43:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:36, INFO: Using device: cpu -2024-02-15 10:43:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:36, INFO: Similarity_func: concatenation -2024-02-15 10:43:36, INFO: Layerwise_graph: False -2024-02-15 10:43:36, INFO: Skip_connection: True -2024-02-15 10:43:36, INFO: Number of layers: 1 -2024-02-15 10:43:36, INFO: Similarity_func: concatenation -2024-02-15 10:43:36, INFO: Layerwise_graph: False -2024-02-15 10:43:36, INFO: Skip_connection: True -2024-02-15 10:43:36, INFO: Number of layers: 1 -2024-02-15 10:43:36, INFO: Planning depth: 1 -2024-02-15 10:43:36, INFO: Planning width: 10 -2024-02-15 10:43:36, INFO: Sparse search: None -2024-02-15 10:43:39, INFO: human number: 10 -2024-02-15 10:43:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:43, INFO: Using device: cpu -2024-02-15 10:43:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:43, INFO: Similarity_func: concatenation -2024-02-15 10:43:43, INFO: Layerwise_graph: False -2024-02-15 10:43:43, INFO: Skip_connection: True -2024-02-15 10:43:43, INFO: Number of layers: 1 -2024-02-15 10:43:43, INFO: Similarity_func: concatenation -2024-02-15 10:43:43, INFO: Layerwise_graph: False -2024-02-15 10:43:43, INFO: Skip_connection: True -2024-02-15 10:43:43, INFO: Number of layers: 1 -2024-02-15 10:43:43, INFO: Planning depth: 1 -2024-02-15 10:43:43, INFO: Planning width: 10 -2024-02-15 10:43:43, INFO: Sparse search: None -2024-02-15 10:43:45, INFO: human number: 10 -2024-02-15 10:43:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:50, INFO: Using device: cpu -2024-02-15 10:43:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:50, INFO: Similarity_func: concatenation -2024-02-15 10:43:50, INFO: Layerwise_graph: False -2024-02-15 10:43:50, INFO: Skip_connection: True -2024-02-15 10:43:50, INFO: Number of layers: 1 -2024-02-15 10:43:50, INFO: Similarity_func: concatenation -2024-02-15 10:43:50, INFO: Layerwise_graph: False -2024-02-15 10:43:50, INFO: Skip_connection: True -2024-02-15 10:43:50, INFO: Number of layers: 1 -2024-02-15 10:43:50, INFO: Planning depth: 1 -2024-02-15 10:43:50, INFO: Planning width: 10 -2024-02-15 10:43:50, INFO: Sparse search: None -2024-02-15 10:43:52, INFO: human number: 10 -2024-02-15 10:43:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:43:57, INFO: Using device: cpu -2024-02-15 10:43:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:43:57, INFO: Similarity_func: concatenation -2024-02-15 10:43:57, INFO: Layerwise_graph: False -2024-02-15 10:43:57, INFO: Skip_connection: True -2024-02-15 10:43:57, INFO: Number of layers: 1 -2024-02-15 10:43:57, INFO: Similarity_func: concatenation -2024-02-15 10:43:57, INFO: Layerwise_graph: False -2024-02-15 10:43:57, INFO: Skip_connection: True -2024-02-15 10:43:57, INFO: Number of layers: 1 -2024-02-15 10:43:57, INFO: Planning depth: 1 -2024-02-15 10:43:57, INFO: Planning width: 10 -2024-02-15 10:43:57, INFO: Sparse search: None -2024-02-15 10:43:59, INFO: human number: 10 -2024-02-15 10:43:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:43:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:43:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:43:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:43:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:04, INFO: Using device: cpu -2024-02-15 10:44:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:04, INFO: Similarity_func: concatenation -2024-02-15 10:44:04, INFO: Layerwise_graph: False -2024-02-15 10:44:04, INFO: Skip_connection: True -2024-02-15 10:44:04, INFO: Number of layers: 1 -2024-02-15 10:44:04, INFO: Similarity_func: concatenation -2024-02-15 10:44:04, INFO: Layerwise_graph: False -2024-02-15 10:44:04, INFO: Skip_connection: True -2024-02-15 10:44:04, INFO: Number of layers: 1 -2024-02-15 10:44:04, INFO: Planning depth: 1 -2024-02-15 10:44:04, INFO: Planning width: 10 -2024-02-15 10:44:04, INFO: Sparse search: None -2024-02-15 10:44:06, INFO: human number: 10 -2024-02-15 10:44:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:11, INFO: Using device: cpu -2024-02-15 10:44:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:11, INFO: Similarity_func: concatenation -2024-02-15 10:44:11, INFO: Layerwise_graph: False -2024-02-15 10:44:11, INFO: Skip_connection: True -2024-02-15 10:44:11, INFO: Number of layers: 1 -2024-02-15 10:44:11, INFO: Similarity_func: concatenation -2024-02-15 10:44:11, INFO: Layerwise_graph: False -2024-02-15 10:44:11, INFO: Skip_connection: True -2024-02-15 10:44:11, INFO: Number of layers: 1 -2024-02-15 10:44:11, INFO: Planning depth: 1 -2024-02-15 10:44:11, INFO: Planning width: 10 -2024-02-15 10:44:11, INFO: Sparse search: None -2024-02-15 10:44:13, INFO: human number: 10 -2024-02-15 10:44:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:18, INFO: Using device: cpu -2024-02-15 10:44:18, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:18, INFO: Similarity_func: concatenation -2024-02-15 10:44:18, INFO: Layerwise_graph: False -2024-02-15 10:44:18, INFO: Skip_connection: True -2024-02-15 10:44:18, INFO: Number of layers: 1 -2024-02-15 10:44:18, INFO: Similarity_func: concatenation -2024-02-15 10:44:18, INFO: Layerwise_graph: False -2024-02-15 10:44:18, INFO: Skip_connection: True -2024-02-15 10:44:18, INFO: Number of layers: 1 -2024-02-15 10:44:18, INFO: Planning depth: 1 -2024-02-15 10:44:18, INFO: Planning width: 10 -2024-02-15 10:44:18, INFO: Sparse search: None -2024-02-15 10:44:20, INFO: human number: 10 -2024-02-15 10:44:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:24, INFO: Using device: cpu -2024-02-15 10:44:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:24, INFO: Similarity_func: concatenation -2024-02-15 10:44:24, INFO: Layerwise_graph: False -2024-02-15 10:44:24, INFO: Skip_connection: True -2024-02-15 10:44:24, INFO: Number of layers: 1 -2024-02-15 10:44:24, INFO: Similarity_func: concatenation -2024-02-15 10:44:24, INFO: Layerwise_graph: False -2024-02-15 10:44:24, INFO: Skip_connection: True -2024-02-15 10:44:24, INFO: Number of layers: 1 -2024-02-15 10:44:24, INFO: Planning depth: 1 -2024-02-15 10:44:24, INFO: Planning width: 10 -2024-02-15 10:44:24, INFO: Sparse search: None -2024-02-15 10:44:27, INFO: human number: 10 -2024-02-15 10:44:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:31, INFO: Using device: cpu -2024-02-15 10:44:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:31, INFO: Similarity_func: concatenation -2024-02-15 10:44:31, INFO: Layerwise_graph: False -2024-02-15 10:44:31, INFO: Skip_connection: True -2024-02-15 10:44:31, INFO: Number of layers: 1 -2024-02-15 10:44:31, INFO: Similarity_func: concatenation -2024-02-15 10:44:31, INFO: Layerwise_graph: False -2024-02-15 10:44:31, INFO: Skip_connection: True -2024-02-15 10:44:31, INFO: Number of layers: 1 -2024-02-15 10:44:31, INFO: Planning depth: 1 -2024-02-15 10:44:31, INFO: Planning width: 10 -2024-02-15 10:44:31, INFO: Sparse search: None -2024-02-15 10:44:34, INFO: human number: 10 -2024-02-15 10:44:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:38, INFO: Using device: cpu -2024-02-15 10:44:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:38, INFO: Similarity_func: concatenation -2024-02-15 10:44:38, INFO: Layerwise_graph: False -2024-02-15 10:44:38, INFO: Skip_connection: True -2024-02-15 10:44:38, INFO: Number of layers: 1 -2024-02-15 10:44:38, INFO: Similarity_func: concatenation -2024-02-15 10:44:38, INFO: Layerwise_graph: False -2024-02-15 10:44:38, INFO: Skip_connection: True -2024-02-15 10:44:38, INFO: Number of layers: 1 -2024-02-15 10:44:38, INFO: Planning depth: 1 -2024-02-15 10:44:38, INFO: Planning width: 10 -2024-02-15 10:44:38, INFO: Sparse search: None -2024-02-15 10:44:41, INFO: human number: 10 -2024-02-15 10:44:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:45, INFO: Using device: cpu -2024-02-15 10:44:45, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:45, INFO: Similarity_func: concatenation -2024-02-15 10:44:45, INFO: Layerwise_graph: False -2024-02-15 10:44:45, INFO: Skip_connection: True -2024-02-15 10:44:45, INFO: Number of layers: 1 -2024-02-15 10:44:45, INFO: Similarity_func: concatenation -2024-02-15 10:44:45, INFO: Layerwise_graph: False -2024-02-15 10:44:45, INFO: Skip_connection: True -2024-02-15 10:44:45, INFO: Number of layers: 1 -2024-02-15 10:44:45, INFO: Planning depth: 1 -2024-02-15 10:44:45, INFO: Planning width: 10 -2024-02-15 10:44:45, INFO: Sparse search: None -2024-02-15 10:44:48, INFO: human number: 10 -2024-02-15 10:44:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:52, INFO: Using device: cpu -2024-02-15 10:44:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:52, INFO: Similarity_func: concatenation -2024-02-15 10:44:52, INFO: Layerwise_graph: False -2024-02-15 10:44:52, INFO: Skip_connection: True -2024-02-15 10:44:52, INFO: Number of layers: 1 -2024-02-15 10:44:52, INFO: Similarity_func: concatenation -2024-02-15 10:44:52, INFO: Layerwise_graph: False -2024-02-15 10:44:52, INFO: Skip_connection: True -2024-02-15 10:44:52, INFO: Number of layers: 1 -2024-02-15 10:44:52, INFO: Planning depth: 1 -2024-02-15 10:44:52, INFO: Planning width: 10 -2024-02-15 10:44:52, INFO: Sparse search: None -2024-02-15 10:44:55, INFO: human number: 10 -2024-02-15 10:44:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:44:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:44:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:44:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:44:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:44:59, INFO: Using device: cpu -2024-02-15 10:44:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:44:59, INFO: Similarity_func: concatenation -2024-02-15 10:44:59, INFO: Layerwise_graph: False -2024-02-15 10:44:59, INFO: Skip_connection: True -2024-02-15 10:44:59, INFO: Number of layers: 1 -2024-02-15 10:44:59, INFO: Similarity_func: concatenation -2024-02-15 10:44:59, INFO: Layerwise_graph: False -2024-02-15 10:44:59, INFO: Skip_connection: True -2024-02-15 10:44:59, INFO: Number of layers: 1 -2024-02-15 10:44:59, INFO: Planning depth: 1 -2024-02-15 10:44:59, INFO: Planning width: 10 -2024-02-15 10:44:59, INFO: Sparse search: None -2024-02-15 10:45:01, INFO: human number: 10 -2024-02-15 10:45:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:06, INFO: Using device: cpu -2024-02-15 10:45:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:06, INFO: Similarity_func: concatenation -2024-02-15 10:45:06, INFO: Layerwise_graph: False -2024-02-15 10:45:06, INFO: Skip_connection: True -2024-02-15 10:45:06, INFO: Number of layers: 1 -2024-02-15 10:45:06, INFO: Similarity_func: concatenation -2024-02-15 10:45:06, INFO: Layerwise_graph: False -2024-02-15 10:45:06, INFO: Skip_connection: True -2024-02-15 10:45:06, INFO: Number of layers: 1 -2024-02-15 10:45:06, INFO: Planning depth: 1 -2024-02-15 10:45:06, INFO: Planning width: 10 -2024-02-15 10:45:06, INFO: Sparse search: None -2024-02-15 10:45:08, INFO: human number: 10 -2024-02-15 10:45:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:13, INFO: Using device: cpu -2024-02-15 10:45:13, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:13, INFO: Similarity_func: concatenation -2024-02-15 10:45:13, INFO: Layerwise_graph: False -2024-02-15 10:45:13, INFO: Skip_connection: True -2024-02-15 10:45:13, INFO: Number of layers: 1 -2024-02-15 10:45:13, INFO: Similarity_func: concatenation -2024-02-15 10:45:13, INFO: Layerwise_graph: False -2024-02-15 10:45:13, INFO: Skip_connection: True -2024-02-15 10:45:13, INFO: Number of layers: 1 -2024-02-15 10:45:13, INFO: Planning depth: 1 -2024-02-15 10:45:13, INFO: Planning width: 10 -2024-02-15 10:45:13, INFO: Sparse search: None -2024-02-15 10:45:15, INFO: human number: 10 -2024-02-15 10:45:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:20, INFO: Using device: cpu -2024-02-15 10:45:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:20, INFO: Similarity_func: concatenation -2024-02-15 10:45:20, INFO: Layerwise_graph: False -2024-02-15 10:45:20, INFO: Skip_connection: True -2024-02-15 10:45:20, INFO: Number of layers: 1 -2024-02-15 10:45:20, INFO: Similarity_func: concatenation -2024-02-15 10:45:20, INFO: Layerwise_graph: False -2024-02-15 10:45:20, INFO: Skip_connection: True -2024-02-15 10:45:20, INFO: Number of layers: 1 -2024-02-15 10:45:20, INFO: Planning depth: 1 -2024-02-15 10:45:20, INFO: Planning width: 10 -2024-02-15 10:45:20, INFO: Sparse search: None -2024-02-15 10:45:22, INFO: human number: 10 -2024-02-15 10:45:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:26, INFO: Using device: cpu -2024-02-15 10:45:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:26, INFO: Similarity_func: concatenation -2024-02-15 10:45:26, INFO: Layerwise_graph: False -2024-02-15 10:45:26, INFO: Skip_connection: True -2024-02-15 10:45:26, INFO: Number of layers: 1 -2024-02-15 10:45:26, INFO: Similarity_func: concatenation -2024-02-15 10:45:26, INFO: Layerwise_graph: False -2024-02-15 10:45:26, INFO: Skip_connection: True -2024-02-15 10:45:26, INFO: Number of layers: 1 -2024-02-15 10:45:26, INFO: Planning depth: 1 -2024-02-15 10:45:26, INFO: Planning width: 10 -2024-02-15 10:45:26, INFO: Sparse search: None -2024-02-15 10:45:29, INFO: human number: 10 -2024-02-15 10:45:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:33, INFO: Using device: cpu -2024-02-15 10:45:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:33, INFO: Similarity_func: concatenation -2024-02-15 10:45:33, INFO: Layerwise_graph: False -2024-02-15 10:45:33, INFO: Skip_connection: True -2024-02-15 10:45:33, INFO: Number of layers: 1 -2024-02-15 10:45:33, INFO: Similarity_func: concatenation -2024-02-15 10:45:33, INFO: Layerwise_graph: False -2024-02-15 10:45:33, INFO: Skip_connection: True -2024-02-15 10:45:33, INFO: Number of layers: 1 -2024-02-15 10:45:33, INFO: Planning depth: 1 -2024-02-15 10:45:33, INFO: Planning width: 10 -2024-02-15 10:45:33, INFO: Sparse search: None -2024-02-15 10:45:36, INFO: human number: 10 -2024-02-15 10:45:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:40, INFO: Using device: cpu -2024-02-15 10:45:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:40, INFO: Similarity_func: concatenation -2024-02-15 10:45:40, INFO: Layerwise_graph: False -2024-02-15 10:45:40, INFO: Skip_connection: True -2024-02-15 10:45:40, INFO: Number of layers: 1 -2024-02-15 10:45:40, INFO: Similarity_func: concatenation -2024-02-15 10:45:40, INFO: Layerwise_graph: False -2024-02-15 10:45:40, INFO: Skip_connection: True -2024-02-15 10:45:40, INFO: Number of layers: 1 -2024-02-15 10:45:40, INFO: Planning depth: 1 -2024-02-15 10:45:40, INFO: Planning width: 10 -2024-02-15 10:45:40, INFO: Sparse search: None -2024-02-15 10:45:43, INFO: human number: 10 -2024-02-15 10:45:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:47, INFO: Using device: cpu -2024-02-15 10:45:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:47, INFO: Similarity_func: concatenation -2024-02-15 10:45:47, INFO: Layerwise_graph: False -2024-02-15 10:45:47, INFO: Skip_connection: True -2024-02-15 10:45:47, INFO: Number of layers: 1 -2024-02-15 10:45:47, INFO: Similarity_func: concatenation -2024-02-15 10:45:47, INFO: Layerwise_graph: False -2024-02-15 10:45:47, INFO: Skip_connection: True -2024-02-15 10:45:47, INFO: Number of layers: 1 -2024-02-15 10:45:47, INFO: Planning depth: 1 -2024-02-15 10:45:47, INFO: Planning width: 10 -2024-02-15 10:45:47, INFO: Sparse search: None -2024-02-15 10:45:50, INFO: human number: 10 -2024-02-15 10:45:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:45:54, INFO: Using device: cpu -2024-02-15 10:45:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:45:54, INFO: Similarity_func: concatenation -2024-02-15 10:45:54, INFO: Layerwise_graph: False -2024-02-15 10:45:54, INFO: Skip_connection: True -2024-02-15 10:45:54, INFO: Number of layers: 1 -2024-02-15 10:45:54, INFO: Similarity_func: concatenation -2024-02-15 10:45:54, INFO: Layerwise_graph: False -2024-02-15 10:45:54, INFO: Skip_connection: True -2024-02-15 10:45:54, INFO: Number of layers: 1 -2024-02-15 10:45:54, INFO: Planning depth: 1 -2024-02-15 10:45:54, INFO: Planning width: 10 -2024-02-15 10:45:54, INFO: Sparse search: None -2024-02-15 10:45:57, INFO: human number: 10 -2024-02-15 10:45:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:45:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:45:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:45:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:45:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:01, INFO: Using device: cpu -2024-02-15 10:46:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:01, INFO: Similarity_func: concatenation -2024-02-15 10:46:01, INFO: Layerwise_graph: False -2024-02-15 10:46:01, INFO: Skip_connection: True -2024-02-15 10:46:01, INFO: Number of layers: 1 -2024-02-15 10:46:01, INFO: Similarity_func: concatenation -2024-02-15 10:46:01, INFO: Layerwise_graph: False -2024-02-15 10:46:01, INFO: Skip_connection: True -2024-02-15 10:46:01, INFO: Number of layers: 1 -2024-02-15 10:46:01, INFO: Planning depth: 1 -2024-02-15 10:46:01, INFO: Planning width: 10 -2024-02-15 10:46:01, INFO: Sparse search: None -2024-02-15 10:46:04, INFO: human number: 10 -2024-02-15 10:46:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:08, INFO: Using device: cpu -2024-02-15 10:46:08, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:08, INFO: Similarity_func: concatenation -2024-02-15 10:46:08, INFO: Layerwise_graph: False -2024-02-15 10:46:08, INFO: Skip_connection: True -2024-02-15 10:46:08, INFO: Number of layers: 1 -2024-02-15 10:46:08, INFO: Similarity_func: concatenation -2024-02-15 10:46:08, INFO: Layerwise_graph: False -2024-02-15 10:46:08, INFO: Skip_connection: True -2024-02-15 10:46:08, INFO: Number of layers: 1 -2024-02-15 10:46:08, INFO: Planning depth: 1 -2024-02-15 10:46:08, INFO: Planning width: 10 -2024-02-15 10:46:08, INFO: Sparse search: None -2024-02-15 10:46:11, INFO: human number: 10 -2024-02-15 10:46:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:15, INFO: Using device: cpu -2024-02-15 10:46:15, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:15, INFO: Similarity_func: concatenation -2024-02-15 10:46:15, INFO: Layerwise_graph: False -2024-02-15 10:46:15, INFO: Skip_connection: True -2024-02-15 10:46:15, INFO: Number of layers: 1 -2024-02-15 10:46:15, INFO: Similarity_func: concatenation -2024-02-15 10:46:15, INFO: Layerwise_graph: False -2024-02-15 10:46:15, INFO: Skip_connection: True -2024-02-15 10:46:15, INFO: Number of layers: 1 -2024-02-15 10:46:15, INFO: Planning depth: 1 -2024-02-15 10:46:15, INFO: Planning width: 10 -2024-02-15 10:46:15, INFO: Sparse search: None -2024-02-15 10:46:18, INFO: human number: 10 -2024-02-15 10:46:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:18, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:22, INFO: Using device: cpu -2024-02-15 10:46:22, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:22, INFO: Similarity_func: concatenation -2024-02-15 10:46:22, INFO: Layerwise_graph: False -2024-02-15 10:46:22, INFO: Skip_connection: True -2024-02-15 10:46:22, INFO: Number of layers: 1 -2024-02-15 10:46:22, INFO: Similarity_func: concatenation -2024-02-15 10:46:22, INFO: Layerwise_graph: False -2024-02-15 10:46:22, INFO: Skip_connection: True -2024-02-15 10:46:22, INFO: Number of layers: 1 -2024-02-15 10:46:22, INFO: Planning depth: 1 -2024-02-15 10:46:22, INFO: Planning width: 10 -2024-02-15 10:46:22, INFO: Sparse search: None -2024-02-15 10:46:25, INFO: human number: 10 -2024-02-15 10:46:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:25, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:29, INFO: Using device: cpu -2024-02-15 10:46:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:29, INFO: Similarity_func: concatenation -2024-02-15 10:46:29, INFO: Layerwise_graph: False -2024-02-15 10:46:29, INFO: Skip_connection: True -2024-02-15 10:46:29, INFO: Number of layers: 1 -2024-02-15 10:46:29, INFO: Similarity_func: concatenation -2024-02-15 10:46:29, INFO: Layerwise_graph: False -2024-02-15 10:46:29, INFO: Skip_connection: True -2024-02-15 10:46:29, INFO: Number of layers: 1 -2024-02-15 10:46:29, INFO: Planning depth: 1 -2024-02-15 10:46:29, INFO: Planning width: 10 -2024-02-15 10:46:29, INFO: Sparse search: None -2024-02-15 10:46:32, INFO: human number: 10 -2024-02-15 10:46:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:32, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:36, INFO: Using device: cpu -2024-02-15 10:46:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:36, INFO: Similarity_func: concatenation -2024-02-15 10:46:36, INFO: Layerwise_graph: False -2024-02-15 10:46:36, INFO: Skip_connection: True -2024-02-15 10:46:36, INFO: Number of layers: 1 -2024-02-15 10:46:36, INFO: Similarity_func: concatenation -2024-02-15 10:46:36, INFO: Layerwise_graph: False -2024-02-15 10:46:36, INFO: Skip_connection: True -2024-02-15 10:46:36, INFO: Number of layers: 1 -2024-02-15 10:46:36, INFO: Planning depth: 1 -2024-02-15 10:46:36, INFO: Planning width: 10 -2024-02-15 10:46:36, INFO: Sparse search: None -2024-02-15 10:46:39, INFO: human number: 10 -2024-02-15 10:46:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:43, INFO: Using device: cpu -2024-02-15 10:46:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:43, INFO: Similarity_func: concatenation -2024-02-15 10:46:43, INFO: Layerwise_graph: False -2024-02-15 10:46:43, INFO: Skip_connection: True -2024-02-15 10:46:43, INFO: Number of layers: 1 -2024-02-15 10:46:43, INFO: Similarity_func: concatenation -2024-02-15 10:46:43, INFO: Layerwise_graph: False -2024-02-15 10:46:43, INFO: Skip_connection: True -2024-02-15 10:46:43, INFO: Number of layers: 1 -2024-02-15 10:46:43, INFO: Planning depth: 1 -2024-02-15 10:46:43, INFO: Planning width: 10 -2024-02-15 10:46:43, INFO: Sparse search: None -2024-02-15 10:46:46, INFO: human number: 10 -2024-02-15 10:46:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:50, INFO: Using device: cpu -2024-02-15 10:46:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:50, INFO: Similarity_func: concatenation -2024-02-15 10:46:50, INFO: Layerwise_graph: False -2024-02-15 10:46:50, INFO: Skip_connection: True -2024-02-15 10:46:50, INFO: Number of layers: 1 -2024-02-15 10:46:50, INFO: Similarity_func: concatenation -2024-02-15 10:46:50, INFO: Layerwise_graph: False -2024-02-15 10:46:50, INFO: Skip_connection: True -2024-02-15 10:46:50, INFO: Number of layers: 1 -2024-02-15 10:46:50, INFO: Planning depth: 1 -2024-02-15 10:46:50, INFO: Planning width: 10 -2024-02-15 10:46:50, INFO: Sparse search: None -2024-02-15 10:46:53, INFO: human number: 10 -2024-02-15 10:46:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:46:57, INFO: Using device: cpu -2024-02-15 10:46:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:46:57, INFO: Similarity_func: concatenation -2024-02-15 10:46:57, INFO: Layerwise_graph: False -2024-02-15 10:46:57, INFO: Skip_connection: True -2024-02-15 10:46:57, INFO: Number of layers: 1 -2024-02-15 10:46:57, INFO: Similarity_func: concatenation -2024-02-15 10:46:57, INFO: Layerwise_graph: False -2024-02-15 10:46:57, INFO: Skip_connection: True -2024-02-15 10:46:57, INFO: Number of layers: 1 -2024-02-15 10:46:57, INFO: Planning depth: 1 -2024-02-15 10:46:57, INFO: Planning width: 10 -2024-02-15 10:46:57, INFO: Sparse search: None -2024-02-15 10:46:59, INFO: human number: 10 -2024-02-15 10:46:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:46:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:46:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:46:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:46:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:03, INFO: Using device: cpu -2024-02-15 10:47:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:03, INFO: Similarity_func: concatenation -2024-02-15 10:47:03, INFO: Layerwise_graph: False -2024-02-15 10:47:03, INFO: Skip_connection: True -2024-02-15 10:47:03, INFO: Number of layers: 1 -2024-02-15 10:47:03, INFO: Similarity_func: concatenation -2024-02-15 10:47:03, INFO: Layerwise_graph: False -2024-02-15 10:47:03, INFO: Skip_connection: True -2024-02-15 10:47:03, INFO: Number of layers: 1 -2024-02-15 10:47:03, INFO: Planning depth: 1 -2024-02-15 10:47:03, INFO: Planning width: 10 -2024-02-15 10:47:03, INFO: Sparse search: None -2024-02-15 10:47:06, INFO: human number: 10 -2024-02-15 10:47:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:09, INFO: Using device: cpu -2024-02-15 10:47:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:09, INFO: Similarity_func: concatenation -2024-02-15 10:47:09, INFO: Layerwise_graph: False -2024-02-15 10:47:09, INFO: Skip_connection: True -2024-02-15 10:47:09, INFO: Number of layers: 1 -2024-02-15 10:47:09, INFO: Similarity_func: concatenation -2024-02-15 10:47:09, INFO: Layerwise_graph: False -2024-02-15 10:47:09, INFO: Skip_connection: True -2024-02-15 10:47:09, INFO: Number of layers: 1 -2024-02-15 10:47:09, INFO: Planning depth: 1 -2024-02-15 10:47:09, INFO: Planning width: 10 -2024-02-15 10:47:09, INFO: Sparse search: None -2024-02-15 10:47:12, INFO: human number: 10 -2024-02-15 10:47:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:16, INFO: Using device: cpu -2024-02-15 10:47:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:16, INFO: Similarity_func: concatenation -2024-02-15 10:47:16, INFO: Layerwise_graph: False -2024-02-15 10:47:16, INFO: Skip_connection: True -2024-02-15 10:47:16, INFO: Number of layers: 1 -2024-02-15 10:47:16, INFO: Similarity_func: concatenation -2024-02-15 10:47:16, INFO: Layerwise_graph: False -2024-02-15 10:47:16, INFO: Skip_connection: True -2024-02-15 10:47:16, INFO: Number of layers: 1 -2024-02-15 10:47:16, INFO: Planning depth: 1 -2024-02-15 10:47:16, INFO: Planning width: 10 -2024-02-15 10:47:16, INFO: Sparse search: None -2024-02-15 10:47:19, INFO: human number: 10 -2024-02-15 10:47:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:24, INFO: Using device: cpu -2024-02-15 10:47:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:24, INFO: Similarity_func: concatenation -2024-02-15 10:47:24, INFO: Layerwise_graph: False -2024-02-15 10:47:24, INFO: Skip_connection: True -2024-02-15 10:47:24, INFO: Number of layers: 1 -2024-02-15 10:47:24, INFO: Similarity_func: concatenation -2024-02-15 10:47:24, INFO: Layerwise_graph: False -2024-02-15 10:47:24, INFO: Skip_connection: True -2024-02-15 10:47:24, INFO: Number of layers: 1 -2024-02-15 10:47:24, INFO: Planning depth: 1 -2024-02-15 10:47:24, INFO: Planning width: 10 -2024-02-15 10:47:24, INFO: Sparse search: None -2024-02-15 10:47:26, INFO: human number: 10 -2024-02-15 10:47:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:30, INFO: Using device: cpu -2024-02-15 10:47:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:30, INFO: Similarity_func: concatenation -2024-02-15 10:47:30, INFO: Layerwise_graph: False -2024-02-15 10:47:30, INFO: Skip_connection: True -2024-02-15 10:47:30, INFO: Number of layers: 1 -2024-02-15 10:47:30, INFO: Similarity_func: concatenation -2024-02-15 10:47:30, INFO: Layerwise_graph: False -2024-02-15 10:47:30, INFO: Skip_connection: True -2024-02-15 10:47:30, INFO: Number of layers: 1 -2024-02-15 10:47:30, INFO: Planning depth: 1 -2024-02-15 10:47:30, INFO: Planning width: 10 -2024-02-15 10:47:30, INFO: Sparse search: None -2024-02-15 10:47:33, INFO: human number: 10 -2024-02-15 10:47:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:37, INFO: Using device: cpu -2024-02-15 10:47:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:37, INFO: Similarity_func: concatenation -2024-02-15 10:47:37, INFO: Layerwise_graph: False -2024-02-15 10:47:37, INFO: Skip_connection: True -2024-02-15 10:47:37, INFO: Number of layers: 1 -2024-02-15 10:47:37, INFO: Similarity_func: concatenation -2024-02-15 10:47:37, INFO: Layerwise_graph: False -2024-02-15 10:47:37, INFO: Skip_connection: True -2024-02-15 10:47:37, INFO: Number of layers: 1 -2024-02-15 10:47:37, INFO: Planning depth: 1 -2024-02-15 10:47:37, INFO: Planning width: 10 -2024-02-15 10:47:37, INFO: Sparse search: None -2024-02-15 10:47:39, INFO: human number: 10 -2024-02-15 10:47:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:43, INFO: Using device: cpu -2024-02-15 10:47:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:43, INFO: Similarity_func: concatenation -2024-02-15 10:47:43, INFO: Layerwise_graph: False -2024-02-15 10:47:43, INFO: Skip_connection: True -2024-02-15 10:47:43, INFO: Number of layers: 1 -2024-02-15 10:47:43, INFO: Similarity_func: concatenation -2024-02-15 10:47:43, INFO: Layerwise_graph: False -2024-02-15 10:47:43, INFO: Skip_connection: True -2024-02-15 10:47:43, INFO: Number of layers: 1 -2024-02-15 10:47:43, INFO: Planning depth: 1 -2024-02-15 10:47:43, INFO: Planning width: 10 -2024-02-15 10:47:43, INFO: Sparse search: None -2024-02-15 10:47:46, INFO: human number: 10 -2024-02-15 10:47:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:50, INFO: Using device: cpu -2024-02-15 10:47:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:50, INFO: Similarity_func: concatenation -2024-02-15 10:47:50, INFO: Layerwise_graph: False -2024-02-15 10:47:50, INFO: Skip_connection: True -2024-02-15 10:47:50, INFO: Number of layers: 1 -2024-02-15 10:47:50, INFO: Similarity_func: concatenation -2024-02-15 10:47:50, INFO: Layerwise_graph: False -2024-02-15 10:47:50, INFO: Skip_connection: True -2024-02-15 10:47:50, INFO: Number of layers: 1 -2024-02-15 10:47:50, INFO: Planning depth: 1 -2024-02-15 10:47:50, INFO: Planning width: 10 -2024-02-15 10:47:50, INFO: Sparse search: None -2024-02-15 10:47:53, INFO: human number: 10 -2024-02-15 10:47:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:47:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:47:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:47:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:47:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:47:58, INFO: Using device: cpu -2024-02-15 10:47:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:47:58, INFO: Similarity_func: concatenation -2024-02-15 10:47:58, INFO: Layerwise_graph: False -2024-02-15 10:47:58, INFO: Skip_connection: True -2024-02-15 10:47:58, INFO: Number of layers: 1 -2024-02-15 10:47:58, INFO: Similarity_func: concatenation -2024-02-15 10:47:58, INFO: Layerwise_graph: False -2024-02-15 10:47:58, INFO: Skip_connection: True -2024-02-15 10:47:58, INFO: Number of layers: 1 -2024-02-15 10:47:58, INFO: Planning depth: 1 -2024-02-15 10:47:58, INFO: Planning width: 10 -2024-02-15 10:47:58, INFO: Sparse search: None -2024-02-15 10:48:00, INFO: human number: 10 -2024-02-15 10:48:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:04, INFO: Using device: cpu -2024-02-15 10:48:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:04, INFO: Similarity_func: concatenation -2024-02-15 10:48:04, INFO: Layerwise_graph: False -2024-02-15 10:48:04, INFO: Skip_connection: True -2024-02-15 10:48:04, INFO: Number of layers: 1 -2024-02-15 10:48:04, INFO: Similarity_func: concatenation -2024-02-15 10:48:04, INFO: Layerwise_graph: False -2024-02-15 10:48:04, INFO: Skip_connection: True -2024-02-15 10:48:04, INFO: Number of layers: 1 -2024-02-15 10:48:04, INFO: Planning depth: 1 -2024-02-15 10:48:04, INFO: Planning width: 10 -2024-02-15 10:48:04, INFO: Sparse search: None -2024-02-15 10:48:07, INFO: human number: 10 -2024-02-15 10:48:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:07, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:11, INFO: Using device: cpu -2024-02-15 10:48:11, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:11, INFO: Similarity_func: concatenation -2024-02-15 10:48:11, INFO: Layerwise_graph: False -2024-02-15 10:48:11, INFO: Skip_connection: True -2024-02-15 10:48:11, INFO: Number of layers: 1 -2024-02-15 10:48:11, INFO: Similarity_func: concatenation -2024-02-15 10:48:11, INFO: Layerwise_graph: False -2024-02-15 10:48:11, INFO: Skip_connection: True -2024-02-15 10:48:11, INFO: Number of layers: 1 -2024-02-15 10:48:11, INFO: Planning depth: 1 -2024-02-15 10:48:11, INFO: Planning width: 10 -2024-02-15 10:48:11, INFO: Sparse search: None -2024-02-15 10:48:14, INFO: human number: 10 -2024-02-15 10:48:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:14, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:18, INFO: Using device: cpu -2024-02-15 10:48:18, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:18, INFO: Similarity_func: concatenation -2024-02-15 10:48:18, INFO: Layerwise_graph: False -2024-02-15 10:48:18, INFO: Skip_connection: True -2024-02-15 10:48:18, INFO: Number of layers: 1 -2024-02-15 10:48:18, INFO: Similarity_func: concatenation -2024-02-15 10:48:18, INFO: Layerwise_graph: False -2024-02-15 10:48:18, INFO: Skip_connection: True -2024-02-15 10:48:18, INFO: Number of layers: 1 -2024-02-15 10:48:18, INFO: Planning depth: 1 -2024-02-15 10:48:18, INFO: Planning width: 10 -2024-02-15 10:48:18, INFO: Sparse search: None -2024-02-15 10:48:21, INFO: human number: 10 -2024-02-15 10:48:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:21, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:26, INFO: Using device: cpu -2024-02-15 10:48:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:26, INFO: Similarity_func: concatenation -2024-02-15 10:48:26, INFO: Layerwise_graph: False -2024-02-15 10:48:26, INFO: Skip_connection: True -2024-02-15 10:48:26, INFO: Number of layers: 1 -2024-02-15 10:48:26, INFO: Similarity_func: concatenation -2024-02-15 10:48:26, INFO: Layerwise_graph: False -2024-02-15 10:48:26, INFO: Skip_connection: True -2024-02-15 10:48:26, INFO: Number of layers: 1 -2024-02-15 10:48:26, INFO: Planning depth: 1 -2024-02-15 10:48:26, INFO: Planning width: 10 -2024-02-15 10:48:26, INFO: Sparse search: None -2024-02-15 10:48:29, INFO: human number: 10 -2024-02-15 10:48:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:33, INFO: Using device: cpu -2024-02-15 10:48:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:33, INFO: Similarity_func: concatenation -2024-02-15 10:48:33, INFO: Layerwise_graph: False -2024-02-15 10:48:33, INFO: Skip_connection: True -2024-02-15 10:48:33, INFO: Number of layers: 1 -2024-02-15 10:48:33, INFO: Similarity_func: concatenation -2024-02-15 10:48:33, INFO: Layerwise_graph: False -2024-02-15 10:48:33, INFO: Skip_connection: True -2024-02-15 10:48:33, INFO: Number of layers: 1 -2024-02-15 10:48:33, INFO: Planning depth: 1 -2024-02-15 10:48:33, INFO: Planning width: 10 -2024-02-15 10:48:33, INFO: Sparse search: None -2024-02-15 10:48:36, INFO: human number: 10 -2024-02-15 10:48:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:40, INFO: Using device: cpu -2024-02-15 10:48:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:40, INFO: Similarity_func: concatenation -2024-02-15 10:48:40, INFO: Layerwise_graph: False -2024-02-15 10:48:40, INFO: Skip_connection: True -2024-02-15 10:48:40, INFO: Number of layers: 1 -2024-02-15 10:48:40, INFO: Similarity_func: concatenation -2024-02-15 10:48:40, INFO: Layerwise_graph: False -2024-02-15 10:48:40, INFO: Skip_connection: True -2024-02-15 10:48:40, INFO: Number of layers: 1 -2024-02-15 10:48:40, INFO: Planning depth: 1 -2024-02-15 10:48:40, INFO: Planning width: 10 -2024-02-15 10:48:40, INFO: Sparse search: None -2024-02-15 10:48:42, INFO: human number: 10 -2024-02-15 10:48:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:46, INFO: Using device: cpu -2024-02-15 10:48:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:46, INFO: Similarity_func: concatenation -2024-02-15 10:48:46, INFO: Layerwise_graph: False -2024-02-15 10:48:46, INFO: Skip_connection: True -2024-02-15 10:48:46, INFO: Number of layers: 1 -2024-02-15 10:48:46, INFO: Similarity_func: concatenation -2024-02-15 10:48:46, INFO: Layerwise_graph: False -2024-02-15 10:48:46, INFO: Skip_connection: True -2024-02-15 10:48:46, INFO: Number of layers: 1 -2024-02-15 10:48:46, INFO: Planning depth: 1 -2024-02-15 10:48:46, INFO: Planning width: 10 -2024-02-15 10:48:46, INFO: Sparse search: None -2024-02-15 10:48:49, INFO: human number: 10 -2024-02-15 10:48:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:48:54, INFO: Using device: cpu -2024-02-15 10:48:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:48:54, INFO: Similarity_func: concatenation -2024-02-15 10:48:54, INFO: Layerwise_graph: False -2024-02-15 10:48:54, INFO: Skip_connection: True -2024-02-15 10:48:54, INFO: Number of layers: 1 -2024-02-15 10:48:54, INFO: Similarity_func: concatenation -2024-02-15 10:48:54, INFO: Layerwise_graph: False -2024-02-15 10:48:54, INFO: Skip_connection: True -2024-02-15 10:48:54, INFO: Number of layers: 1 -2024-02-15 10:48:54, INFO: Planning depth: 1 -2024-02-15 10:48:54, INFO: Planning width: 10 -2024-02-15 10:48:54, INFO: Sparse search: None -2024-02-15 10:48:56, INFO: human number: 10 -2024-02-15 10:48:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:48:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:48:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:48:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:48:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:01, INFO: Using device: cpu -2024-02-15 10:49:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:01, INFO: Similarity_func: concatenation -2024-02-15 10:49:01, INFO: Layerwise_graph: False -2024-02-15 10:49:01, INFO: Skip_connection: True -2024-02-15 10:49:01, INFO: Number of layers: 1 -2024-02-15 10:49:01, INFO: Similarity_func: concatenation -2024-02-15 10:49:01, INFO: Layerwise_graph: False -2024-02-15 10:49:01, INFO: Skip_connection: True -2024-02-15 10:49:01, INFO: Number of layers: 1 -2024-02-15 10:49:01, INFO: Planning depth: 1 -2024-02-15 10:49:01, INFO: Planning width: 10 -2024-02-15 10:49:01, INFO: Sparse search: None -2024-02-15 10:49:03, INFO: human number: 10 -2024-02-15 10:49:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:07, INFO: Using device: cpu -2024-02-15 10:49:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:07, INFO: Similarity_func: concatenation -2024-02-15 10:49:07, INFO: Layerwise_graph: False -2024-02-15 10:49:07, INFO: Skip_connection: True -2024-02-15 10:49:07, INFO: Number of layers: 1 -2024-02-15 10:49:07, INFO: Similarity_func: concatenation -2024-02-15 10:49:07, INFO: Layerwise_graph: False -2024-02-15 10:49:07, INFO: Skip_connection: True -2024-02-15 10:49:07, INFO: Number of layers: 1 -2024-02-15 10:49:07, INFO: Planning depth: 1 -2024-02-15 10:49:07, INFO: Planning width: 10 -2024-02-15 10:49:07, INFO: Sparse search: None -2024-02-15 10:49:10, INFO: human number: 10 -2024-02-15 10:49:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:14, INFO: Using device: cpu -2024-02-15 10:49:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:14, INFO: Similarity_func: concatenation -2024-02-15 10:49:14, INFO: Layerwise_graph: False -2024-02-15 10:49:14, INFO: Skip_connection: True -2024-02-15 10:49:14, INFO: Number of layers: 1 -2024-02-15 10:49:14, INFO: Similarity_func: concatenation -2024-02-15 10:49:14, INFO: Layerwise_graph: False -2024-02-15 10:49:14, INFO: Skip_connection: True -2024-02-15 10:49:14, INFO: Number of layers: 1 -2024-02-15 10:49:14, INFO: Planning depth: 1 -2024-02-15 10:49:14, INFO: Planning width: 10 -2024-02-15 10:49:14, INFO: Sparse search: None -2024-02-15 10:49:17, INFO: human number: 10 -2024-02-15 10:49:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:20, INFO: Using device: cpu -2024-02-15 10:49:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:20, INFO: Similarity_func: concatenation -2024-02-15 10:49:20, INFO: Layerwise_graph: False -2024-02-15 10:49:20, INFO: Skip_connection: True -2024-02-15 10:49:20, INFO: Number of layers: 1 -2024-02-15 10:49:21, INFO: Similarity_func: concatenation -2024-02-15 10:49:21, INFO: Layerwise_graph: False -2024-02-15 10:49:21, INFO: Skip_connection: True -2024-02-15 10:49:21, INFO: Number of layers: 1 -2024-02-15 10:49:21, INFO: Planning depth: 1 -2024-02-15 10:49:21, INFO: Planning width: 10 -2024-02-15 10:49:21, INFO: Sparse search: None -2024-02-15 10:49:23, INFO: human number: 10 -2024-02-15 10:49:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:27, INFO: Using device: cpu -2024-02-15 10:49:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:27, INFO: Similarity_func: concatenation -2024-02-15 10:49:27, INFO: Layerwise_graph: False -2024-02-15 10:49:27, INFO: Skip_connection: True -2024-02-15 10:49:27, INFO: Number of layers: 1 -2024-02-15 10:49:27, INFO: Similarity_func: concatenation -2024-02-15 10:49:27, INFO: Layerwise_graph: False -2024-02-15 10:49:27, INFO: Skip_connection: True -2024-02-15 10:49:27, INFO: Number of layers: 1 -2024-02-15 10:49:27, INFO: Planning depth: 1 -2024-02-15 10:49:27, INFO: Planning width: 10 -2024-02-15 10:49:27, INFO: Sparse search: None -2024-02-15 10:49:30, INFO: human number: 10 -2024-02-15 10:49:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:35, INFO: Using device: cpu -2024-02-15 10:49:35, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:35, INFO: Similarity_func: concatenation -2024-02-15 10:49:35, INFO: Layerwise_graph: False -2024-02-15 10:49:35, INFO: Skip_connection: True -2024-02-15 10:49:35, INFO: Number of layers: 1 -2024-02-15 10:49:35, INFO: Similarity_func: concatenation -2024-02-15 10:49:35, INFO: Layerwise_graph: False -2024-02-15 10:49:35, INFO: Skip_connection: True -2024-02-15 10:49:35, INFO: Number of layers: 1 -2024-02-15 10:49:35, INFO: Planning depth: 1 -2024-02-15 10:49:35, INFO: Planning width: 10 -2024-02-15 10:49:35, INFO: Sparse search: None -2024-02-15 10:49:38, INFO: human number: 10 -2024-02-15 10:49:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:42, INFO: Using device: cpu -2024-02-15 10:49:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:42, INFO: Similarity_func: concatenation -2024-02-15 10:49:42, INFO: Layerwise_graph: False -2024-02-15 10:49:42, INFO: Skip_connection: True -2024-02-15 10:49:42, INFO: Number of layers: 1 -2024-02-15 10:49:42, INFO: Similarity_func: concatenation -2024-02-15 10:49:42, INFO: Layerwise_graph: False -2024-02-15 10:49:42, INFO: Skip_connection: True -2024-02-15 10:49:42, INFO: Number of layers: 1 -2024-02-15 10:49:42, INFO: Planning depth: 1 -2024-02-15 10:49:42, INFO: Planning width: 10 -2024-02-15 10:49:42, INFO: Sparse search: None -2024-02-15 10:49:44, INFO: human number: 10 -2024-02-15 10:49:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:48, INFO: Using device: cpu -2024-02-15 10:49:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:48, INFO: Similarity_func: concatenation -2024-02-15 10:49:48, INFO: Layerwise_graph: False -2024-02-15 10:49:48, INFO: Skip_connection: True -2024-02-15 10:49:48, INFO: Number of layers: 1 -2024-02-15 10:49:48, INFO: Similarity_func: concatenation -2024-02-15 10:49:48, INFO: Layerwise_graph: False -2024-02-15 10:49:48, INFO: Skip_connection: True -2024-02-15 10:49:48, INFO: Number of layers: 1 -2024-02-15 10:49:48, INFO: Planning depth: 1 -2024-02-15 10:49:48, INFO: Planning width: 10 -2024-02-15 10:49:48, INFO: Sparse search: None -2024-02-15 10:49:51, INFO: human number: 10 -2024-02-15 10:49:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:49:55, INFO: Using device: cpu -2024-02-15 10:49:55, INFO: Loaded RL weights with best VAL -2024-02-15 10:49:55, INFO: Similarity_func: concatenation -2024-02-15 10:49:55, INFO: Layerwise_graph: False -2024-02-15 10:49:55, INFO: Skip_connection: True -2024-02-15 10:49:55, INFO: Number of layers: 1 -2024-02-15 10:49:55, INFO: Similarity_func: concatenation -2024-02-15 10:49:55, INFO: Layerwise_graph: False -2024-02-15 10:49:55, INFO: Skip_connection: True -2024-02-15 10:49:55, INFO: Number of layers: 1 -2024-02-15 10:49:55, INFO: Planning depth: 1 -2024-02-15 10:49:55, INFO: Planning width: 10 -2024-02-15 10:49:55, INFO: Sparse search: None -2024-02-15 10:49:58, INFO: human number: 10 -2024-02-15 10:49:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:49:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:49:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:49:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:49:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:02, INFO: Using device: cpu -2024-02-15 10:50:02, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:02, INFO: Similarity_func: concatenation -2024-02-15 10:50:02, INFO: Layerwise_graph: False -2024-02-15 10:50:02, INFO: Skip_connection: True -2024-02-15 10:50:02, INFO: Number of layers: 1 -2024-02-15 10:50:02, INFO: Similarity_func: concatenation -2024-02-15 10:50:02, INFO: Layerwise_graph: False -2024-02-15 10:50:02, INFO: Skip_connection: True -2024-02-15 10:50:02, INFO: Number of layers: 1 -2024-02-15 10:50:02, INFO: Planning depth: 1 -2024-02-15 10:50:02, INFO: Planning width: 10 -2024-02-15 10:50:02, INFO: Sparse search: None -2024-02-15 10:50:04, INFO: human number: 10 -2024-02-15 10:50:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:09, INFO: Using device: cpu -2024-02-15 10:50:09, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:09, INFO: Similarity_func: concatenation -2024-02-15 10:50:09, INFO: Layerwise_graph: False -2024-02-15 10:50:09, INFO: Skip_connection: True -2024-02-15 10:50:09, INFO: Number of layers: 1 -2024-02-15 10:50:09, INFO: Similarity_func: concatenation -2024-02-15 10:50:09, INFO: Layerwise_graph: False -2024-02-15 10:50:09, INFO: Skip_connection: True -2024-02-15 10:50:09, INFO: Number of layers: 1 -2024-02-15 10:50:09, INFO: Planning depth: 1 -2024-02-15 10:50:09, INFO: Planning width: 10 -2024-02-15 10:50:09, INFO: Sparse search: None -2024-02-15 10:50:11, INFO: human number: 10 -2024-02-15 10:50:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:11, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:16, INFO: Using device: cpu -2024-02-15 10:50:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:16, INFO: Similarity_func: concatenation -2024-02-15 10:50:16, INFO: Layerwise_graph: False -2024-02-15 10:50:16, INFO: Skip_connection: True -2024-02-15 10:50:16, INFO: Number of layers: 1 -2024-02-15 10:50:16, INFO: Similarity_func: concatenation -2024-02-15 10:50:16, INFO: Layerwise_graph: False -2024-02-15 10:50:16, INFO: Skip_connection: True -2024-02-15 10:50:16, INFO: Number of layers: 1 -2024-02-15 10:50:16, INFO: Planning depth: 1 -2024-02-15 10:50:16, INFO: Planning width: 10 -2024-02-15 10:50:16, INFO: Sparse search: None -2024-02-15 10:50:19, INFO: human number: 10 -2024-02-15 10:50:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:23, INFO: Using device: cpu -2024-02-15 10:50:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:23, INFO: Similarity_func: concatenation -2024-02-15 10:50:23, INFO: Layerwise_graph: False -2024-02-15 10:50:23, INFO: Skip_connection: True -2024-02-15 10:50:23, INFO: Number of layers: 1 -2024-02-15 10:50:23, INFO: Similarity_func: concatenation -2024-02-15 10:50:23, INFO: Layerwise_graph: False -2024-02-15 10:50:23, INFO: Skip_connection: True -2024-02-15 10:50:23, INFO: Number of layers: 1 -2024-02-15 10:50:23, INFO: Planning depth: 1 -2024-02-15 10:50:23, INFO: Planning width: 10 -2024-02-15 10:50:23, INFO: Sparse search: None -2024-02-15 10:50:26, INFO: human number: 10 -2024-02-15 10:50:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:30, INFO: Using device: cpu -2024-02-15 10:50:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:30, INFO: Similarity_func: concatenation -2024-02-15 10:50:30, INFO: Layerwise_graph: False -2024-02-15 10:50:30, INFO: Skip_connection: True -2024-02-15 10:50:30, INFO: Number of layers: 1 -2024-02-15 10:50:30, INFO: Similarity_func: concatenation -2024-02-15 10:50:30, INFO: Layerwise_graph: False -2024-02-15 10:50:30, INFO: Skip_connection: True -2024-02-15 10:50:30, INFO: Number of layers: 1 -2024-02-15 10:50:30, INFO: Planning depth: 1 -2024-02-15 10:50:30, INFO: Planning width: 10 -2024-02-15 10:50:30, INFO: Sparse search: None -2024-02-15 10:50:33, INFO: human number: 10 -2024-02-15 10:50:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:37, INFO: Using device: cpu -2024-02-15 10:50:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:37, INFO: Similarity_func: concatenation -2024-02-15 10:50:37, INFO: Layerwise_graph: False -2024-02-15 10:50:37, INFO: Skip_connection: True -2024-02-15 10:50:37, INFO: Number of layers: 1 -2024-02-15 10:50:37, INFO: Similarity_func: concatenation -2024-02-15 10:50:37, INFO: Layerwise_graph: False -2024-02-15 10:50:37, INFO: Skip_connection: True -2024-02-15 10:50:37, INFO: Number of layers: 1 -2024-02-15 10:50:37, INFO: Planning depth: 1 -2024-02-15 10:50:37, INFO: Planning width: 10 -2024-02-15 10:50:37, INFO: Sparse search: None -2024-02-15 10:50:39, INFO: human number: 10 -2024-02-15 10:50:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:44, INFO: Using device: cpu -2024-02-15 10:50:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:44, INFO: Similarity_func: concatenation -2024-02-15 10:50:44, INFO: Layerwise_graph: False -2024-02-15 10:50:44, INFO: Skip_connection: True -2024-02-15 10:50:44, INFO: Number of layers: 1 -2024-02-15 10:50:44, INFO: Similarity_func: concatenation -2024-02-15 10:50:44, INFO: Layerwise_graph: False -2024-02-15 10:50:44, INFO: Skip_connection: True -2024-02-15 10:50:44, INFO: Number of layers: 1 -2024-02-15 10:50:44, INFO: Planning depth: 1 -2024-02-15 10:50:44, INFO: Planning width: 10 -2024-02-15 10:50:44, INFO: Sparse search: None -2024-02-15 10:50:46, INFO: human number: 10 -2024-02-15 10:50:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:50, INFO: Using device: cpu -2024-02-15 10:50:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:50, INFO: Similarity_func: concatenation -2024-02-15 10:50:50, INFO: Layerwise_graph: False -2024-02-15 10:50:50, INFO: Skip_connection: True -2024-02-15 10:50:50, INFO: Number of layers: 1 -2024-02-15 10:50:50, INFO: Similarity_func: concatenation -2024-02-15 10:50:50, INFO: Layerwise_graph: False -2024-02-15 10:50:50, INFO: Skip_connection: True -2024-02-15 10:50:50, INFO: Number of layers: 1 -2024-02-15 10:50:50, INFO: Planning depth: 1 -2024-02-15 10:50:50, INFO: Planning width: 10 -2024-02-15 10:50:50, INFO: Sparse search: None -2024-02-15 10:50:53, INFO: human number: 10 -2024-02-15 10:50:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:50:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:50:53, INFO: Square width: 10, circle width: 4 -2024-02-15 10:50:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:50:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:50:57, INFO: Using device: cpu -2024-02-15 10:50:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:50:57, INFO: Similarity_func: concatenation -2024-02-15 10:50:57, INFO: Layerwise_graph: False -2024-02-15 10:50:57, INFO: Skip_connection: True -2024-02-15 10:50:57, INFO: Number of layers: 1 -2024-02-15 10:50:57, INFO: Similarity_func: concatenation -2024-02-15 10:50:57, INFO: Layerwise_graph: False -2024-02-15 10:50:57, INFO: Skip_connection: True -2024-02-15 10:50:57, INFO: Number of layers: 1 -2024-02-15 10:50:57, INFO: Planning depth: 1 -2024-02-15 10:50:57, INFO: Planning width: 10 -2024-02-15 10:50:57, INFO: Sparse search: None -2024-02-15 10:51:00, INFO: human number: 10 -2024-02-15 10:51:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:00, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:04, INFO: Using device: cpu -2024-02-15 10:51:04, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:04, INFO: Similarity_func: concatenation -2024-02-15 10:51:04, INFO: Layerwise_graph: False -2024-02-15 10:51:04, INFO: Skip_connection: True -2024-02-15 10:51:04, INFO: Number of layers: 1 -2024-02-15 10:51:04, INFO: Similarity_func: concatenation -2024-02-15 10:51:04, INFO: Layerwise_graph: False -2024-02-15 10:51:04, INFO: Skip_connection: True -2024-02-15 10:51:04, INFO: Number of layers: 1 -2024-02-15 10:51:04, INFO: Planning depth: 1 -2024-02-15 10:51:04, INFO: Planning width: 10 -2024-02-15 10:51:04, INFO: Sparse search: None -2024-02-15 10:51:06, INFO: human number: 10 -2024-02-15 10:51:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:10, INFO: Using device: cpu -2024-02-15 10:51:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:10, INFO: Similarity_func: concatenation -2024-02-15 10:51:10, INFO: Layerwise_graph: False -2024-02-15 10:51:10, INFO: Skip_connection: True -2024-02-15 10:51:10, INFO: Number of layers: 1 -2024-02-15 10:51:10, INFO: Similarity_func: concatenation -2024-02-15 10:51:10, INFO: Layerwise_graph: False -2024-02-15 10:51:10, INFO: Skip_connection: True -2024-02-15 10:51:10, INFO: Number of layers: 1 -2024-02-15 10:51:10, INFO: Planning depth: 1 -2024-02-15 10:51:10, INFO: Planning width: 10 -2024-02-15 10:51:10, INFO: Sparse search: None -2024-02-15 10:51:13, INFO: human number: 10 -2024-02-15 10:51:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:17, INFO: Using device: cpu -2024-02-15 10:51:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:17, INFO: Similarity_func: concatenation -2024-02-15 10:51:17, INFO: Layerwise_graph: False -2024-02-15 10:51:17, INFO: Skip_connection: True -2024-02-15 10:51:17, INFO: Number of layers: 1 -2024-02-15 10:51:17, INFO: Similarity_func: concatenation -2024-02-15 10:51:17, INFO: Layerwise_graph: False -2024-02-15 10:51:17, INFO: Skip_connection: True -2024-02-15 10:51:17, INFO: Number of layers: 1 -2024-02-15 10:51:17, INFO: Planning depth: 1 -2024-02-15 10:51:17, INFO: Planning width: 10 -2024-02-15 10:51:17, INFO: Sparse search: None -2024-02-15 10:51:20, INFO: human number: 10 -2024-02-15 10:51:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:24, INFO: Using device: cpu -2024-02-15 10:51:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:24, INFO: Similarity_func: concatenation -2024-02-15 10:51:24, INFO: Layerwise_graph: False -2024-02-15 10:51:24, INFO: Skip_connection: True -2024-02-15 10:51:24, INFO: Number of layers: 1 -2024-02-15 10:51:24, INFO: Similarity_func: concatenation -2024-02-15 10:51:24, INFO: Layerwise_graph: False -2024-02-15 10:51:24, INFO: Skip_connection: True -2024-02-15 10:51:24, INFO: Number of layers: 1 -2024-02-15 10:51:24, INFO: Planning depth: 1 -2024-02-15 10:51:24, INFO: Planning width: 10 -2024-02-15 10:51:24, INFO: Sparse search: None -2024-02-15 10:51:27, INFO: human number: 10 -2024-02-15 10:51:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:31, INFO: Using device: cpu -2024-02-15 10:51:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:31, INFO: Similarity_func: concatenation -2024-02-15 10:51:31, INFO: Layerwise_graph: False -2024-02-15 10:51:31, INFO: Skip_connection: True -2024-02-15 10:51:31, INFO: Number of layers: 1 -2024-02-15 10:51:31, INFO: Similarity_func: concatenation -2024-02-15 10:51:31, INFO: Layerwise_graph: False -2024-02-15 10:51:31, INFO: Skip_connection: True -2024-02-15 10:51:31, INFO: Number of layers: 1 -2024-02-15 10:51:31, INFO: Planning depth: 1 -2024-02-15 10:51:31, INFO: Planning width: 10 -2024-02-15 10:51:31, INFO: Sparse search: None -2024-02-15 10:51:34, INFO: human number: 10 -2024-02-15 10:51:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:39, INFO: Using device: cpu -2024-02-15 10:51:39, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:39, INFO: Similarity_func: concatenation -2024-02-15 10:51:39, INFO: Layerwise_graph: False -2024-02-15 10:51:39, INFO: Skip_connection: True -2024-02-15 10:51:39, INFO: Number of layers: 1 -2024-02-15 10:51:39, INFO: Similarity_func: concatenation -2024-02-15 10:51:39, INFO: Layerwise_graph: False -2024-02-15 10:51:39, INFO: Skip_connection: True -2024-02-15 10:51:39, INFO: Number of layers: 1 -2024-02-15 10:51:39, INFO: Planning depth: 1 -2024-02-15 10:51:39, INFO: Planning width: 10 -2024-02-15 10:51:39, INFO: Sparse search: None -2024-02-15 10:51:42, INFO: human number: 10 -2024-02-15 10:51:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:46, INFO: Using device: cpu -2024-02-15 10:51:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:46, INFO: Similarity_func: concatenation -2024-02-15 10:51:46, INFO: Layerwise_graph: False -2024-02-15 10:51:46, INFO: Skip_connection: True -2024-02-15 10:51:46, INFO: Number of layers: 1 -2024-02-15 10:51:46, INFO: Similarity_func: concatenation -2024-02-15 10:51:46, INFO: Layerwise_graph: False -2024-02-15 10:51:46, INFO: Skip_connection: True -2024-02-15 10:51:46, INFO: Number of layers: 1 -2024-02-15 10:51:46, INFO: Planning depth: 1 -2024-02-15 10:51:46, INFO: Planning width: 10 -2024-02-15 10:51:46, INFO: Sparse search: None -2024-02-15 10:51:49, INFO: human number: 10 -2024-02-15 10:51:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:51:53, INFO: Using device: cpu -2024-02-15 10:51:53, INFO: Loaded RL weights with best VAL -2024-02-15 10:51:53, INFO: Similarity_func: concatenation -2024-02-15 10:51:53, INFO: Layerwise_graph: False -2024-02-15 10:51:53, INFO: Skip_connection: True -2024-02-15 10:51:53, INFO: Number of layers: 1 -2024-02-15 10:51:53, INFO: Similarity_func: concatenation -2024-02-15 10:51:53, INFO: Layerwise_graph: False -2024-02-15 10:51:53, INFO: Skip_connection: True -2024-02-15 10:51:53, INFO: Number of layers: 1 -2024-02-15 10:51:53, INFO: Planning depth: 1 -2024-02-15 10:51:53, INFO: Planning width: 10 -2024-02-15 10:51:53, INFO: Sparse search: None -2024-02-15 10:51:56, INFO: human number: 10 -2024-02-15 10:51:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:51:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:51:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:51:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:51:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:00, INFO: Using device: cpu -2024-02-15 10:52:00, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:00, INFO: Similarity_func: concatenation -2024-02-15 10:52:00, INFO: Layerwise_graph: False -2024-02-15 10:52:00, INFO: Skip_connection: True -2024-02-15 10:52:00, INFO: Number of layers: 1 -2024-02-15 10:52:00, INFO: Similarity_func: concatenation -2024-02-15 10:52:00, INFO: Layerwise_graph: False -2024-02-15 10:52:00, INFO: Skip_connection: True -2024-02-15 10:52:00, INFO: Number of layers: 1 -2024-02-15 10:52:00, INFO: Planning depth: 1 -2024-02-15 10:52:00, INFO: Planning width: 10 -2024-02-15 10:52:00, INFO: Sparse search: None -2024-02-15 10:52:03, INFO: human number: 10 -2024-02-15 10:52:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:03, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:07, INFO: Using device: cpu -2024-02-15 10:52:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:07, INFO: Similarity_func: concatenation -2024-02-15 10:52:07, INFO: Layerwise_graph: False -2024-02-15 10:52:07, INFO: Skip_connection: True -2024-02-15 10:52:07, INFO: Number of layers: 1 -2024-02-15 10:52:07, INFO: Similarity_func: concatenation -2024-02-15 10:52:07, INFO: Layerwise_graph: False -2024-02-15 10:52:07, INFO: Skip_connection: True -2024-02-15 10:52:07, INFO: Number of layers: 1 -2024-02-15 10:52:07, INFO: Planning depth: 1 -2024-02-15 10:52:07, INFO: Planning width: 10 -2024-02-15 10:52:07, INFO: Sparse search: None -2024-02-15 10:52:10, INFO: human number: 10 -2024-02-15 10:52:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:14, INFO: Using device: cpu -2024-02-15 10:52:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:14, INFO: Similarity_func: concatenation -2024-02-15 10:52:14, INFO: Layerwise_graph: False -2024-02-15 10:52:14, INFO: Skip_connection: True -2024-02-15 10:52:14, INFO: Number of layers: 1 -2024-02-15 10:52:14, INFO: Similarity_func: concatenation -2024-02-15 10:52:14, INFO: Layerwise_graph: False -2024-02-15 10:52:14, INFO: Skip_connection: True -2024-02-15 10:52:14, INFO: Number of layers: 1 -2024-02-15 10:52:14, INFO: Planning depth: 1 -2024-02-15 10:52:14, INFO: Planning width: 10 -2024-02-15 10:52:14, INFO: Sparse search: None -2024-02-15 10:52:17, INFO: human number: 10 -2024-02-15 10:52:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:21, INFO: Using device: cpu -2024-02-15 10:52:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:21, INFO: Similarity_func: concatenation -2024-02-15 10:52:21, INFO: Layerwise_graph: False -2024-02-15 10:52:21, INFO: Skip_connection: True -2024-02-15 10:52:21, INFO: Number of layers: 1 -2024-02-15 10:52:21, INFO: Similarity_func: concatenation -2024-02-15 10:52:21, INFO: Layerwise_graph: False -2024-02-15 10:52:21, INFO: Skip_connection: True -2024-02-15 10:52:21, INFO: Number of layers: 1 -2024-02-15 10:52:21, INFO: Planning depth: 1 -2024-02-15 10:52:21, INFO: Planning width: 10 -2024-02-15 10:52:21, INFO: Sparse search: None -2024-02-15 10:52:24, INFO: human number: 10 -2024-02-15 10:52:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:29, INFO: Using device: cpu -2024-02-15 10:52:29, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:29, INFO: Similarity_func: concatenation -2024-02-15 10:52:29, INFO: Layerwise_graph: False -2024-02-15 10:52:29, INFO: Skip_connection: True -2024-02-15 10:52:29, INFO: Number of layers: 1 -2024-02-15 10:52:29, INFO: Similarity_func: concatenation -2024-02-15 10:52:29, INFO: Layerwise_graph: False -2024-02-15 10:52:29, INFO: Skip_connection: True -2024-02-15 10:52:29, INFO: Number of layers: 1 -2024-02-15 10:52:29, INFO: Planning depth: 1 -2024-02-15 10:52:29, INFO: Planning width: 10 -2024-02-15 10:52:29, INFO: Sparse search: None -2024-02-15 10:52:31, INFO: human number: 10 -2024-02-15 10:52:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:36, INFO: Using device: cpu -2024-02-15 10:52:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:36, INFO: Similarity_func: concatenation -2024-02-15 10:52:36, INFO: Layerwise_graph: False -2024-02-15 10:52:36, INFO: Skip_connection: True -2024-02-15 10:52:36, INFO: Number of layers: 1 -2024-02-15 10:52:36, INFO: Similarity_func: concatenation -2024-02-15 10:52:36, INFO: Layerwise_graph: False -2024-02-15 10:52:36, INFO: Skip_connection: True -2024-02-15 10:52:36, INFO: Number of layers: 1 -2024-02-15 10:52:36, INFO: Planning depth: 1 -2024-02-15 10:52:36, INFO: Planning width: 10 -2024-02-15 10:52:36, INFO: Sparse search: None -2024-02-15 10:52:39, INFO: human number: 10 -2024-02-15 10:52:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:39, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:43, INFO: Using device: cpu -2024-02-15 10:52:43, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:43, INFO: Similarity_func: concatenation -2024-02-15 10:52:43, INFO: Layerwise_graph: False -2024-02-15 10:52:43, INFO: Skip_connection: True -2024-02-15 10:52:43, INFO: Number of layers: 1 -2024-02-15 10:52:43, INFO: Similarity_func: concatenation -2024-02-15 10:52:43, INFO: Layerwise_graph: False -2024-02-15 10:52:43, INFO: Skip_connection: True -2024-02-15 10:52:43, INFO: Number of layers: 1 -2024-02-15 10:52:43, INFO: Planning depth: 1 -2024-02-15 10:52:43, INFO: Planning width: 10 -2024-02-15 10:52:43, INFO: Sparse search: None -2024-02-15 10:52:46, INFO: human number: 10 -2024-02-15 10:52:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:46, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:50, INFO: Using device: cpu -2024-02-15 10:52:50, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:50, INFO: Similarity_func: concatenation -2024-02-15 10:52:50, INFO: Layerwise_graph: False -2024-02-15 10:52:50, INFO: Skip_connection: True -2024-02-15 10:52:50, INFO: Number of layers: 1 -2024-02-15 10:52:50, INFO: Similarity_func: concatenation -2024-02-15 10:52:50, INFO: Layerwise_graph: False -2024-02-15 10:52:50, INFO: Skip_connection: True -2024-02-15 10:52:50, INFO: Number of layers: 1 -2024-02-15 10:52:50, INFO: Planning depth: 1 -2024-02-15 10:52:50, INFO: Planning width: 10 -2024-02-15 10:52:50, INFO: Sparse search: None -2024-02-15 10:52:52, INFO: human number: 10 -2024-02-15 10:52:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:52:57, INFO: Using device: cpu -2024-02-15 10:52:57, INFO: Loaded RL weights with best VAL -2024-02-15 10:52:57, INFO: Similarity_func: concatenation -2024-02-15 10:52:57, INFO: Layerwise_graph: False -2024-02-15 10:52:57, INFO: Skip_connection: True -2024-02-15 10:52:57, INFO: Number of layers: 1 -2024-02-15 10:52:57, INFO: Similarity_func: concatenation -2024-02-15 10:52:57, INFO: Layerwise_graph: False -2024-02-15 10:52:57, INFO: Skip_connection: True -2024-02-15 10:52:57, INFO: Number of layers: 1 -2024-02-15 10:52:57, INFO: Planning depth: 1 -2024-02-15 10:52:57, INFO: Planning width: 10 -2024-02-15 10:52:57, INFO: Sparse search: None -2024-02-15 10:52:59, INFO: human number: 10 -2024-02-15 10:52:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:52:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:52:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:52:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:52:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:03, INFO: Using device: cpu -2024-02-15 10:53:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:03, INFO: Similarity_func: concatenation -2024-02-15 10:53:03, INFO: Layerwise_graph: False -2024-02-15 10:53:03, INFO: Skip_connection: True -2024-02-15 10:53:03, INFO: Number of layers: 1 -2024-02-15 10:53:03, INFO: Similarity_func: concatenation -2024-02-15 10:53:03, INFO: Layerwise_graph: False -2024-02-15 10:53:03, INFO: Skip_connection: True -2024-02-15 10:53:03, INFO: Number of layers: 1 -2024-02-15 10:53:03, INFO: Planning depth: 1 -2024-02-15 10:53:03, INFO: Planning width: 10 -2024-02-15 10:53:03, INFO: Sparse search: None -2024-02-15 10:53:06, INFO: human number: 10 -2024-02-15 10:53:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:06, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:10, INFO: Using device: cpu -2024-02-15 10:53:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:10, INFO: Similarity_func: concatenation -2024-02-15 10:53:10, INFO: Layerwise_graph: False -2024-02-15 10:53:10, INFO: Skip_connection: True -2024-02-15 10:53:10, INFO: Number of layers: 1 -2024-02-15 10:53:10, INFO: Similarity_func: concatenation -2024-02-15 10:53:10, INFO: Layerwise_graph: False -2024-02-15 10:53:10, INFO: Skip_connection: True -2024-02-15 10:53:10, INFO: Number of layers: 1 -2024-02-15 10:53:10, INFO: Planning depth: 1 -2024-02-15 10:53:10, INFO: Planning width: 10 -2024-02-15 10:53:10, INFO: Sparse search: None -2024-02-15 10:53:13, INFO: human number: 10 -2024-02-15 10:53:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:13, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:17, INFO: Using device: cpu -2024-02-15 10:53:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:17, INFO: Similarity_func: concatenation -2024-02-15 10:53:17, INFO: Layerwise_graph: False -2024-02-15 10:53:17, INFO: Skip_connection: True -2024-02-15 10:53:17, INFO: Number of layers: 1 -2024-02-15 10:53:17, INFO: Similarity_func: concatenation -2024-02-15 10:53:17, INFO: Layerwise_graph: False -2024-02-15 10:53:17, INFO: Skip_connection: True -2024-02-15 10:53:17, INFO: Number of layers: 1 -2024-02-15 10:53:17, INFO: Planning depth: 1 -2024-02-15 10:53:17, INFO: Planning width: 10 -2024-02-15 10:53:17, INFO: Sparse search: None -2024-02-15 10:53:19, INFO: human number: 10 -2024-02-15 10:53:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:24, INFO: Using device: cpu -2024-02-15 10:53:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:24, INFO: Similarity_func: concatenation -2024-02-15 10:53:24, INFO: Layerwise_graph: False -2024-02-15 10:53:24, INFO: Skip_connection: True -2024-02-15 10:53:24, INFO: Number of layers: 1 -2024-02-15 10:53:24, INFO: Similarity_func: concatenation -2024-02-15 10:53:24, INFO: Layerwise_graph: False -2024-02-15 10:53:24, INFO: Skip_connection: True -2024-02-15 10:53:24, INFO: Number of layers: 1 -2024-02-15 10:53:24, INFO: Planning depth: 1 -2024-02-15 10:53:24, INFO: Planning width: 10 -2024-02-15 10:53:24, INFO: Sparse search: None -2024-02-15 10:53:26, INFO: human number: 10 -2024-02-15 10:53:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:30, INFO: Using device: cpu -2024-02-15 10:53:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:30, INFO: Similarity_func: concatenation -2024-02-15 10:53:30, INFO: Layerwise_graph: False -2024-02-15 10:53:30, INFO: Skip_connection: True -2024-02-15 10:53:30, INFO: Number of layers: 1 -2024-02-15 10:53:30, INFO: Similarity_func: concatenation -2024-02-15 10:53:30, INFO: Layerwise_graph: False -2024-02-15 10:53:30, INFO: Skip_connection: True -2024-02-15 10:53:30, INFO: Number of layers: 1 -2024-02-15 10:53:30, INFO: Planning depth: 1 -2024-02-15 10:53:30, INFO: Planning width: 10 -2024-02-15 10:53:30, INFO: Sparse search: None -2024-02-15 10:53:33, INFO: human number: 10 -2024-02-15 10:53:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:38, INFO: Using device: cpu -2024-02-15 10:53:38, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:38, INFO: Similarity_func: concatenation -2024-02-15 10:53:38, INFO: Layerwise_graph: False -2024-02-15 10:53:38, INFO: Skip_connection: True -2024-02-15 10:53:38, INFO: Number of layers: 1 -2024-02-15 10:53:38, INFO: Similarity_func: concatenation -2024-02-15 10:53:38, INFO: Layerwise_graph: False -2024-02-15 10:53:38, INFO: Skip_connection: True -2024-02-15 10:53:38, INFO: Number of layers: 1 -2024-02-15 10:53:38, INFO: Planning depth: 1 -2024-02-15 10:53:38, INFO: Planning width: 10 -2024-02-15 10:53:38, INFO: Sparse search: None -2024-02-15 10:53:40, INFO: human number: 10 -2024-02-15 10:53:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:44, INFO: Using device: cpu -2024-02-15 10:53:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:44, INFO: Similarity_func: concatenation -2024-02-15 10:53:44, INFO: Layerwise_graph: False -2024-02-15 10:53:44, INFO: Skip_connection: True -2024-02-15 10:53:44, INFO: Number of layers: 1 -2024-02-15 10:53:44, INFO: Similarity_func: concatenation -2024-02-15 10:53:44, INFO: Layerwise_graph: False -2024-02-15 10:53:44, INFO: Skip_connection: True -2024-02-15 10:53:44, INFO: Number of layers: 1 -2024-02-15 10:53:44, INFO: Planning depth: 1 -2024-02-15 10:53:44, INFO: Planning width: 10 -2024-02-15 10:53:44, INFO: Sparse search: None -2024-02-15 10:53:47, INFO: human number: 10 -2024-02-15 10:53:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:51, INFO: Using device: cpu -2024-02-15 10:53:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:51, INFO: Similarity_func: concatenation -2024-02-15 10:53:51, INFO: Layerwise_graph: False -2024-02-15 10:53:51, INFO: Skip_connection: True -2024-02-15 10:53:51, INFO: Number of layers: 1 -2024-02-15 10:53:51, INFO: Similarity_func: concatenation -2024-02-15 10:53:51, INFO: Layerwise_graph: False -2024-02-15 10:53:51, INFO: Skip_connection: True -2024-02-15 10:53:51, INFO: Number of layers: 1 -2024-02-15 10:53:51, INFO: Planning depth: 1 -2024-02-15 10:53:51, INFO: Planning width: 10 -2024-02-15 10:53:51, INFO: Sparse search: None -2024-02-15 10:53:54, INFO: human number: 10 -2024-02-15 10:53:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:53:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:53:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:53:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:53:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:53:58, INFO: Using device: cpu -2024-02-15 10:53:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:53:58, INFO: Similarity_func: concatenation -2024-02-15 10:53:58, INFO: Layerwise_graph: False -2024-02-15 10:53:58, INFO: Skip_connection: True -2024-02-15 10:53:58, INFO: Number of layers: 1 -2024-02-15 10:53:58, INFO: Similarity_func: concatenation -2024-02-15 10:53:58, INFO: Layerwise_graph: False -2024-02-15 10:53:58, INFO: Skip_connection: True -2024-02-15 10:53:58, INFO: Number of layers: 1 -2024-02-15 10:53:58, INFO: Planning depth: 1 -2024-02-15 10:53:58, INFO: Planning width: 10 -2024-02-15 10:53:58, INFO: Sparse search: None -2024-02-15 10:54:01, INFO: human number: 10 -2024-02-15 10:54:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:06, INFO: Using device: cpu -2024-02-15 10:54:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:06, INFO: Similarity_func: concatenation -2024-02-15 10:54:06, INFO: Layerwise_graph: False -2024-02-15 10:54:06, INFO: Skip_connection: True -2024-02-15 10:54:06, INFO: Number of layers: 1 -2024-02-15 10:54:06, INFO: Similarity_func: concatenation -2024-02-15 10:54:06, INFO: Layerwise_graph: False -2024-02-15 10:54:06, INFO: Skip_connection: True -2024-02-15 10:54:06, INFO: Number of layers: 1 -2024-02-15 10:54:06, INFO: Planning depth: 1 -2024-02-15 10:54:06, INFO: Planning width: 10 -2024-02-15 10:54:06, INFO: Sparse search: None -2024-02-15 10:54:08, INFO: human number: 10 -2024-02-15 10:54:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:12, INFO: Using device: cpu -2024-02-15 10:54:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:12, INFO: Similarity_func: concatenation -2024-02-15 10:54:12, INFO: Layerwise_graph: False -2024-02-15 10:54:12, INFO: Skip_connection: True -2024-02-15 10:54:12, INFO: Number of layers: 1 -2024-02-15 10:54:12, INFO: Similarity_func: concatenation -2024-02-15 10:54:12, INFO: Layerwise_graph: False -2024-02-15 10:54:12, INFO: Skip_connection: True -2024-02-15 10:54:12, INFO: Number of layers: 1 -2024-02-15 10:54:12, INFO: Planning depth: 1 -2024-02-15 10:54:12, INFO: Planning width: 10 -2024-02-15 10:54:12, INFO: Sparse search: None -2024-02-15 10:54:15, INFO: human number: 10 -2024-02-15 10:54:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:15, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:19, INFO: Using device: cpu -2024-02-15 10:54:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:19, INFO: Similarity_func: concatenation -2024-02-15 10:54:19, INFO: Layerwise_graph: False -2024-02-15 10:54:19, INFO: Skip_connection: True -2024-02-15 10:54:19, INFO: Number of layers: 1 -2024-02-15 10:54:19, INFO: Similarity_func: concatenation -2024-02-15 10:54:19, INFO: Layerwise_graph: False -2024-02-15 10:54:19, INFO: Skip_connection: True -2024-02-15 10:54:19, INFO: Number of layers: 1 -2024-02-15 10:54:19, INFO: Planning depth: 1 -2024-02-15 10:54:19, INFO: Planning width: 10 -2024-02-15 10:54:19, INFO: Sparse search: None -2024-02-15 10:54:22, INFO: human number: 10 -2024-02-15 10:54:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:22, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:27, INFO: Using device: cpu -2024-02-15 10:54:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:27, INFO: Similarity_func: concatenation -2024-02-15 10:54:27, INFO: Layerwise_graph: False -2024-02-15 10:54:27, INFO: Skip_connection: True -2024-02-15 10:54:27, INFO: Number of layers: 1 -2024-02-15 10:54:27, INFO: Similarity_func: concatenation -2024-02-15 10:54:27, INFO: Layerwise_graph: False -2024-02-15 10:54:27, INFO: Skip_connection: True -2024-02-15 10:54:27, INFO: Number of layers: 1 -2024-02-15 10:54:27, INFO: Planning depth: 1 -2024-02-15 10:54:27, INFO: Planning width: 10 -2024-02-15 10:54:27, INFO: Sparse search: None -2024-02-15 10:54:29, INFO: human number: 10 -2024-02-15 10:54:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:29, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:33, INFO: Using device: cpu -2024-02-15 10:54:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:33, INFO: Similarity_func: concatenation -2024-02-15 10:54:33, INFO: Layerwise_graph: False -2024-02-15 10:54:33, INFO: Skip_connection: True -2024-02-15 10:54:33, INFO: Number of layers: 1 -2024-02-15 10:54:33, INFO: Similarity_func: concatenation -2024-02-15 10:54:33, INFO: Layerwise_graph: False -2024-02-15 10:54:33, INFO: Skip_connection: True -2024-02-15 10:54:33, INFO: Number of layers: 1 -2024-02-15 10:54:33, INFO: Planning depth: 1 -2024-02-15 10:54:33, INFO: Planning width: 10 -2024-02-15 10:54:33, INFO: Sparse search: None -2024-02-15 10:54:36, INFO: human number: 10 -2024-02-15 10:54:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:36, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:40, INFO: Using device: cpu -2024-02-15 10:54:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:40, INFO: Similarity_func: concatenation -2024-02-15 10:54:40, INFO: Layerwise_graph: False -2024-02-15 10:54:40, INFO: Skip_connection: True -2024-02-15 10:54:40, INFO: Number of layers: 1 -2024-02-15 10:54:40, INFO: Similarity_func: concatenation -2024-02-15 10:54:40, INFO: Layerwise_graph: False -2024-02-15 10:54:40, INFO: Skip_connection: True -2024-02-15 10:54:40, INFO: Number of layers: 1 -2024-02-15 10:54:40, INFO: Planning depth: 1 -2024-02-15 10:54:40, INFO: Planning width: 10 -2024-02-15 10:54:40, INFO: Sparse search: None -2024-02-15 10:54:43, INFO: human number: 10 -2024-02-15 10:54:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:43, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:47, INFO: Using device: cpu -2024-02-15 10:54:47, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:47, INFO: Similarity_func: concatenation -2024-02-15 10:54:47, INFO: Layerwise_graph: False -2024-02-15 10:54:47, INFO: Skip_connection: True -2024-02-15 10:54:47, INFO: Number of layers: 1 -2024-02-15 10:54:47, INFO: Similarity_func: concatenation -2024-02-15 10:54:47, INFO: Layerwise_graph: False -2024-02-15 10:54:47, INFO: Skip_connection: True -2024-02-15 10:54:47, INFO: Number of layers: 1 -2024-02-15 10:54:47, INFO: Planning depth: 1 -2024-02-15 10:54:47, INFO: Planning width: 10 -2024-02-15 10:54:47, INFO: Sparse search: None -2024-02-15 10:54:50, INFO: human number: 10 -2024-02-15 10:54:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:50, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:54:54, INFO: Using device: cpu -2024-02-15 10:54:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:54:54, INFO: Similarity_func: concatenation -2024-02-15 10:54:54, INFO: Layerwise_graph: False -2024-02-15 10:54:54, INFO: Skip_connection: True -2024-02-15 10:54:54, INFO: Number of layers: 1 -2024-02-15 10:54:54, INFO: Similarity_func: concatenation -2024-02-15 10:54:54, INFO: Layerwise_graph: False -2024-02-15 10:54:54, INFO: Skip_connection: True -2024-02-15 10:54:54, INFO: Number of layers: 1 -2024-02-15 10:54:54, INFO: Planning depth: 1 -2024-02-15 10:54:54, INFO: Planning width: 10 -2024-02-15 10:54:54, INFO: Sparse search: None -2024-02-15 10:54:57, INFO: human number: 10 -2024-02-15 10:54:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:54:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:54:57, INFO: Square width: 10, circle width: 4 -2024-02-15 10:54:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:54:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:01, INFO: Using device: cpu -2024-02-15 10:55:01, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:01, INFO: Similarity_func: concatenation -2024-02-15 10:55:01, INFO: Layerwise_graph: False -2024-02-15 10:55:01, INFO: Skip_connection: True -2024-02-15 10:55:01, INFO: Number of layers: 1 -2024-02-15 10:55:01, INFO: Similarity_func: concatenation -2024-02-15 10:55:01, INFO: Layerwise_graph: False -2024-02-15 10:55:01, INFO: Skip_connection: True -2024-02-15 10:55:01, INFO: Number of layers: 1 -2024-02-15 10:55:01, INFO: Planning depth: 1 -2024-02-15 10:55:01, INFO: Planning width: 10 -2024-02-15 10:55:01, INFO: Sparse search: None -2024-02-15 10:55:04, INFO: human number: 10 -2024-02-15 10:55:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:04, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:07, INFO: Using device: cpu -2024-02-15 10:55:07, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:07, INFO: Similarity_func: concatenation -2024-02-15 10:55:07, INFO: Layerwise_graph: False -2024-02-15 10:55:07, INFO: Skip_connection: True -2024-02-15 10:55:07, INFO: Number of layers: 1 -2024-02-15 10:55:07, INFO: Similarity_func: concatenation -2024-02-15 10:55:07, INFO: Layerwise_graph: False -2024-02-15 10:55:07, INFO: Skip_connection: True -2024-02-15 10:55:07, INFO: Number of layers: 1 -2024-02-15 10:55:07, INFO: Planning depth: 1 -2024-02-15 10:55:07, INFO: Planning width: 10 -2024-02-15 10:55:07, INFO: Sparse search: None -2024-02-15 10:55:10, INFO: human number: 10 -2024-02-15 10:55:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:10, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:14, INFO: Using device: cpu -2024-02-15 10:55:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:14, INFO: Similarity_func: concatenation -2024-02-15 10:55:14, INFO: Layerwise_graph: False -2024-02-15 10:55:14, INFO: Skip_connection: True -2024-02-15 10:55:14, INFO: Number of layers: 1 -2024-02-15 10:55:14, INFO: Similarity_func: concatenation -2024-02-15 10:55:14, INFO: Layerwise_graph: False -2024-02-15 10:55:14, INFO: Skip_connection: True -2024-02-15 10:55:14, INFO: Number of layers: 1 -2024-02-15 10:55:14, INFO: Planning depth: 1 -2024-02-15 10:55:14, INFO: Planning width: 10 -2024-02-15 10:55:14, INFO: Sparse search: None -2024-02-15 10:55:17, INFO: human number: 10 -2024-02-15 10:55:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:17, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:21, INFO: Using device: cpu -2024-02-15 10:55:21, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:21, INFO: Similarity_func: concatenation -2024-02-15 10:55:21, INFO: Layerwise_graph: False -2024-02-15 10:55:21, INFO: Skip_connection: True -2024-02-15 10:55:21, INFO: Number of layers: 1 -2024-02-15 10:55:21, INFO: Similarity_func: concatenation -2024-02-15 10:55:21, INFO: Layerwise_graph: False -2024-02-15 10:55:21, INFO: Skip_connection: True -2024-02-15 10:55:21, INFO: Number of layers: 1 -2024-02-15 10:55:21, INFO: Planning depth: 1 -2024-02-15 10:55:21, INFO: Planning width: 10 -2024-02-15 10:55:21, INFO: Sparse search: None -2024-02-15 10:55:24, INFO: human number: 10 -2024-02-15 10:55:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:24, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:28, INFO: Using device: cpu -2024-02-15 10:55:28, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:28, INFO: Similarity_func: concatenation -2024-02-15 10:55:28, INFO: Layerwise_graph: False -2024-02-15 10:55:28, INFO: Skip_connection: True -2024-02-15 10:55:28, INFO: Number of layers: 1 -2024-02-15 10:55:28, INFO: Similarity_func: concatenation -2024-02-15 10:55:28, INFO: Layerwise_graph: False -2024-02-15 10:55:28, INFO: Skip_connection: True -2024-02-15 10:55:28, INFO: Number of layers: 1 -2024-02-15 10:55:28, INFO: Planning depth: 1 -2024-02-15 10:55:28, INFO: Planning width: 10 -2024-02-15 10:55:28, INFO: Sparse search: None -2024-02-15 10:55:31, INFO: human number: 10 -2024-02-15 10:55:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:31, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:36, INFO: Using device: cpu -2024-02-15 10:55:36, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:36, INFO: Similarity_func: concatenation -2024-02-15 10:55:36, INFO: Layerwise_graph: False -2024-02-15 10:55:36, INFO: Skip_connection: True -2024-02-15 10:55:36, INFO: Number of layers: 1 -2024-02-15 10:55:36, INFO: Similarity_func: concatenation -2024-02-15 10:55:36, INFO: Layerwise_graph: False -2024-02-15 10:55:36, INFO: Skip_connection: True -2024-02-15 10:55:36, INFO: Number of layers: 1 -2024-02-15 10:55:36, INFO: Planning depth: 1 -2024-02-15 10:55:36, INFO: Planning width: 10 -2024-02-15 10:55:36, INFO: Sparse search: None -2024-02-15 10:55:38, INFO: human number: 10 -2024-02-15 10:55:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:38, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:42, INFO: Using device: cpu -2024-02-15 10:55:42, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:42, INFO: Similarity_func: concatenation -2024-02-15 10:55:42, INFO: Layerwise_graph: False -2024-02-15 10:55:42, INFO: Skip_connection: True -2024-02-15 10:55:42, INFO: Number of layers: 1 -2024-02-15 10:55:42, INFO: Similarity_func: concatenation -2024-02-15 10:55:42, INFO: Layerwise_graph: False -2024-02-15 10:55:42, INFO: Skip_connection: True -2024-02-15 10:55:42, INFO: Number of layers: 1 -2024-02-15 10:55:42, INFO: Planning depth: 1 -2024-02-15 10:55:42, INFO: Planning width: 10 -2024-02-15 10:55:42, INFO: Sparse search: None -2024-02-15 10:55:45, INFO: human number: 10 -2024-02-15 10:55:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:45, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:49, INFO: Using device: cpu -2024-02-15 10:55:49, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:49, INFO: Similarity_func: concatenation -2024-02-15 10:55:49, INFO: Layerwise_graph: False -2024-02-15 10:55:49, INFO: Skip_connection: True -2024-02-15 10:55:49, INFO: Number of layers: 1 -2024-02-15 10:55:49, INFO: Similarity_func: concatenation -2024-02-15 10:55:49, INFO: Layerwise_graph: False -2024-02-15 10:55:49, INFO: Skip_connection: True -2024-02-15 10:55:49, INFO: Number of layers: 1 -2024-02-15 10:55:49, INFO: Planning depth: 1 -2024-02-15 10:55:49, INFO: Planning width: 10 -2024-02-15 10:55:49, INFO: Sparse search: None -2024-02-15 10:55:52, INFO: human number: 10 -2024-02-15 10:55:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:52, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:55:56, INFO: Using device: cpu -2024-02-15 10:55:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:55:56, INFO: Similarity_func: concatenation -2024-02-15 10:55:56, INFO: Layerwise_graph: False -2024-02-15 10:55:56, INFO: Skip_connection: True -2024-02-15 10:55:56, INFO: Number of layers: 1 -2024-02-15 10:55:56, INFO: Similarity_func: concatenation -2024-02-15 10:55:56, INFO: Layerwise_graph: False -2024-02-15 10:55:56, INFO: Skip_connection: True -2024-02-15 10:55:56, INFO: Number of layers: 1 -2024-02-15 10:55:56, INFO: Planning depth: 1 -2024-02-15 10:55:56, INFO: Planning width: 10 -2024-02-15 10:55:56, INFO: Sparse search: None -2024-02-15 10:55:59, INFO: human number: 10 -2024-02-15 10:55:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:55:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:55:59, INFO: Square width: 10, circle width: 4 -2024-02-15 10:55:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:55:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:03, INFO: Using device: cpu -2024-02-15 10:56:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:03, INFO: Similarity_func: concatenation -2024-02-15 10:56:03, INFO: Layerwise_graph: False -2024-02-15 10:56:03, INFO: Skip_connection: True -2024-02-15 10:56:03, INFO: Number of layers: 1 -2024-02-15 10:56:03, INFO: Similarity_func: concatenation -2024-02-15 10:56:03, INFO: Layerwise_graph: False -2024-02-15 10:56:03, INFO: Skip_connection: True -2024-02-15 10:56:03, INFO: Number of layers: 1 -2024-02-15 10:56:03, INFO: Planning depth: 1 -2024-02-15 10:56:03, INFO: Planning width: 10 -2024-02-15 10:56:03, INFO: Sparse search: None -2024-02-15 10:56:05, INFO: human number: 10 -2024-02-15 10:56:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:10, INFO: Using device: cpu -2024-02-15 10:56:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:10, INFO: Similarity_func: concatenation -2024-02-15 10:56:10, INFO: Layerwise_graph: False -2024-02-15 10:56:10, INFO: Skip_connection: True -2024-02-15 10:56:10, INFO: Number of layers: 1 -2024-02-15 10:56:10, INFO: Similarity_func: concatenation -2024-02-15 10:56:10, INFO: Layerwise_graph: False -2024-02-15 10:56:10, INFO: Skip_connection: True -2024-02-15 10:56:10, INFO: Number of layers: 1 -2024-02-15 10:56:10, INFO: Planning depth: 1 -2024-02-15 10:56:10, INFO: Planning width: 10 -2024-02-15 10:56:10, INFO: Sparse search: None -2024-02-15 10:56:12, INFO: human number: 10 -2024-02-15 10:56:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:17, INFO: Using device: cpu -2024-02-15 10:56:17, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:17, INFO: Similarity_func: concatenation -2024-02-15 10:56:17, INFO: Layerwise_graph: False -2024-02-15 10:56:17, INFO: Skip_connection: True -2024-02-15 10:56:17, INFO: Number of layers: 1 -2024-02-15 10:56:17, INFO: Similarity_func: concatenation -2024-02-15 10:56:17, INFO: Layerwise_graph: False -2024-02-15 10:56:17, INFO: Skip_connection: True -2024-02-15 10:56:17, INFO: Number of layers: 1 -2024-02-15 10:56:17, INFO: Planning depth: 1 -2024-02-15 10:56:17, INFO: Planning width: 10 -2024-02-15 10:56:17, INFO: Sparse search: None -2024-02-15 10:56:20, INFO: human number: 10 -2024-02-15 10:56:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:20, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:24, INFO: Using device: cpu -2024-02-15 10:56:24, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:24, INFO: Similarity_func: concatenation -2024-02-15 10:56:24, INFO: Layerwise_graph: False -2024-02-15 10:56:24, INFO: Skip_connection: True -2024-02-15 10:56:24, INFO: Number of layers: 1 -2024-02-15 10:56:24, INFO: Similarity_func: concatenation -2024-02-15 10:56:24, INFO: Layerwise_graph: False -2024-02-15 10:56:24, INFO: Skip_connection: True -2024-02-15 10:56:24, INFO: Number of layers: 1 -2024-02-15 10:56:24, INFO: Planning depth: 1 -2024-02-15 10:56:24, INFO: Planning width: 10 -2024-02-15 10:56:24, INFO: Sparse search: None -2024-02-15 10:56:27, INFO: human number: 10 -2024-02-15 10:56:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:27, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:31, INFO: Using device: cpu -2024-02-15 10:56:31, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:32, INFO: Similarity_func: concatenation -2024-02-15 10:56:32, INFO: Layerwise_graph: False -2024-02-15 10:56:32, INFO: Skip_connection: True -2024-02-15 10:56:32, INFO: Number of layers: 1 -2024-02-15 10:56:32, INFO: Similarity_func: concatenation -2024-02-15 10:56:32, INFO: Layerwise_graph: False -2024-02-15 10:56:32, INFO: Skip_connection: True -2024-02-15 10:56:32, INFO: Number of layers: 1 -2024-02-15 10:56:32, INFO: Planning depth: 1 -2024-02-15 10:56:32, INFO: Planning width: 10 -2024-02-15 10:56:32, INFO: Sparse search: None -2024-02-15 10:56:34, INFO: human number: 10 -2024-02-15 10:56:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:34, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:39, INFO: Using device: cpu -2024-02-15 10:56:39, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:39, INFO: Similarity_func: concatenation -2024-02-15 10:56:39, INFO: Layerwise_graph: False -2024-02-15 10:56:39, INFO: Skip_connection: True -2024-02-15 10:56:39, INFO: Number of layers: 1 -2024-02-15 10:56:39, INFO: Similarity_func: concatenation -2024-02-15 10:56:39, INFO: Layerwise_graph: False -2024-02-15 10:56:39, INFO: Skip_connection: True -2024-02-15 10:56:39, INFO: Number of layers: 1 -2024-02-15 10:56:39, INFO: Planning depth: 1 -2024-02-15 10:56:39, INFO: Planning width: 10 -2024-02-15 10:56:39, INFO: Sparse search: None -2024-02-15 10:56:41, INFO: human number: 10 -2024-02-15 10:56:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:41, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:46, INFO: Using device: cpu -2024-02-15 10:56:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:46, INFO: Similarity_func: concatenation -2024-02-15 10:56:46, INFO: Layerwise_graph: False -2024-02-15 10:56:46, INFO: Skip_connection: True -2024-02-15 10:56:46, INFO: Number of layers: 1 -2024-02-15 10:56:46, INFO: Similarity_func: concatenation -2024-02-15 10:56:46, INFO: Layerwise_graph: False -2024-02-15 10:56:46, INFO: Skip_connection: True -2024-02-15 10:56:46, INFO: Number of layers: 1 -2024-02-15 10:56:46, INFO: Planning depth: 1 -2024-02-15 10:56:46, INFO: Planning width: 10 -2024-02-15 10:56:46, INFO: Sparse search: None -2024-02-15 10:56:48, INFO: human number: 10 -2024-02-15 10:56:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:48, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:52, INFO: Using device: cpu -2024-02-15 10:56:52, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:52, INFO: Similarity_func: concatenation -2024-02-15 10:56:52, INFO: Layerwise_graph: False -2024-02-15 10:56:52, INFO: Skip_connection: True -2024-02-15 10:56:52, INFO: Number of layers: 1 -2024-02-15 10:56:52, INFO: Similarity_func: concatenation -2024-02-15 10:56:52, INFO: Layerwise_graph: False -2024-02-15 10:56:52, INFO: Skip_connection: True -2024-02-15 10:56:52, INFO: Number of layers: 1 -2024-02-15 10:56:52, INFO: Planning depth: 1 -2024-02-15 10:56:52, INFO: Planning width: 10 -2024-02-15 10:56:52, INFO: Sparse search: None -2024-02-15 10:56:55, INFO: human number: 10 -2024-02-15 10:56:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:56:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:56:55, INFO: Square width: 10, circle width: 4 -2024-02-15 10:56:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:56:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:56:59, INFO: Using device: cpu -2024-02-15 10:56:59, INFO: Loaded RL weights with best VAL -2024-02-15 10:56:59, INFO: Similarity_func: concatenation -2024-02-15 10:56:59, INFO: Layerwise_graph: False -2024-02-15 10:56:59, INFO: Skip_connection: True -2024-02-15 10:56:59, INFO: Number of layers: 1 -2024-02-15 10:56:59, INFO: Similarity_func: concatenation -2024-02-15 10:56:59, INFO: Layerwise_graph: False -2024-02-15 10:56:59, INFO: Skip_connection: True -2024-02-15 10:56:59, INFO: Number of layers: 1 -2024-02-15 10:56:59, INFO: Planning depth: 1 -2024-02-15 10:56:59, INFO: Planning width: 10 -2024-02-15 10:56:59, INFO: Sparse search: None -2024-02-15 10:57:02, INFO: human number: 10 -2024-02-15 10:57:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:02, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:06, INFO: Using device: cpu -2024-02-15 10:57:06, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:06, INFO: Similarity_func: concatenation -2024-02-15 10:57:06, INFO: Layerwise_graph: False -2024-02-15 10:57:06, INFO: Skip_connection: True -2024-02-15 10:57:06, INFO: Number of layers: 1 -2024-02-15 10:57:06, INFO: Similarity_func: concatenation -2024-02-15 10:57:06, INFO: Layerwise_graph: False -2024-02-15 10:57:06, INFO: Skip_connection: True -2024-02-15 10:57:06, INFO: Number of layers: 1 -2024-02-15 10:57:06, INFO: Planning depth: 1 -2024-02-15 10:57:06, INFO: Planning width: 10 -2024-02-15 10:57:06, INFO: Sparse search: None -2024-02-15 10:57:09, INFO: human number: 10 -2024-02-15 10:57:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:09, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:14, INFO: Using device: cpu -2024-02-15 10:57:14, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:14, INFO: Similarity_func: concatenation -2024-02-15 10:57:14, INFO: Layerwise_graph: False -2024-02-15 10:57:14, INFO: Skip_connection: True -2024-02-15 10:57:14, INFO: Number of layers: 1 -2024-02-15 10:57:14, INFO: Similarity_func: concatenation -2024-02-15 10:57:14, INFO: Layerwise_graph: False -2024-02-15 10:57:14, INFO: Skip_connection: True -2024-02-15 10:57:14, INFO: Number of layers: 1 -2024-02-15 10:57:14, INFO: Planning depth: 1 -2024-02-15 10:57:14, INFO: Planning width: 10 -2024-02-15 10:57:14, INFO: Sparse search: None -2024-02-15 10:57:16, INFO: human number: 10 -2024-02-15 10:57:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:16, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:20, INFO: Using device: cpu -2024-02-15 10:57:20, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:20, INFO: Similarity_func: concatenation -2024-02-15 10:57:20, INFO: Layerwise_graph: False -2024-02-15 10:57:20, INFO: Skip_connection: True -2024-02-15 10:57:20, INFO: Number of layers: 1 -2024-02-15 10:57:20, INFO: Similarity_func: concatenation -2024-02-15 10:57:20, INFO: Layerwise_graph: False -2024-02-15 10:57:20, INFO: Skip_connection: True -2024-02-15 10:57:20, INFO: Number of layers: 1 -2024-02-15 10:57:20, INFO: Planning depth: 1 -2024-02-15 10:57:20, INFO: Planning width: 10 -2024-02-15 10:57:20, INFO: Sparse search: None -2024-02-15 10:57:23, INFO: human number: 10 -2024-02-15 10:57:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:23, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:27, INFO: Using device: cpu -2024-02-15 10:57:27, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:27, INFO: Similarity_func: concatenation -2024-02-15 10:57:27, INFO: Layerwise_graph: False -2024-02-15 10:57:27, INFO: Skip_connection: True -2024-02-15 10:57:27, INFO: Number of layers: 1 -2024-02-15 10:57:27, INFO: Similarity_func: concatenation -2024-02-15 10:57:27, INFO: Layerwise_graph: False -2024-02-15 10:57:27, INFO: Skip_connection: True -2024-02-15 10:57:27, INFO: Number of layers: 1 -2024-02-15 10:57:27, INFO: Planning depth: 1 -2024-02-15 10:57:27, INFO: Planning width: 10 -2024-02-15 10:57:27, INFO: Sparse search: None -2024-02-15 10:57:30, INFO: human number: 10 -2024-02-15 10:57:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:30, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:34, INFO: Using device: cpu -2024-02-15 10:57:34, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:34, INFO: Similarity_func: concatenation -2024-02-15 10:57:34, INFO: Layerwise_graph: False -2024-02-15 10:57:34, INFO: Skip_connection: True -2024-02-15 10:57:34, INFO: Number of layers: 1 -2024-02-15 10:57:34, INFO: Similarity_func: concatenation -2024-02-15 10:57:34, INFO: Layerwise_graph: False -2024-02-15 10:57:34, INFO: Skip_connection: True -2024-02-15 10:57:34, INFO: Number of layers: 1 -2024-02-15 10:57:34, INFO: Planning depth: 1 -2024-02-15 10:57:34, INFO: Planning width: 10 -2024-02-15 10:57:34, INFO: Sparse search: None -2024-02-15 10:57:37, INFO: human number: 10 -2024-02-15 10:57:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:37, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:41, INFO: Using device: cpu -2024-02-15 10:57:41, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:41, INFO: Similarity_func: concatenation -2024-02-15 10:57:41, INFO: Layerwise_graph: False -2024-02-15 10:57:41, INFO: Skip_connection: True -2024-02-15 10:57:41, INFO: Number of layers: 1 -2024-02-15 10:57:41, INFO: Similarity_func: concatenation -2024-02-15 10:57:41, INFO: Layerwise_graph: False -2024-02-15 10:57:41, INFO: Skip_connection: True -2024-02-15 10:57:41, INFO: Number of layers: 1 -2024-02-15 10:57:41, INFO: Planning depth: 1 -2024-02-15 10:57:41, INFO: Planning width: 10 -2024-02-15 10:57:41, INFO: Sparse search: None -2024-02-15 10:57:44, INFO: human number: 10 -2024-02-15 10:57:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:44, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:48, INFO: Using device: cpu -2024-02-15 10:57:48, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:48, INFO: Similarity_func: concatenation -2024-02-15 10:57:48, INFO: Layerwise_graph: False -2024-02-15 10:57:48, INFO: Skip_connection: True -2024-02-15 10:57:48, INFO: Number of layers: 1 -2024-02-15 10:57:48, INFO: Similarity_func: concatenation -2024-02-15 10:57:48, INFO: Layerwise_graph: False -2024-02-15 10:57:48, INFO: Skip_connection: True -2024-02-15 10:57:48, INFO: Number of layers: 1 -2024-02-15 10:57:48, INFO: Planning depth: 1 -2024-02-15 10:57:48, INFO: Planning width: 10 -2024-02-15 10:57:48, INFO: Sparse search: None -2024-02-15 10:57:51, INFO: human number: 10 -2024-02-15 10:57:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:51, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:57:56, INFO: Using device: cpu -2024-02-15 10:57:56, INFO: Loaded RL weights with best VAL -2024-02-15 10:57:56, INFO: Similarity_func: concatenation -2024-02-15 10:57:56, INFO: Layerwise_graph: False -2024-02-15 10:57:56, INFO: Skip_connection: True -2024-02-15 10:57:56, INFO: Number of layers: 1 -2024-02-15 10:57:56, INFO: Similarity_func: concatenation -2024-02-15 10:57:56, INFO: Layerwise_graph: False -2024-02-15 10:57:56, INFO: Skip_connection: True -2024-02-15 10:57:56, INFO: Number of layers: 1 -2024-02-15 10:57:56, INFO: Planning depth: 1 -2024-02-15 10:57:56, INFO: Planning width: 10 -2024-02-15 10:57:56, INFO: Sparse search: None -2024-02-15 10:57:58, INFO: human number: 10 -2024-02-15 10:57:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:57:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:57:58, INFO: Square width: 10, circle width: 4 -2024-02-15 10:57:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:57:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:03, INFO: Using device: cpu -2024-02-15 10:58:03, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:03, INFO: Similarity_func: concatenation -2024-02-15 10:58:03, INFO: Layerwise_graph: False -2024-02-15 10:58:03, INFO: Skip_connection: True -2024-02-15 10:58:03, INFO: Number of layers: 1 -2024-02-15 10:58:03, INFO: Similarity_func: concatenation -2024-02-15 10:58:03, INFO: Layerwise_graph: False -2024-02-15 10:58:03, INFO: Skip_connection: True -2024-02-15 10:58:03, INFO: Number of layers: 1 -2024-02-15 10:58:03, INFO: Planning depth: 1 -2024-02-15 10:58:03, INFO: Planning width: 10 -2024-02-15 10:58:03, INFO: Sparse search: None -2024-02-15 10:58:05, INFO: human number: 10 -2024-02-15 10:58:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:05, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:10, INFO: Using device: cpu -2024-02-15 10:58:10, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:10, INFO: Similarity_func: concatenation -2024-02-15 10:58:10, INFO: Layerwise_graph: False -2024-02-15 10:58:10, INFO: Skip_connection: True -2024-02-15 10:58:10, INFO: Number of layers: 1 -2024-02-15 10:58:10, INFO: Similarity_func: concatenation -2024-02-15 10:58:10, INFO: Layerwise_graph: False -2024-02-15 10:58:10, INFO: Skip_connection: True -2024-02-15 10:58:10, INFO: Number of layers: 1 -2024-02-15 10:58:10, INFO: Planning depth: 1 -2024-02-15 10:58:10, INFO: Planning width: 10 -2024-02-15 10:58:10, INFO: Sparse search: None -2024-02-15 10:58:12, INFO: human number: 10 -2024-02-15 10:58:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:12, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:16, INFO: Using device: cpu -2024-02-15 10:58:16, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:16, INFO: Similarity_func: concatenation -2024-02-15 10:58:16, INFO: Layerwise_graph: False -2024-02-15 10:58:16, INFO: Skip_connection: True -2024-02-15 10:58:16, INFO: Number of layers: 1 -2024-02-15 10:58:16, INFO: Similarity_func: concatenation -2024-02-15 10:58:16, INFO: Layerwise_graph: False -2024-02-15 10:58:16, INFO: Skip_connection: True -2024-02-15 10:58:16, INFO: Number of layers: 1 -2024-02-15 10:58:16, INFO: Planning depth: 1 -2024-02-15 10:58:16, INFO: Planning width: 10 -2024-02-15 10:58:16, INFO: Sparse search: None -2024-02-15 10:58:19, INFO: human number: 10 -2024-02-15 10:58:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:19, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:23, INFO: Using device: cpu -2024-02-15 10:58:23, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:23, INFO: Similarity_func: concatenation -2024-02-15 10:58:23, INFO: Layerwise_graph: False -2024-02-15 10:58:23, INFO: Skip_connection: True -2024-02-15 10:58:23, INFO: Number of layers: 1 -2024-02-15 10:58:23, INFO: Similarity_func: concatenation -2024-02-15 10:58:23, INFO: Layerwise_graph: False -2024-02-15 10:58:23, INFO: Skip_connection: True -2024-02-15 10:58:23, INFO: Number of layers: 1 -2024-02-15 10:58:23, INFO: Planning depth: 1 -2024-02-15 10:58:23, INFO: Planning width: 10 -2024-02-15 10:58:23, INFO: Sparse search: None -2024-02-15 10:58:26, INFO: human number: 10 -2024-02-15 10:58:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:26, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:30, INFO: Using device: cpu -2024-02-15 10:58:30, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:30, INFO: Similarity_func: concatenation -2024-02-15 10:58:30, INFO: Layerwise_graph: False -2024-02-15 10:58:30, INFO: Skip_connection: True -2024-02-15 10:58:30, INFO: Number of layers: 1 -2024-02-15 10:58:30, INFO: Similarity_func: concatenation -2024-02-15 10:58:30, INFO: Layerwise_graph: False -2024-02-15 10:58:30, INFO: Skip_connection: True -2024-02-15 10:58:30, INFO: Number of layers: 1 -2024-02-15 10:58:30, INFO: Planning depth: 1 -2024-02-15 10:58:30, INFO: Planning width: 10 -2024-02-15 10:58:30, INFO: Sparse search: None -2024-02-15 10:58:33, INFO: human number: 10 -2024-02-15 10:58:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:33, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:37, INFO: Using device: cpu -2024-02-15 10:58:37, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:37, INFO: Similarity_func: concatenation -2024-02-15 10:58:37, INFO: Layerwise_graph: False -2024-02-15 10:58:37, INFO: Skip_connection: True -2024-02-15 10:58:37, INFO: Number of layers: 1 -2024-02-15 10:58:37, INFO: Similarity_func: concatenation -2024-02-15 10:58:37, INFO: Layerwise_graph: False -2024-02-15 10:58:37, INFO: Skip_connection: True -2024-02-15 10:58:37, INFO: Number of layers: 1 -2024-02-15 10:58:37, INFO: Planning depth: 1 -2024-02-15 10:58:37, INFO: Planning width: 10 -2024-02-15 10:58:37, INFO: Sparse search: None -2024-02-15 10:58:40, INFO: human number: 10 -2024-02-15 10:58:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:40, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:44, INFO: Using device: cpu -2024-02-15 10:58:44, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:44, INFO: Similarity_func: concatenation -2024-02-15 10:58:44, INFO: Layerwise_graph: False -2024-02-15 10:58:44, INFO: Skip_connection: True -2024-02-15 10:58:44, INFO: Number of layers: 1 -2024-02-15 10:58:44, INFO: Similarity_func: concatenation -2024-02-15 10:58:44, INFO: Layerwise_graph: False -2024-02-15 10:58:44, INFO: Skip_connection: True -2024-02-15 10:58:44, INFO: Number of layers: 1 -2024-02-15 10:58:44, INFO: Planning depth: 1 -2024-02-15 10:58:44, INFO: Planning width: 10 -2024-02-15 10:58:44, INFO: Sparse search: None -2024-02-15 10:58:47, INFO: human number: 10 -2024-02-15 10:58:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:47, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:51, INFO: Using device: cpu -2024-02-15 10:58:51, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:51, INFO: Similarity_func: concatenation -2024-02-15 10:58:51, INFO: Layerwise_graph: False -2024-02-15 10:58:51, INFO: Skip_connection: True -2024-02-15 10:58:51, INFO: Number of layers: 1 -2024-02-15 10:58:51, INFO: Similarity_func: concatenation -2024-02-15 10:58:51, INFO: Layerwise_graph: False -2024-02-15 10:58:51, INFO: Skip_connection: True -2024-02-15 10:58:51, INFO: Number of layers: 1 -2024-02-15 10:58:51, INFO: Planning depth: 1 -2024-02-15 10:58:51, INFO: Planning width: 10 -2024-02-15 10:58:51, INFO: Sparse search: None -2024-02-15 10:58:54, INFO: human number: 10 -2024-02-15 10:58:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:58:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:58:54, INFO: Square width: 10, circle width: 4 -2024-02-15 10:58:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:58:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:58:58, INFO: Using device: cpu -2024-02-15 10:58:58, INFO: Loaded RL weights with best VAL -2024-02-15 10:58:58, INFO: Similarity_func: concatenation -2024-02-15 10:58:58, INFO: Layerwise_graph: False -2024-02-15 10:58:58, INFO: Skip_connection: True -2024-02-15 10:58:58, INFO: Number of layers: 1 -2024-02-15 10:58:58, INFO: Similarity_func: concatenation -2024-02-15 10:58:58, INFO: Layerwise_graph: False -2024-02-15 10:58:58, INFO: Skip_connection: True -2024-02-15 10:58:58, INFO: Number of layers: 1 -2024-02-15 10:58:58, INFO: Planning depth: 1 -2024-02-15 10:58:58, INFO: Planning width: 10 -2024-02-15 10:58:58, INFO: Sparse search: None -2024-02-15 10:59:01, INFO: human number: 10 -2024-02-15 10:59:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:01, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:05, INFO: Using device: cpu -2024-02-15 10:59:05, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:05, INFO: Similarity_func: concatenation -2024-02-15 10:59:05, INFO: Layerwise_graph: False -2024-02-15 10:59:05, INFO: Skip_connection: True -2024-02-15 10:59:05, INFO: Number of layers: 1 -2024-02-15 10:59:05, INFO: Similarity_func: concatenation -2024-02-15 10:59:05, INFO: Layerwise_graph: False -2024-02-15 10:59:05, INFO: Skip_connection: True -2024-02-15 10:59:05, INFO: Number of layers: 1 -2024-02-15 10:59:05, INFO: Planning depth: 1 -2024-02-15 10:59:05, INFO: Planning width: 10 -2024-02-15 10:59:05, INFO: Sparse search: None -2024-02-15 10:59:08, INFO: human number: 10 -2024-02-15 10:59:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:08, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:12, INFO: Using device: cpu -2024-02-15 10:59:12, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:12, INFO: Similarity_func: concatenation -2024-02-15 10:59:12, INFO: Layerwise_graph: False -2024-02-15 10:59:12, INFO: Skip_connection: True -2024-02-15 10:59:12, INFO: Number of layers: 1 -2024-02-15 10:59:12, INFO: Similarity_func: concatenation -2024-02-15 10:59:12, INFO: Layerwise_graph: False -2024-02-15 10:59:12, INFO: Skip_connection: True -2024-02-15 10:59:12, INFO: Number of layers: 1 -2024-02-15 10:59:12, INFO: Planning depth: 1 -2024-02-15 10:59:12, INFO: Planning width: 10 -2024-02-15 10:59:12, INFO: Sparse search: None -2024-02-15 10:59:14, INFO: human number: 10 -2024-02-15 10:59:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:14, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:19, INFO: Using device: cpu -2024-02-15 10:59:19, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:19, INFO: Similarity_func: concatenation -2024-02-15 10:59:19, INFO: Layerwise_graph: False -2024-02-15 10:59:19, INFO: Skip_connection: True -2024-02-15 10:59:19, INFO: Number of layers: 1 -2024-02-15 10:59:19, INFO: Similarity_func: concatenation -2024-02-15 10:59:19, INFO: Layerwise_graph: False -2024-02-15 10:59:19, INFO: Skip_connection: True -2024-02-15 10:59:19, INFO: Number of layers: 1 -2024-02-15 10:59:19, INFO: Planning depth: 1 -2024-02-15 10:59:19, INFO: Planning width: 10 -2024-02-15 10:59:19, INFO: Sparse search: None -2024-02-15 10:59:21, INFO: human number: 10 -2024-02-15 10:59:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:21, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:26, INFO: Using device: cpu -2024-02-15 10:59:26, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:26, INFO: Similarity_func: concatenation -2024-02-15 10:59:26, INFO: Layerwise_graph: False -2024-02-15 10:59:26, INFO: Skip_connection: True -2024-02-15 10:59:26, INFO: Number of layers: 1 -2024-02-15 10:59:26, INFO: Similarity_func: concatenation -2024-02-15 10:59:26, INFO: Layerwise_graph: False -2024-02-15 10:59:26, INFO: Skip_connection: True -2024-02-15 10:59:26, INFO: Number of layers: 1 -2024-02-15 10:59:26, INFO: Planning depth: 1 -2024-02-15 10:59:26, INFO: Planning width: 10 -2024-02-15 10:59:26, INFO: Sparse search: None -2024-02-15 10:59:28, INFO: human number: 10 -2024-02-15 10:59:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:28, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:33, INFO: Using device: cpu -2024-02-15 10:59:33, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:33, INFO: Similarity_func: concatenation -2024-02-15 10:59:33, INFO: Layerwise_graph: False -2024-02-15 10:59:33, INFO: Skip_connection: True -2024-02-15 10:59:33, INFO: Number of layers: 1 -2024-02-15 10:59:33, INFO: Similarity_func: concatenation -2024-02-15 10:59:33, INFO: Layerwise_graph: False -2024-02-15 10:59:33, INFO: Skip_connection: True -2024-02-15 10:59:33, INFO: Number of layers: 1 -2024-02-15 10:59:33, INFO: Planning depth: 1 -2024-02-15 10:59:33, INFO: Planning width: 10 -2024-02-15 10:59:33, INFO: Sparse search: None -2024-02-15 10:59:35, INFO: human number: 10 -2024-02-15 10:59:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:35, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:40, INFO: Using device: cpu -2024-02-15 10:59:40, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:40, INFO: Similarity_func: concatenation -2024-02-15 10:59:40, INFO: Layerwise_graph: False -2024-02-15 10:59:40, INFO: Skip_connection: True -2024-02-15 10:59:40, INFO: Number of layers: 1 -2024-02-15 10:59:40, INFO: Similarity_func: concatenation -2024-02-15 10:59:40, INFO: Layerwise_graph: False -2024-02-15 10:59:40, INFO: Skip_connection: True -2024-02-15 10:59:40, INFO: Number of layers: 1 -2024-02-15 10:59:40, INFO: Planning depth: 1 -2024-02-15 10:59:40, INFO: Planning width: 10 -2024-02-15 10:59:40, INFO: Sparse search: None -2024-02-15 10:59:42, INFO: human number: 10 -2024-02-15 10:59:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:42, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:46, INFO: Using device: cpu -2024-02-15 10:59:46, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:46, INFO: Similarity_func: concatenation -2024-02-15 10:59:46, INFO: Layerwise_graph: False -2024-02-15 10:59:46, INFO: Skip_connection: True -2024-02-15 10:59:46, INFO: Number of layers: 1 -2024-02-15 10:59:46, INFO: Similarity_func: concatenation -2024-02-15 10:59:46, INFO: Layerwise_graph: False -2024-02-15 10:59:46, INFO: Skip_connection: True -2024-02-15 10:59:46, INFO: Number of layers: 1 -2024-02-15 10:59:46, INFO: Planning depth: 1 -2024-02-15 10:59:46, INFO: Planning width: 10 -2024-02-15 10:59:46, INFO: Sparse search: None -2024-02-15 10:59:49, INFO: human number: 10 -2024-02-15 10:59:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:49, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 10:59:54, INFO: Using device: cpu -2024-02-15 10:59:54, INFO: Loaded RL weights with best VAL -2024-02-15 10:59:54, INFO: Similarity_func: concatenation -2024-02-15 10:59:54, INFO: Layerwise_graph: False -2024-02-15 10:59:54, INFO: Skip_connection: True -2024-02-15 10:59:54, INFO: Number of layers: 1 -2024-02-15 10:59:54, INFO: Similarity_func: concatenation -2024-02-15 10:59:54, INFO: Layerwise_graph: False -2024-02-15 10:59:54, INFO: Skip_connection: True -2024-02-15 10:59:54, INFO: Number of layers: 1 -2024-02-15 10:59:54, INFO: Planning depth: 1 -2024-02-15 10:59:54, INFO: Planning width: 10 -2024-02-15 10:59:54, INFO: Sparse search: None -2024-02-15 10:59:56, INFO: human number: 10 -2024-02-15 10:59:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 10:59:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 10:59:56, INFO: Square width: 10, circle width: 4 -2024-02-15 10:59:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 10:59:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:01, INFO: Using device: cpu -2024-02-15 11:00:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:01, INFO: Similarity_func: concatenation -2024-02-15 11:00:01, INFO: Layerwise_graph: False -2024-02-15 11:00:01, INFO: Skip_connection: True -2024-02-15 11:00:01, INFO: Number of layers: 1 -2024-02-15 11:00:01, INFO: Similarity_func: concatenation -2024-02-15 11:00:01, INFO: Layerwise_graph: False -2024-02-15 11:00:01, INFO: Skip_connection: True -2024-02-15 11:00:01, INFO: Number of layers: 1 -2024-02-15 11:00:01, INFO: Planning depth: 1 -2024-02-15 11:00:01, INFO: Planning width: 10 -2024-02-15 11:00:01, INFO: Sparse search: None -2024-02-15 11:00:03, INFO: human number: 10 -2024-02-15 11:00:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:08, INFO: Using device: cpu -2024-02-15 11:00:08, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:08, INFO: Similarity_func: concatenation -2024-02-15 11:00:08, INFO: Layerwise_graph: False -2024-02-15 11:00:08, INFO: Skip_connection: True -2024-02-15 11:00:08, INFO: Number of layers: 1 -2024-02-15 11:00:08, INFO: Similarity_func: concatenation -2024-02-15 11:00:08, INFO: Layerwise_graph: False -2024-02-15 11:00:08, INFO: Skip_connection: True -2024-02-15 11:00:08, INFO: Number of layers: 1 -2024-02-15 11:00:08, INFO: Planning depth: 1 -2024-02-15 11:00:08, INFO: Planning width: 10 -2024-02-15 11:00:08, INFO: Sparse search: None -2024-02-15 11:00:10, INFO: human number: 10 -2024-02-15 11:00:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:15, INFO: Using device: cpu -2024-02-15 11:00:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:15, INFO: Similarity_func: concatenation -2024-02-15 11:00:15, INFO: Layerwise_graph: False -2024-02-15 11:00:15, INFO: Skip_connection: True -2024-02-15 11:00:15, INFO: Number of layers: 1 -2024-02-15 11:00:15, INFO: Similarity_func: concatenation -2024-02-15 11:00:15, INFO: Layerwise_graph: False -2024-02-15 11:00:15, INFO: Skip_connection: True -2024-02-15 11:00:15, INFO: Number of layers: 1 -2024-02-15 11:00:15, INFO: Planning depth: 1 -2024-02-15 11:00:15, INFO: Planning width: 10 -2024-02-15 11:00:15, INFO: Sparse search: None -2024-02-15 11:00:17, INFO: human number: 10 -2024-02-15 11:00:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:22, INFO: Using device: cpu -2024-02-15 11:00:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:22, INFO: Similarity_func: concatenation -2024-02-15 11:00:22, INFO: Layerwise_graph: False -2024-02-15 11:00:22, INFO: Skip_connection: True -2024-02-15 11:00:22, INFO: Number of layers: 1 -2024-02-15 11:00:22, INFO: Similarity_func: concatenation -2024-02-15 11:00:22, INFO: Layerwise_graph: False -2024-02-15 11:00:22, INFO: Skip_connection: True -2024-02-15 11:00:22, INFO: Number of layers: 1 -2024-02-15 11:00:22, INFO: Planning depth: 1 -2024-02-15 11:00:22, INFO: Planning width: 10 -2024-02-15 11:00:22, INFO: Sparse search: None -2024-02-15 11:00:24, INFO: human number: 10 -2024-02-15 11:00:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:28, INFO: Using device: cpu -2024-02-15 11:00:28, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:28, INFO: Similarity_func: concatenation -2024-02-15 11:00:28, INFO: Layerwise_graph: False -2024-02-15 11:00:28, INFO: Skip_connection: True -2024-02-15 11:00:28, INFO: Number of layers: 1 -2024-02-15 11:00:28, INFO: Similarity_func: concatenation -2024-02-15 11:00:28, INFO: Layerwise_graph: False -2024-02-15 11:00:28, INFO: Skip_connection: True -2024-02-15 11:00:28, INFO: Number of layers: 1 -2024-02-15 11:00:28, INFO: Planning depth: 1 -2024-02-15 11:00:28, INFO: Planning width: 10 -2024-02-15 11:00:28, INFO: Sparse search: None -2024-02-15 11:00:31, INFO: human number: 10 -2024-02-15 11:00:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:31, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:35, INFO: Using device: cpu -2024-02-15 11:00:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:35, INFO: Similarity_func: concatenation -2024-02-15 11:00:35, INFO: Layerwise_graph: False -2024-02-15 11:00:35, INFO: Skip_connection: True -2024-02-15 11:00:35, INFO: Number of layers: 1 -2024-02-15 11:00:35, INFO: Similarity_func: concatenation -2024-02-15 11:00:35, INFO: Layerwise_graph: False -2024-02-15 11:00:35, INFO: Skip_connection: True -2024-02-15 11:00:35, INFO: Number of layers: 1 -2024-02-15 11:00:35, INFO: Planning depth: 1 -2024-02-15 11:00:35, INFO: Planning width: 10 -2024-02-15 11:00:35, INFO: Sparse search: None -2024-02-15 11:00:38, INFO: human number: 10 -2024-02-15 11:00:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:38, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:42, INFO: Using device: cpu -2024-02-15 11:00:42, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:42, INFO: Similarity_func: concatenation -2024-02-15 11:00:42, INFO: Layerwise_graph: False -2024-02-15 11:00:42, INFO: Skip_connection: True -2024-02-15 11:00:42, INFO: Number of layers: 1 -2024-02-15 11:00:42, INFO: Similarity_func: concatenation -2024-02-15 11:00:42, INFO: Layerwise_graph: False -2024-02-15 11:00:42, INFO: Skip_connection: True -2024-02-15 11:00:42, INFO: Number of layers: 1 -2024-02-15 11:00:42, INFO: Planning depth: 1 -2024-02-15 11:00:42, INFO: Planning width: 10 -2024-02-15 11:00:42, INFO: Sparse search: None -2024-02-15 11:00:45, INFO: human number: 10 -2024-02-15 11:00:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:45, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:49, INFO: Using device: cpu -2024-02-15 11:00:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:49, INFO: Similarity_func: concatenation -2024-02-15 11:00:49, INFO: Layerwise_graph: False -2024-02-15 11:00:49, INFO: Skip_connection: True -2024-02-15 11:00:49, INFO: Number of layers: 1 -2024-02-15 11:00:49, INFO: Similarity_func: concatenation -2024-02-15 11:00:49, INFO: Layerwise_graph: False -2024-02-15 11:00:49, INFO: Skip_connection: True -2024-02-15 11:00:49, INFO: Number of layers: 1 -2024-02-15 11:00:49, INFO: Planning depth: 1 -2024-02-15 11:00:49, INFO: Planning width: 10 -2024-02-15 11:00:49, INFO: Sparse search: None -2024-02-15 11:00:52, INFO: human number: 10 -2024-02-15 11:00:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:00:56, INFO: Using device: cpu -2024-02-15 11:00:56, INFO: Loaded RL weights with best VAL -2024-02-15 11:00:56, INFO: Similarity_func: concatenation -2024-02-15 11:00:56, INFO: Layerwise_graph: False -2024-02-15 11:00:56, INFO: Skip_connection: True -2024-02-15 11:00:56, INFO: Number of layers: 1 -2024-02-15 11:00:56, INFO: Similarity_func: concatenation -2024-02-15 11:00:56, INFO: Layerwise_graph: False -2024-02-15 11:00:56, INFO: Skip_connection: True -2024-02-15 11:00:56, INFO: Number of layers: 1 -2024-02-15 11:00:56, INFO: Planning depth: 1 -2024-02-15 11:00:56, INFO: Planning width: 10 -2024-02-15 11:00:56, INFO: Sparse search: None -2024-02-15 11:00:59, INFO: human number: 10 -2024-02-15 11:00:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:00:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:00:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:00:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:00:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:03, INFO: Using device: cpu -2024-02-15 11:01:03, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:03, INFO: Similarity_func: concatenation -2024-02-15 11:01:03, INFO: Layerwise_graph: False -2024-02-15 11:01:03, INFO: Skip_connection: True -2024-02-15 11:01:03, INFO: Number of layers: 1 -2024-02-15 11:01:03, INFO: Similarity_func: concatenation -2024-02-15 11:01:03, INFO: Layerwise_graph: False -2024-02-15 11:01:03, INFO: Skip_connection: True -2024-02-15 11:01:03, INFO: Number of layers: 1 -2024-02-15 11:01:03, INFO: Planning depth: 1 -2024-02-15 11:01:03, INFO: Planning width: 10 -2024-02-15 11:01:03, INFO: Sparse search: None -2024-02-15 11:01:06, INFO: human number: 10 -2024-02-15 11:01:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:06, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:11, INFO: Using device: cpu -2024-02-15 11:01:11, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:11, INFO: Similarity_func: concatenation -2024-02-15 11:01:11, INFO: Layerwise_graph: False -2024-02-15 11:01:11, INFO: Skip_connection: True -2024-02-15 11:01:11, INFO: Number of layers: 1 -2024-02-15 11:01:11, INFO: Similarity_func: concatenation -2024-02-15 11:01:11, INFO: Layerwise_graph: False -2024-02-15 11:01:11, INFO: Skip_connection: True -2024-02-15 11:01:11, INFO: Number of layers: 1 -2024-02-15 11:01:11, INFO: Planning depth: 1 -2024-02-15 11:01:11, INFO: Planning width: 10 -2024-02-15 11:01:11, INFO: Sparse search: None -2024-02-15 11:01:14, INFO: human number: 10 -2024-02-15 11:01:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:14, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:17, INFO: Using device: cpu -2024-02-15 11:01:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:17, INFO: Similarity_func: concatenation -2024-02-15 11:01:17, INFO: Layerwise_graph: False -2024-02-15 11:01:17, INFO: Skip_connection: True -2024-02-15 11:01:17, INFO: Number of layers: 1 -2024-02-15 11:01:17, INFO: Similarity_func: concatenation -2024-02-15 11:01:17, INFO: Layerwise_graph: False -2024-02-15 11:01:17, INFO: Skip_connection: True -2024-02-15 11:01:17, INFO: Number of layers: 1 -2024-02-15 11:01:17, INFO: Planning depth: 1 -2024-02-15 11:01:17, INFO: Planning width: 10 -2024-02-15 11:01:17, INFO: Sparse search: None -2024-02-15 11:01:20, INFO: human number: 10 -2024-02-15 11:01:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:20, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:24, INFO: Using device: cpu -2024-02-15 11:01:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:24, INFO: Similarity_func: concatenation -2024-02-15 11:01:24, INFO: Layerwise_graph: False -2024-02-15 11:01:24, INFO: Skip_connection: True -2024-02-15 11:01:24, INFO: Number of layers: 1 -2024-02-15 11:01:24, INFO: Similarity_func: concatenation -2024-02-15 11:01:24, INFO: Layerwise_graph: False -2024-02-15 11:01:24, INFO: Skip_connection: True -2024-02-15 11:01:24, INFO: Number of layers: 1 -2024-02-15 11:01:24, INFO: Planning depth: 1 -2024-02-15 11:01:24, INFO: Planning width: 10 -2024-02-15 11:01:24, INFO: Sparse search: None -2024-02-15 11:01:27, INFO: human number: 10 -2024-02-15 11:01:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:27, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:31, INFO: Using device: cpu -2024-02-15 11:01:31, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:31, INFO: Similarity_func: concatenation -2024-02-15 11:01:31, INFO: Layerwise_graph: False -2024-02-15 11:01:31, INFO: Skip_connection: True -2024-02-15 11:01:31, INFO: Number of layers: 1 -2024-02-15 11:01:31, INFO: Similarity_func: concatenation -2024-02-15 11:01:31, INFO: Layerwise_graph: False -2024-02-15 11:01:31, INFO: Skip_connection: True -2024-02-15 11:01:31, INFO: Number of layers: 1 -2024-02-15 11:01:31, INFO: Planning depth: 1 -2024-02-15 11:01:31, INFO: Planning width: 10 -2024-02-15 11:01:31, INFO: Sparse search: None -2024-02-15 11:01:34, INFO: human number: 10 -2024-02-15 11:01:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:34, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:38, INFO: Using device: cpu -2024-02-15 11:01:38, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:38, INFO: Similarity_func: concatenation -2024-02-15 11:01:38, INFO: Layerwise_graph: False -2024-02-15 11:01:38, INFO: Skip_connection: True -2024-02-15 11:01:38, INFO: Number of layers: 1 -2024-02-15 11:01:38, INFO: Similarity_func: concatenation -2024-02-15 11:01:38, INFO: Layerwise_graph: False -2024-02-15 11:01:38, INFO: Skip_connection: True -2024-02-15 11:01:38, INFO: Number of layers: 1 -2024-02-15 11:01:38, INFO: Planning depth: 1 -2024-02-15 11:01:38, INFO: Planning width: 10 -2024-02-15 11:01:38, INFO: Sparse search: None -2024-02-15 11:01:40, INFO: human number: 10 -2024-02-15 11:01:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:40, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:44, INFO: Using device: cpu -2024-02-15 11:01:44, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:44, INFO: Similarity_func: concatenation -2024-02-15 11:01:44, INFO: Layerwise_graph: False -2024-02-15 11:01:44, INFO: Skip_connection: True -2024-02-15 11:01:44, INFO: Number of layers: 1 -2024-02-15 11:01:44, INFO: Similarity_func: concatenation -2024-02-15 11:01:44, INFO: Layerwise_graph: False -2024-02-15 11:01:44, INFO: Skip_connection: True -2024-02-15 11:01:44, INFO: Number of layers: 1 -2024-02-15 11:01:44, INFO: Planning depth: 1 -2024-02-15 11:01:44, INFO: Planning width: 10 -2024-02-15 11:01:44, INFO: Sparse search: None -2024-02-15 11:01:47, INFO: human number: 10 -2024-02-15 11:01:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:47, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:51, INFO: Using device: cpu -2024-02-15 11:01:51, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:51, INFO: Similarity_func: concatenation -2024-02-15 11:01:51, INFO: Layerwise_graph: False -2024-02-15 11:01:51, INFO: Skip_connection: True -2024-02-15 11:01:51, INFO: Number of layers: 1 -2024-02-15 11:01:51, INFO: Similarity_func: concatenation -2024-02-15 11:01:51, INFO: Layerwise_graph: False -2024-02-15 11:01:51, INFO: Skip_connection: True -2024-02-15 11:01:51, INFO: Number of layers: 1 -2024-02-15 11:01:51, INFO: Planning depth: 1 -2024-02-15 11:01:51, INFO: Planning width: 10 -2024-02-15 11:01:51, INFO: Sparse search: None -2024-02-15 11:01:54, INFO: human number: 10 -2024-02-15 11:01:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:01:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:01:54, INFO: Square width: 10, circle width: 4 -2024-02-15 11:01:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:01:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:01:58, INFO: Using device: cpu -2024-02-15 11:01:58, INFO: Loaded RL weights with best VAL -2024-02-15 11:01:58, INFO: Similarity_func: concatenation -2024-02-15 11:01:58, INFO: Layerwise_graph: False -2024-02-15 11:01:58, INFO: Skip_connection: True -2024-02-15 11:01:58, INFO: Number of layers: 1 -2024-02-15 11:01:58, INFO: Similarity_func: concatenation -2024-02-15 11:01:58, INFO: Layerwise_graph: False -2024-02-15 11:01:58, INFO: Skip_connection: True -2024-02-15 11:01:58, INFO: Number of layers: 1 -2024-02-15 11:01:58, INFO: Planning depth: 1 -2024-02-15 11:01:58, INFO: Planning width: 10 -2024-02-15 11:01:58, INFO: Sparse search: None -2024-02-15 11:02:01, INFO: human number: 10 -2024-02-15 11:02:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:01, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:05, INFO: Using device: cpu -2024-02-15 11:02:05, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:05, INFO: Similarity_func: concatenation -2024-02-15 11:02:05, INFO: Layerwise_graph: False -2024-02-15 11:02:05, INFO: Skip_connection: True -2024-02-15 11:02:05, INFO: Number of layers: 1 -2024-02-15 11:02:05, INFO: Similarity_func: concatenation -2024-02-15 11:02:05, INFO: Layerwise_graph: False -2024-02-15 11:02:05, INFO: Skip_connection: True -2024-02-15 11:02:05, INFO: Number of layers: 1 -2024-02-15 11:02:05, INFO: Planning depth: 1 -2024-02-15 11:02:05, INFO: Planning width: 10 -2024-02-15 11:02:05, INFO: Sparse search: None -2024-02-15 11:02:08, INFO: human number: 10 -2024-02-15 11:02:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:08, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:12, INFO: Using device: cpu -2024-02-15 11:02:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:12, INFO: Similarity_func: concatenation -2024-02-15 11:02:12, INFO: Layerwise_graph: False -2024-02-15 11:02:12, INFO: Skip_connection: True -2024-02-15 11:02:12, INFO: Number of layers: 1 -2024-02-15 11:02:12, INFO: Similarity_func: concatenation -2024-02-15 11:02:12, INFO: Layerwise_graph: False -2024-02-15 11:02:12, INFO: Skip_connection: True -2024-02-15 11:02:12, INFO: Number of layers: 1 -2024-02-15 11:02:12, INFO: Planning depth: 1 -2024-02-15 11:02:12, INFO: Planning width: 10 -2024-02-15 11:02:12, INFO: Sparse search: None -2024-02-15 11:02:15, INFO: human number: 10 -2024-02-15 11:02:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:19, INFO: Using device: cpu -2024-02-15 11:02:19, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:19, INFO: Similarity_func: concatenation -2024-02-15 11:02:19, INFO: Layerwise_graph: False -2024-02-15 11:02:19, INFO: Skip_connection: True -2024-02-15 11:02:19, INFO: Number of layers: 1 -2024-02-15 11:02:19, INFO: Similarity_func: concatenation -2024-02-15 11:02:19, INFO: Layerwise_graph: False -2024-02-15 11:02:19, INFO: Skip_connection: True -2024-02-15 11:02:19, INFO: Number of layers: 1 -2024-02-15 11:02:19, INFO: Planning depth: 1 -2024-02-15 11:02:19, INFO: Planning width: 10 -2024-02-15 11:02:19, INFO: Sparse search: None -2024-02-15 11:02:21, INFO: human number: 10 -2024-02-15 11:02:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:21, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:26, INFO: Using device: cpu -2024-02-15 11:02:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:26, INFO: Similarity_func: concatenation -2024-02-15 11:02:26, INFO: Layerwise_graph: False -2024-02-15 11:02:26, INFO: Skip_connection: True -2024-02-15 11:02:26, INFO: Number of layers: 1 -2024-02-15 11:02:26, INFO: Similarity_func: concatenation -2024-02-15 11:02:26, INFO: Layerwise_graph: False -2024-02-15 11:02:26, INFO: Skip_connection: True -2024-02-15 11:02:26, INFO: Number of layers: 1 -2024-02-15 11:02:26, INFO: Planning depth: 1 -2024-02-15 11:02:26, INFO: Planning width: 10 -2024-02-15 11:02:26, INFO: Sparse search: None -2024-02-15 11:02:29, INFO: human number: 10 -2024-02-15 11:02:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:29, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:33, INFO: Using device: cpu -2024-02-15 11:02:33, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:33, INFO: Similarity_func: concatenation -2024-02-15 11:02:33, INFO: Layerwise_graph: False -2024-02-15 11:02:33, INFO: Skip_connection: True -2024-02-15 11:02:33, INFO: Number of layers: 1 -2024-02-15 11:02:33, INFO: Similarity_func: concatenation -2024-02-15 11:02:33, INFO: Layerwise_graph: False -2024-02-15 11:02:33, INFO: Skip_connection: True -2024-02-15 11:02:33, INFO: Number of layers: 1 -2024-02-15 11:02:33, INFO: Planning depth: 1 -2024-02-15 11:02:33, INFO: Planning width: 10 -2024-02-15 11:02:33, INFO: Sparse search: None -2024-02-15 11:02:36, INFO: human number: 10 -2024-02-15 11:02:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:36, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:40, INFO: Using device: cpu -2024-02-15 11:02:40, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:40, INFO: Similarity_func: concatenation -2024-02-15 11:02:40, INFO: Layerwise_graph: False -2024-02-15 11:02:40, INFO: Skip_connection: True -2024-02-15 11:02:40, INFO: Number of layers: 1 -2024-02-15 11:02:40, INFO: Similarity_func: concatenation -2024-02-15 11:02:40, INFO: Layerwise_graph: False -2024-02-15 11:02:40, INFO: Skip_connection: True -2024-02-15 11:02:40, INFO: Number of layers: 1 -2024-02-15 11:02:40, INFO: Planning depth: 1 -2024-02-15 11:02:40, INFO: Planning width: 10 -2024-02-15 11:02:40, INFO: Sparse search: None -2024-02-15 11:02:43, INFO: human number: 10 -2024-02-15 11:02:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:43, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:47, INFO: Using device: cpu -2024-02-15 11:02:47, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:47, INFO: Similarity_func: concatenation -2024-02-15 11:02:47, INFO: Layerwise_graph: False -2024-02-15 11:02:47, INFO: Skip_connection: True -2024-02-15 11:02:47, INFO: Number of layers: 1 -2024-02-15 11:02:47, INFO: Similarity_func: concatenation -2024-02-15 11:02:47, INFO: Layerwise_graph: False -2024-02-15 11:02:47, INFO: Skip_connection: True -2024-02-15 11:02:47, INFO: Number of layers: 1 -2024-02-15 11:02:47, INFO: Planning depth: 1 -2024-02-15 11:02:47, INFO: Planning width: 10 -2024-02-15 11:02:47, INFO: Sparse search: None -2024-02-15 11:02:50, INFO: human number: 10 -2024-02-15 11:02:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:50, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:02:54, INFO: Using device: cpu -2024-02-15 11:02:54, INFO: Loaded RL weights with best VAL -2024-02-15 11:02:54, INFO: Similarity_func: concatenation -2024-02-15 11:02:54, INFO: Layerwise_graph: False -2024-02-15 11:02:54, INFO: Skip_connection: True -2024-02-15 11:02:54, INFO: Number of layers: 1 -2024-02-15 11:02:54, INFO: Similarity_func: concatenation -2024-02-15 11:02:54, INFO: Layerwise_graph: False -2024-02-15 11:02:54, INFO: Skip_connection: True -2024-02-15 11:02:54, INFO: Number of layers: 1 -2024-02-15 11:02:54, INFO: Planning depth: 1 -2024-02-15 11:02:54, INFO: Planning width: 10 -2024-02-15 11:02:54, INFO: Sparse search: None -2024-02-15 11:02:56, INFO: human number: 10 -2024-02-15 11:02:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:02:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:02:56, INFO: Square width: 10, circle width: 4 -2024-02-15 11:02:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:02:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:01, INFO: Using device: cpu -2024-02-15 11:03:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:01, INFO: Similarity_func: concatenation -2024-02-15 11:03:01, INFO: Layerwise_graph: False -2024-02-15 11:03:01, INFO: Skip_connection: True -2024-02-15 11:03:01, INFO: Number of layers: 1 -2024-02-15 11:03:01, INFO: Similarity_func: concatenation -2024-02-15 11:03:01, INFO: Layerwise_graph: False -2024-02-15 11:03:01, INFO: Skip_connection: True -2024-02-15 11:03:01, INFO: Number of layers: 1 -2024-02-15 11:03:01, INFO: Planning depth: 1 -2024-02-15 11:03:01, INFO: Planning width: 10 -2024-02-15 11:03:01, INFO: Sparse search: None -2024-02-15 11:03:03, INFO: human number: 10 -2024-02-15 11:03:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:08, INFO: Using device: cpu -2024-02-15 11:03:08, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:08, INFO: Similarity_func: concatenation -2024-02-15 11:03:08, INFO: Layerwise_graph: False -2024-02-15 11:03:08, INFO: Skip_connection: True -2024-02-15 11:03:08, INFO: Number of layers: 1 -2024-02-15 11:03:08, INFO: Similarity_func: concatenation -2024-02-15 11:03:08, INFO: Layerwise_graph: False -2024-02-15 11:03:08, INFO: Skip_connection: True -2024-02-15 11:03:08, INFO: Number of layers: 1 -2024-02-15 11:03:08, INFO: Planning depth: 1 -2024-02-15 11:03:08, INFO: Planning width: 10 -2024-02-15 11:03:08, INFO: Sparse search: None -2024-02-15 11:03:10, INFO: human number: 10 -2024-02-15 11:03:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:15, INFO: Using device: cpu -2024-02-15 11:03:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:15, INFO: Similarity_func: concatenation -2024-02-15 11:03:15, INFO: Layerwise_graph: False -2024-02-15 11:03:15, INFO: Skip_connection: True -2024-02-15 11:03:15, INFO: Number of layers: 1 -2024-02-15 11:03:15, INFO: Similarity_func: concatenation -2024-02-15 11:03:15, INFO: Layerwise_graph: False -2024-02-15 11:03:15, INFO: Skip_connection: True -2024-02-15 11:03:15, INFO: Number of layers: 1 -2024-02-15 11:03:15, INFO: Planning depth: 1 -2024-02-15 11:03:15, INFO: Planning width: 10 -2024-02-15 11:03:15, INFO: Sparse search: None -2024-02-15 11:03:17, INFO: human number: 10 -2024-02-15 11:03:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:21, INFO: Using device: cpu -2024-02-15 11:03:21, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:21, INFO: Similarity_func: concatenation -2024-02-15 11:03:21, INFO: Layerwise_graph: False -2024-02-15 11:03:21, INFO: Skip_connection: True -2024-02-15 11:03:21, INFO: Number of layers: 1 -2024-02-15 11:03:21, INFO: Similarity_func: concatenation -2024-02-15 11:03:21, INFO: Layerwise_graph: False -2024-02-15 11:03:21, INFO: Skip_connection: True -2024-02-15 11:03:21, INFO: Number of layers: 1 -2024-02-15 11:03:21, INFO: Planning depth: 1 -2024-02-15 11:03:21, INFO: Planning width: 10 -2024-02-15 11:03:21, INFO: Sparse search: None -2024-02-15 11:03:24, INFO: human number: 10 -2024-02-15 11:03:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:28, INFO: Using device: cpu -2024-02-15 11:03:28, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:28, INFO: Similarity_func: concatenation -2024-02-15 11:03:28, INFO: Layerwise_graph: False -2024-02-15 11:03:28, INFO: Skip_connection: True -2024-02-15 11:03:28, INFO: Number of layers: 1 -2024-02-15 11:03:28, INFO: Similarity_func: concatenation -2024-02-15 11:03:28, INFO: Layerwise_graph: False -2024-02-15 11:03:28, INFO: Skip_connection: True -2024-02-15 11:03:28, INFO: Number of layers: 1 -2024-02-15 11:03:28, INFO: Planning depth: 1 -2024-02-15 11:03:28, INFO: Planning width: 10 -2024-02-15 11:03:28, INFO: Sparse search: None -2024-02-15 11:03:31, INFO: human number: 10 -2024-02-15 11:03:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:31, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:35, INFO: Using device: cpu -2024-02-15 11:03:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:35, INFO: Similarity_func: concatenation -2024-02-15 11:03:35, INFO: Layerwise_graph: False -2024-02-15 11:03:35, INFO: Skip_connection: True -2024-02-15 11:03:35, INFO: Number of layers: 1 -2024-02-15 11:03:35, INFO: Similarity_func: concatenation -2024-02-15 11:03:35, INFO: Layerwise_graph: False -2024-02-15 11:03:35, INFO: Skip_connection: True -2024-02-15 11:03:35, INFO: Number of layers: 1 -2024-02-15 11:03:35, INFO: Planning depth: 1 -2024-02-15 11:03:35, INFO: Planning width: 10 -2024-02-15 11:03:35, INFO: Sparse search: None -2024-02-15 11:03:38, INFO: human number: 10 -2024-02-15 11:03:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:38, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:42, INFO: Using device: cpu -2024-02-15 11:03:42, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:42, INFO: Similarity_func: concatenation -2024-02-15 11:03:42, INFO: Layerwise_graph: False -2024-02-15 11:03:42, INFO: Skip_connection: True -2024-02-15 11:03:42, INFO: Number of layers: 1 -2024-02-15 11:03:42, INFO: Similarity_func: concatenation -2024-02-15 11:03:42, INFO: Layerwise_graph: False -2024-02-15 11:03:42, INFO: Skip_connection: True -2024-02-15 11:03:42, INFO: Number of layers: 1 -2024-02-15 11:03:42, INFO: Planning depth: 1 -2024-02-15 11:03:42, INFO: Planning width: 10 -2024-02-15 11:03:42, INFO: Sparse search: None -2024-02-15 11:03:45, INFO: human number: 10 -2024-02-15 11:03:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:45, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:49, INFO: Using device: cpu -2024-02-15 11:03:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:49, INFO: Similarity_func: concatenation -2024-02-15 11:03:49, INFO: Layerwise_graph: False -2024-02-15 11:03:49, INFO: Skip_connection: True -2024-02-15 11:03:49, INFO: Number of layers: 1 -2024-02-15 11:03:49, INFO: Similarity_func: concatenation -2024-02-15 11:03:49, INFO: Layerwise_graph: False -2024-02-15 11:03:49, INFO: Skip_connection: True -2024-02-15 11:03:49, INFO: Number of layers: 1 -2024-02-15 11:03:49, INFO: Planning depth: 1 -2024-02-15 11:03:49, INFO: Planning width: 10 -2024-02-15 11:03:49, INFO: Sparse search: None -2024-02-15 11:03:52, INFO: human number: 10 -2024-02-15 11:03:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:03:56, INFO: Using device: cpu -2024-02-15 11:03:56, INFO: Loaded RL weights with best VAL -2024-02-15 11:03:56, INFO: Similarity_func: concatenation -2024-02-15 11:03:56, INFO: Layerwise_graph: False -2024-02-15 11:03:56, INFO: Skip_connection: True -2024-02-15 11:03:56, INFO: Number of layers: 1 -2024-02-15 11:03:56, INFO: Similarity_func: concatenation -2024-02-15 11:03:56, INFO: Layerwise_graph: False -2024-02-15 11:03:56, INFO: Skip_connection: True -2024-02-15 11:03:56, INFO: Number of layers: 1 -2024-02-15 11:03:56, INFO: Planning depth: 1 -2024-02-15 11:03:56, INFO: Planning width: 10 -2024-02-15 11:03:56, INFO: Sparse search: None -2024-02-15 11:03:59, INFO: human number: 10 -2024-02-15 11:03:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:03:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:03:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:03:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:03:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:03, INFO: Using device: cpu -2024-02-15 11:04:03, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:03, INFO: Similarity_func: concatenation -2024-02-15 11:04:03, INFO: Layerwise_graph: False -2024-02-15 11:04:03, INFO: Skip_connection: True -2024-02-15 11:04:03, INFO: Number of layers: 1 -2024-02-15 11:04:03, INFO: Similarity_func: concatenation -2024-02-15 11:04:03, INFO: Layerwise_graph: False -2024-02-15 11:04:03, INFO: Skip_connection: True -2024-02-15 11:04:03, INFO: Number of layers: 1 -2024-02-15 11:04:03, INFO: Planning depth: 1 -2024-02-15 11:04:03, INFO: Planning width: 10 -2024-02-15 11:04:03, INFO: Sparse search: None -2024-02-15 11:04:06, INFO: human number: 10 -2024-02-15 11:04:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:06, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:10, INFO: Using device: cpu -2024-02-15 11:04:10, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:10, INFO: Similarity_func: concatenation -2024-02-15 11:04:10, INFO: Layerwise_graph: False -2024-02-15 11:04:10, INFO: Skip_connection: True -2024-02-15 11:04:10, INFO: Number of layers: 1 -2024-02-15 11:04:10, INFO: Similarity_func: concatenation -2024-02-15 11:04:10, INFO: Layerwise_graph: False -2024-02-15 11:04:10, INFO: Skip_connection: True -2024-02-15 11:04:10, INFO: Number of layers: 1 -2024-02-15 11:04:10, INFO: Planning depth: 1 -2024-02-15 11:04:10, INFO: Planning width: 10 -2024-02-15 11:04:10, INFO: Sparse search: None -2024-02-15 11:04:13, INFO: human number: 10 -2024-02-15 11:04:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:13, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:17, INFO: Using device: cpu -2024-02-15 11:04:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:17, INFO: Similarity_func: concatenation -2024-02-15 11:04:17, INFO: Layerwise_graph: False -2024-02-15 11:04:17, INFO: Skip_connection: True -2024-02-15 11:04:17, INFO: Number of layers: 1 -2024-02-15 11:04:17, INFO: Similarity_func: concatenation -2024-02-15 11:04:17, INFO: Layerwise_graph: False -2024-02-15 11:04:17, INFO: Skip_connection: True -2024-02-15 11:04:17, INFO: Number of layers: 1 -2024-02-15 11:04:17, INFO: Planning depth: 1 -2024-02-15 11:04:17, INFO: Planning width: 10 -2024-02-15 11:04:17, INFO: Sparse search: None -2024-02-15 11:04:19, INFO: human number: 10 -2024-02-15 11:04:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:19, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:23, INFO: Using device: cpu -2024-02-15 11:04:23, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:23, INFO: Similarity_func: concatenation -2024-02-15 11:04:23, INFO: Layerwise_graph: False -2024-02-15 11:04:23, INFO: Skip_connection: True -2024-02-15 11:04:23, INFO: Number of layers: 1 -2024-02-15 11:04:23, INFO: Similarity_func: concatenation -2024-02-15 11:04:23, INFO: Layerwise_graph: False -2024-02-15 11:04:23, INFO: Skip_connection: True -2024-02-15 11:04:23, INFO: Number of layers: 1 -2024-02-15 11:04:23, INFO: Planning depth: 1 -2024-02-15 11:04:23, INFO: Planning width: 10 -2024-02-15 11:04:23, INFO: Sparse search: None -2024-02-15 11:04:26, INFO: human number: 10 -2024-02-15 11:04:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:26, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:30, INFO: Using device: cpu -2024-02-15 11:04:30, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:30, INFO: Similarity_func: concatenation -2024-02-15 11:04:30, INFO: Layerwise_graph: False -2024-02-15 11:04:30, INFO: Skip_connection: True -2024-02-15 11:04:30, INFO: Number of layers: 1 -2024-02-15 11:04:30, INFO: Similarity_func: concatenation -2024-02-15 11:04:30, INFO: Layerwise_graph: False -2024-02-15 11:04:30, INFO: Skip_connection: True -2024-02-15 11:04:30, INFO: Number of layers: 1 -2024-02-15 11:04:30, INFO: Planning depth: 1 -2024-02-15 11:04:30, INFO: Planning width: 10 -2024-02-15 11:04:30, INFO: Sparse search: None -2024-02-15 11:04:33, INFO: human number: 10 -2024-02-15 11:04:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:33, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:37, INFO: Using device: cpu -2024-02-15 11:04:37, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:37, INFO: Similarity_func: concatenation -2024-02-15 11:04:37, INFO: Layerwise_graph: False -2024-02-15 11:04:37, INFO: Skip_connection: True -2024-02-15 11:04:37, INFO: Number of layers: 1 -2024-02-15 11:04:37, INFO: Similarity_func: concatenation -2024-02-15 11:04:37, INFO: Layerwise_graph: False -2024-02-15 11:04:37, INFO: Skip_connection: True -2024-02-15 11:04:37, INFO: Number of layers: 1 -2024-02-15 11:04:37, INFO: Planning depth: 1 -2024-02-15 11:04:37, INFO: Planning width: 10 -2024-02-15 11:04:37, INFO: Sparse search: None -2024-02-15 11:04:40, INFO: human number: 10 -2024-02-15 11:04:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:40, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:44, INFO: Using device: cpu -2024-02-15 11:04:44, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:44, INFO: Similarity_func: concatenation -2024-02-15 11:04:44, INFO: Layerwise_graph: False -2024-02-15 11:04:44, INFO: Skip_connection: True -2024-02-15 11:04:44, INFO: Number of layers: 1 -2024-02-15 11:04:44, INFO: Similarity_func: concatenation -2024-02-15 11:04:44, INFO: Layerwise_graph: False -2024-02-15 11:04:44, INFO: Skip_connection: True -2024-02-15 11:04:44, INFO: Number of layers: 1 -2024-02-15 11:04:44, INFO: Planning depth: 1 -2024-02-15 11:04:44, INFO: Planning width: 10 -2024-02-15 11:04:44, INFO: Sparse search: None -2024-02-15 11:04:47, INFO: human number: 10 -2024-02-15 11:04:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:47, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:51, INFO: Using device: cpu -2024-02-15 11:04:51, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:51, INFO: Similarity_func: concatenation -2024-02-15 11:04:51, INFO: Layerwise_graph: False -2024-02-15 11:04:51, INFO: Skip_connection: True -2024-02-15 11:04:51, INFO: Number of layers: 1 -2024-02-15 11:04:51, INFO: Similarity_func: concatenation -2024-02-15 11:04:51, INFO: Layerwise_graph: False -2024-02-15 11:04:51, INFO: Skip_connection: True -2024-02-15 11:04:51, INFO: Number of layers: 1 -2024-02-15 11:04:51, INFO: Planning depth: 1 -2024-02-15 11:04:51, INFO: Planning width: 10 -2024-02-15 11:04:51, INFO: Sparse search: None -2024-02-15 11:04:54, INFO: human number: 10 -2024-02-15 11:04:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:04:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:04:54, INFO: Square width: 10, circle width: 4 -2024-02-15 11:04:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:04:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:04:58, INFO: Using device: cpu -2024-02-15 11:04:58, INFO: Loaded RL weights with best VAL -2024-02-15 11:04:58, INFO: Similarity_func: concatenation -2024-02-15 11:04:58, INFO: Layerwise_graph: False -2024-02-15 11:04:58, INFO: Skip_connection: True -2024-02-15 11:04:58, INFO: Number of layers: 1 -2024-02-15 11:04:58, INFO: Similarity_func: concatenation -2024-02-15 11:04:58, INFO: Layerwise_graph: False -2024-02-15 11:04:58, INFO: Skip_connection: True -2024-02-15 11:04:58, INFO: Number of layers: 1 -2024-02-15 11:04:58, INFO: Planning depth: 1 -2024-02-15 11:04:58, INFO: Planning width: 10 -2024-02-15 11:04:58, INFO: Sparse search: None -2024-02-15 11:05:01, INFO: human number: 10 -2024-02-15 11:05:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:01, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:05, INFO: Using device: cpu -2024-02-15 11:05:05, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:05, INFO: Similarity_func: concatenation -2024-02-15 11:05:05, INFO: Layerwise_graph: False -2024-02-15 11:05:05, INFO: Skip_connection: True -2024-02-15 11:05:05, INFO: Number of layers: 1 -2024-02-15 11:05:05, INFO: Similarity_func: concatenation -2024-02-15 11:05:05, INFO: Layerwise_graph: False -2024-02-15 11:05:05, INFO: Skip_connection: True -2024-02-15 11:05:05, INFO: Number of layers: 1 -2024-02-15 11:05:05, INFO: Planning depth: 1 -2024-02-15 11:05:05, INFO: Planning width: 10 -2024-02-15 11:05:05, INFO: Sparse search: None -2024-02-15 11:05:08, INFO: human number: 10 -2024-02-15 11:05:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:08, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:12, INFO: Using device: cpu -2024-02-15 11:05:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:12, INFO: Similarity_func: concatenation -2024-02-15 11:05:12, INFO: Layerwise_graph: False -2024-02-15 11:05:12, INFO: Skip_connection: True -2024-02-15 11:05:12, INFO: Number of layers: 1 -2024-02-15 11:05:12, INFO: Similarity_func: concatenation -2024-02-15 11:05:12, INFO: Layerwise_graph: False -2024-02-15 11:05:12, INFO: Skip_connection: True -2024-02-15 11:05:12, INFO: Number of layers: 1 -2024-02-15 11:05:12, INFO: Planning depth: 1 -2024-02-15 11:05:12, INFO: Planning width: 10 -2024-02-15 11:05:12, INFO: Sparse search: None -2024-02-15 11:05:15, INFO: human number: 10 -2024-02-15 11:05:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:19, INFO: Using device: cpu -2024-02-15 11:05:19, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:19, INFO: Similarity_func: concatenation -2024-02-15 11:05:19, INFO: Layerwise_graph: False -2024-02-15 11:05:19, INFO: Skip_connection: True -2024-02-15 11:05:19, INFO: Number of layers: 1 -2024-02-15 11:05:19, INFO: Similarity_func: concatenation -2024-02-15 11:05:19, INFO: Layerwise_graph: False -2024-02-15 11:05:19, INFO: Skip_connection: True -2024-02-15 11:05:19, INFO: Number of layers: 1 -2024-02-15 11:05:19, INFO: Planning depth: 1 -2024-02-15 11:05:19, INFO: Planning width: 10 -2024-02-15 11:05:19, INFO: Sparse search: None -2024-02-15 11:05:22, INFO: human number: 10 -2024-02-15 11:05:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:22, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:26, INFO: Using device: cpu -2024-02-15 11:05:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:26, INFO: Similarity_func: concatenation -2024-02-15 11:05:26, INFO: Layerwise_graph: False -2024-02-15 11:05:26, INFO: Skip_connection: True -2024-02-15 11:05:26, INFO: Number of layers: 1 -2024-02-15 11:05:26, INFO: Similarity_func: concatenation -2024-02-15 11:05:26, INFO: Layerwise_graph: False -2024-02-15 11:05:26, INFO: Skip_connection: True -2024-02-15 11:05:26, INFO: Number of layers: 1 -2024-02-15 11:05:26, INFO: Planning depth: 1 -2024-02-15 11:05:26, INFO: Planning width: 10 -2024-02-15 11:05:26, INFO: Sparse search: None -2024-02-15 11:05:29, INFO: human number: 10 -2024-02-15 11:05:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:29, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:33, INFO: Using device: cpu -2024-02-15 11:05:33, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:33, INFO: Similarity_func: concatenation -2024-02-15 11:05:33, INFO: Layerwise_graph: False -2024-02-15 11:05:33, INFO: Skip_connection: True -2024-02-15 11:05:33, INFO: Number of layers: 1 -2024-02-15 11:05:33, INFO: Similarity_func: concatenation -2024-02-15 11:05:33, INFO: Layerwise_graph: False -2024-02-15 11:05:33, INFO: Skip_connection: True -2024-02-15 11:05:33, INFO: Number of layers: 1 -2024-02-15 11:05:33, INFO: Planning depth: 1 -2024-02-15 11:05:33, INFO: Planning width: 10 -2024-02-15 11:05:33, INFO: Sparse search: None -2024-02-15 11:05:36, INFO: human number: 10 -2024-02-15 11:05:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:36, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:40, INFO: Using device: cpu -2024-02-15 11:05:40, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:40, INFO: Similarity_func: concatenation -2024-02-15 11:05:40, INFO: Layerwise_graph: False -2024-02-15 11:05:40, INFO: Skip_connection: True -2024-02-15 11:05:40, INFO: Number of layers: 1 -2024-02-15 11:05:40, INFO: Similarity_func: concatenation -2024-02-15 11:05:40, INFO: Layerwise_graph: False -2024-02-15 11:05:40, INFO: Skip_connection: True -2024-02-15 11:05:40, INFO: Number of layers: 1 -2024-02-15 11:05:40, INFO: Planning depth: 1 -2024-02-15 11:05:40, INFO: Planning width: 10 -2024-02-15 11:05:40, INFO: Sparse search: None -2024-02-15 11:05:43, INFO: human number: 10 -2024-02-15 11:05:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:43, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:47, INFO: Using device: cpu -2024-02-15 11:05:47, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:47, INFO: Similarity_func: concatenation -2024-02-15 11:05:47, INFO: Layerwise_graph: False -2024-02-15 11:05:47, INFO: Skip_connection: True -2024-02-15 11:05:47, INFO: Number of layers: 1 -2024-02-15 11:05:47, INFO: Similarity_func: concatenation -2024-02-15 11:05:47, INFO: Layerwise_graph: False -2024-02-15 11:05:47, INFO: Skip_connection: True -2024-02-15 11:05:47, INFO: Number of layers: 1 -2024-02-15 11:05:47, INFO: Planning depth: 1 -2024-02-15 11:05:47, INFO: Planning width: 10 -2024-02-15 11:05:47, INFO: Sparse search: None -2024-02-15 11:05:50, INFO: human number: 10 -2024-02-15 11:05:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:50, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:05:54, INFO: Using device: cpu -2024-02-15 11:05:54, INFO: Loaded RL weights with best VAL -2024-02-15 11:05:54, INFO: Similarity_func: concatenation -2024-02-15 11:05:54, INFO: Layerwise_graph: False -2024-02-15 11:05:54, INFO: Skip_connection: True -2024-02-15 11:05:54, INFO: Number of layers: 1 -2024-02-15 11:05:54, INFO: Similarity_func: concatenation -2024-02-15 11:05:54, INFO: Layerwise_graph: False -2024-02-15 11:05:54, INFO: Skip_connection: True -2024-02-15 11:05:54, INFO: Number of layers: 1 -2024-02-15 11:05:54, INFO: Planning depth: 1 -2024-02-15 11:05:54, INFO: Planning width: 10 -2024-02-15 11:05:54, INFO: Sparse search: None -2024-02-15 11:05:57, INFO: human number: 10 -2024-02-15 11:05:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:05:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:05:57, INFO: Square width: 10, circle width: 4 -2024-02-15 11:05:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:05:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:01, INFO: Using device: cpu -2024-02-15 11:06:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:01, INFO: Similarity_func: concatenation -2024-02-15 11:06:01, INFO: Layerwise_graph: False -2024-02-15 11:06:01, INFO: Skip_connection: True -2024-02-15 11:06:01, INFO: Number of layers: 1 -2024-02-15 11:06:01, INFO: Similarity_func: concatenation -2024-02-15 11:06:01, INFO: Layerwise_graph: False -2024-02-15 11:06:01, INFO: Skip_connection: True -2024-02-15 11:06:01, INFO: Number of layers: 1 -2024-02-15 11:06:01, INFO: Planning depth: 1 -2024-02-15 11:06:01, INFO: Planning width: 10 -2024-02-15 11:06:01, INFO: Sparse search: None -2024-02-15 11:06:03, INFO: human number: 10 -2024-02-15 11:06:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:09, INFO: Using device: cpu -2024-02-15 11:06:09, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:09, INFO: Similarity_func: concatenation -2024-02-15 11:06:09, INFO: Layerwise_graph: False -2024-02-15 11:06:09, INFO: Skip_connection: True -2024-02-15 11:06:09, INFO: Number of layers: 1 -2024-02-15 11:06:09, INFO: Similarity_func: concatenation -2024-02-15 11:06:09, INFO: Layerwise_graph: False -2024-02-15 11:06:09, INFO: Skip_connection: True -2024-02-15 11:06:09, INFO: Number of layers: 1 -2024-02-15 11:06:09, INFO: Planning depth: 1 -2024-02-15 11:06:09, INFO: Planning width: 10 -2024-02-15 11:06:09, INFO: Sparse search: None -2024-02-15 11:06:11, INFO: human number: 10 -2024-02-15 11:06:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:11, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:15, INFO: Using device: cpu -2024-02-15 11:06:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:15, INFO: Similarity_func: concatenation -2024-02-15 11:06:15, INFO: Layerwise_graph: False -2024-02-15 11:06:15, INFO: Skip_connection: True -2024-02-15 11:06:15, INFO: Number of layers: 1 -2024-02-15 11:06:15, INFO: Similarity_func: concatenation -2024-02-15 11:06:15, INFO: Layerwise_graph: False -2024-02-15 11:06:15, INFO: Skip_connection: True -2024-02-15 11:06:15, INFO: Number of layers: 1 -2024-02-15 11:06:15, INFO: Planning depth: 1 -2024-02-15 11:06:15, INFO: Planning width: 10 -2024-02-15 11:06:15, INFO: Sparse search: None -2024-02-15 11:06:18, INFO: human number: 10 -2024-02-15 11:06:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:18, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:22, INFO: Using device: cpu -2024-02-15 11:06:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:22, INFO: Similarity_func: concatenation -2024-02-15 11:06:22, INFO: Layerwise_graph: False -2024-02-15 11:06:22, INFO: Skip_connection: True -2024-02-15 11:06:22, INFO: Number of layers: 1 -2024-02-15 11:06:22, INFO: Similarity_func: concatenation -2024-02-15 11:06:22, INFO: Layerwise_graph: False -2024-02-15 11:06:22, INFO: Skip_connection: True -2024-02-15 11:06:22, INFO: Number of layers: 1 -2024-02-15 11:06:22, INFO: Planning depth: 1 -2024-02-15 11:06:22, INFO: Planning width: 10 -2024-02-15 11:06:22, INFO: Sparse search: None -2024-02-15 11:06:25, INFO: human number: 10 -2024-02-15 11:06:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:25, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:29, INFO: Using device: cpu -2024-02-15 11:06:29, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:29, INFO: Similarity_func: concatenation -2024-02-15 11:06:29, INFO: Layerwise_graph: False -2024-02-15 11:06:29, INFO: Skip_connection: True -2024-02-15 11:06:29, INFO: Number of layers: 1 -2024-02-15 11:06:29, INFO: Similarity_func: concatenation -2024-02-15 11:06:29, INFO: Layerwise_graph: False -2024-02-15 11:06:29, INFO: Skip_connection: True -2024-02-15 11:06:29, INFO: Number of layers: 1 -2024-02-15 11:06:29, INFO: Planning depth: 1 -2024-02-15 11:06:29, INFO: Planning width: 10 -2024-02-15 11:06:29, INFO: Sparse search: None -2024-02-15 11:06:32, INFO: human number: 10 -2024-02-15 11:06:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:32, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:36, INFO: Using device: cpu -2024-02-15 11:06:36, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:36, INFO: Similarity_func: concatenation -2024-02-15 11:06:36, INFO: Layerwise_graph: False -2024-02-15 11:06:36, INFO: Skip_connection: True -2024-02-15 11:06:36, INFO: Number of layers: 1 -2024-02-15 11:06:36, INFO: Similarity_func: concatenation -2024-02-15 11:06:36, INFO: Layerwise_graph: False -2024-02-15 11:06:36, INFO: Skip_connection: True -2024-02-15 11:06:36, INFO: Number of layers: 1 -2024-02-15 11:06:36, INFO: Planning depth: 1 -2024-02-15 11:06:36, INFO: Planning width: 10 -2024-02-15 11:06:36, INFO: Sparse search: None -2024-02-15 11:06:39, INFO: human number: 10 -2024-02-15 11:06:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:39, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:43, INFO: Using device: cpu -2024-02-15 11:06:43, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:43, INFO: Similarity_func: concatenation -2024-02-15 11:06:43, INFO: Layerwise_graph: False -2024-02-15 11:06:43, INFO: Skip_connection: True -2024-02-15 11:06:43, INFO: Number of layers: 1 -2024-02-15 11:06:43, INFO: Similarity_func: concatenation -2024-02-15 11:06:43, INFO: Layerwise_graph: False -2024-02-15 11:06:43, INFO: Skip_connection: True -2024-02-15 11:06:43, INFO: Number of layers: 1 -2024-02-15 11:06:43, INFO: Planning depth: 1 -2024-02-15 11:06:43, INFO: Planning width: 10 -2024-02-15 11:06:43, INFO: Sparse search: None -2024-02-15 11:06:46, INFO: human number: 10 -2024-02-15 11:06:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:46, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:50, INFO: Using device: cpu -2024-02-15 11:06:50, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:50, INFO: Similarity_func: concatenation -2024-02-15 11:06:50, INFO: Layerwise_graph: False -2024-02-15 11:06:50, INFO: Skip_connection: True -2024-02-15 11:06:50, INFO: Number of layers: 1 -2024-02-15 11:06:50, INFO: Similarity_func: concatenation -2024-02-15 11:06:50, INFO: Layerwise_graph: False -2024-02-15 11:06:50, INFO: Skip_connection: True -2024-02-15 11:06:50, INFO: Number of layers: 1 -2024-02-15 11:06:50, INFO: Planning depth: 1 -2024-02-15 11:06:50, INFO: Planning width: 10 -2024-02-15 11:06:50, INFO: Sparse search: None -2024-02-15 11:06:53, INFO: human number: 10 -2024-02-15 11:06:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:06:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:06:53, INFO: Square width: 10, circle width: 4 -2024-02-15 11:06:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:06:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:06:57, INFO: Using device: cpu -2024-02-15 11:06:57, INFO: Loaded RL weights with best VAL -2024-02-15 11:06:57, INFO: Similarity_func: concatenation -2024-02-15 11:06:57, INFO: Layerwise_graph: False -2024-02-15 11:06:57, INFO: Skip_connection: True -2024-02-15 11:06:57, INFO: Number of layers: 1 -2024-02-15 11:06:57, INFO: Similarity_func: concatenation -2024-02-15 11:06:57, INFO: Layerwise_graph: False -2024-02-15 11:06:57, INFO: Skip_connection: True -2024-02-15 11:06:57, INFO: Number of layers: 1 -2024-02-15 11:06:57, INFO: Planning depth: 1 -2024-02-15 11:06:57, INFO: Planning width: 10 -2024-02-15 11:06:57, INFO: Sparse search: None -2024-02-15 11:07:00, INFO: human number: 10 -2024-02-15 11:07:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:00, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:05, INFO: Using device: cpu -2024-02-15 11:07:05, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:05, INFO: Similarity_func: concatenation -2024-02-15 11:07:05, INFO: Layerwise_graph: False -2024-02-15 11:07:05, INFO: Skip_connection: True -2024-02-15 11:07:05, INFO: Number of layers: 1 -2024-02-15 11:07:05, INFO: Similarity_func: concatenation -2024-02-15 11:07:05, INFO: Layerwise_graph: False -2024-02-15 11:07:05, INFO: Skip_connection: True -2024-02-15 11:07:05, INFO: Number of layers: 1 -2024-02-15 11:07:05, INFO: Planning depth: 1 -2024-02-15 11:07:05, INFO: Planning width: 10 -2024-02-15 11:07:05, INFO: Sparse search: None -2024-02-15 11:07:07, INFO: human number: 10 -2024-02-15 11:07:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:07, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:12, INFO: Using device: cpu -2024-02-15 11:07:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:12, INFO: Similarity_func: concatenation -2024-02-15 11:07:12, INFO: Layerwise_graph: False -2024-02-15 11:07:12, INFO: Skip_connection: True -2024-02-15 11:07:12, INFO: Number of layers: 1 -2024-02-15 11:07:12, INFO: Similarity_func: concatenation -2024-02-15 11:07:12, INFO: Layerwise_graph: False -2024-02-15 11:07:12, INFO: Skip_connection: True -2024-02-15 11:07:12, INFO: Number of layers: 1 -2024-02-15 11:07:12, INFO: Planning depth: 1 -2024-02-15 11:07:12, INFO: Planning width: 10 -2024-02-15 11:07:12, INFO: Sparse search: None -2024-02-15 11:07:15, INFO: human number: 10 -2024-02-15 11:07:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:19, INFO: Using device: cpu -2024-02-15 11:07:19, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:19, INFO: Similarity_func: concatenation -2024-02-15 11:07:19, INFO: Layerwise_graph: False -2024-02-15 11:07:19, INFO: Skip_connection: True -2024-02-15 11:07:19, INFO: Number of layers: 1 -2024-02-15 11:07:19, INFO: Similarity_func: concatenation -2024-02-15 11:07:19, INFO: Layerwise_graph: False -2024-02-15 11:07:19, INFO: Skip_connection: True -2024-02-15 11:07:19, INFO: Number of layers: 1 -2024-02-15 11:07:19, INFO: Planning depth: 1 -2024-02-15 11:07:19, INFO: Planning width: 10 -2024-02-15 11:07:19, INFO: Sparse search: None -2024-02-15 11:07:22, INFO: human number: 10 -2024-02-15 11:07:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:22, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:26, INFO: Using device: cpu -2024-02-15 11:07:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:26, INFO: Similarity_func: concatenation -2024-02-15 11:07:26, INFO: Layerwise_graph: False -2024-02-15 11:07:26, INFO: Skip_connection: True -2024-02-15 11:07:26, INFO: Number of layers: 1 -2024-02-15 11:07:26, INFO: Similarity_func: concatenation -2024-02-15 11:07:26, INFO: Layerwise_graph: False -2024-02-15 11:07:26, INFO: Skip_connection: True -2024-02-15 11:07:26, INFO: Number of layers: 1 -2024-02-15 11:07:26, INFO: Planning depth: 1 -2024-02-15 11:07:26, INFO: Planning width: 10 -2024-02-15 11:07:26, INFO: Sparse search: None -2024-02-15 11:07:28, INFO: human number: 10 -2024-02-15 11:07:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:28, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:33, INFO: Using device: cpu -2024-02-15 11:07:33, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:33, INFO: Similarity_func: concatenation -2024-02-15 11:07:33, INFO: Layerwise_graph: False -2024-02-15 11:07:33, INFO: Skip_connection: True -2024-02-15 11:07:33, INFO: Number of layers: 1 -2024-02-15 11:07:33, INFO: Similarity_func: concatenation -2024-02-15 11:07:33, INFO: Layerwise_graph: False -2024-02-15 11:07:33, INFO: Skip_connection: True -2024-02-15 11:07:33, INFO: Number of layers: 1 -2024-02-15 11:07:33, INFO: Planning depth: 1 -2024-02-15 11:07:33, INFO: Planning width: 10 -2024-02-15 11:07:33, INFO: Sparse search: None -2024-02-15 11:07:35, INFO: human number: 10 -2024-02-15 11:07:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:35, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:39, INFO: Using device: cpu -2024-02-15 11:07:39, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:39, INFO: Similarity_func: concatenation -2024-02-15 11:07:39, INFO: Layerwise_graph: False -2024-02-15 11:07:39, INFO: Skip_connection: True -2024-02-15 11:07:39, INFO: Number of layers: 1 -2024-02-15 11:07:39, INFO: Similarity_func: concatenation -2024-02-15 11:07:39, INFO: Layerwise_graph: False -2024-02-15 11:07:39, INFO: Skip_connection: True -2024-02-15 11:07:39, INFO: Number of layers: 1 -2024-02-15 11:07:39, INFO: Planning depth: 1 -2024-02-15 11:07:39, INFO: Planning width: 10 -2024-02-15 11:07:39, INFO: Sparse search: None -2024-02-15 11:07:42, INFO: human number: 10 -2024-02-15 11:07:42, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:42, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:42, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:46, INFO: Using device: cpu -2024-02-15 11:07:46, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:46, INFO: Similarity_func: concatenation -2024-02-15 11:07:46, INFO: Layerwise_graph: False -2024-02-15 11:07:46, INFO: Skip_connection: True -2024-02-15 11:07:46, INFO: Number of layers: 1 -2024-02-15 11:07:46, INFO: Similarity_func: concatenation -2024-02-15 11:07:46, INFO: Layerwise_graph: False -2024-02-15 11:07:46, INFO: Skip_connection: True -2024-02-15 11:07:46, INFO: Number of layers: 1 -2024-02-15 11:07:46, INFO: Planning depth: 1 -2024-02-15 11:07:46, INFO: Planning width: 10 -2024-02-15 11:07:46, INFO: Sparse search: None -2024-02-15 11:07:49, INFO: human number: 10 -2024-02-15 11:07:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:49, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:07:53, INFO: Using device: cpu -2024-02-15 11:07:53, INFO: Loaded RL weights with best VAL -2024-02-15 11:07:53, INFO: Similarity_func: concatenation -2024-02-15 11:07:53, INFO: Layerwise_graph: False -2024-02-15 11:07:53, INFO: Skip_connection: True -2024-02-15 11:07:53, INFO: Number of layers: 1 -2024-02-15 11:07:53, INFO: Similarity_func: concatenation -2024-02-15 11:07:53, INFO: Layerwise_graph: False -2024-02-15 11:07:53, INFO: Skip_connection: True -2024-02-15 11:07:53, INFO: Number of layers: 1 -2024-02-15 11:07:53, INFO: Planning depth: 1 -2024-02-15 11:07:53, INFO: Planning width: 10 -2024-02-15 11:07:53, INFO: Sparse search: None -2024-02-15 11:07:56, INFO: human number: 10 -2024-02-15 11:07:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:07:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:07:56, INFO: Square width: 10, circle width: 4 -2024-02-15 11:07:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:07:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:01, INFO: Using device: cpu -2024-02-15 11:08:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:01, INFO: Similarity_func: concatenation -2024-02-15 11:08:01, INFO: Layerwise_graph: False -2024-02-15 11:08:01, INFO: Skip_connection: True -2024-02-15 11:08:01, INFO: Number of layers: 1 -2024-02-15 11:08:01, INFO: Similarity_func: concatenation -2024-02-15 11:08:01, INFO: Layerwise_graph: False -2024-02-15 11:08:01, INFO: Skip_connection: True -2024-02-15 11:08:01, INFO: Number of layers: 1 -2024-02-15 11:08:01, INFO: Planning depth: 1 -2024-02-15 11:08:01, INFO: Planning width: 10 -2024-02-15 11:08:01, INFO: Sparse search: None -2024-02-15 11:08:03, INFO: human number: 10 -2024-02-15 11:08:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:08, INFO: Using device: cpu -2024-02-15 11:08:08, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:08, INFO: Similarity_func: concatenation -2024-02-15 11:08:08, INFO: Layerwise_graph: False -2024-02-15 11:08:08, INFO: Skip_connection: True -2024-02-15 11:08:08, INFO: Number of layers: 1 -2024-02-15 11:08:08, INFO: Similarity_func: concatenation -2024-02-15 11:08:08, INFO: Layerwise_graph: False -2024-02-15 11:08:08, INFO: Skip_connection: True -2024-02-15 11:08:08, INFO: Number of layers: 1 -2024-02-15 11:08:08, INFO: Planning depth: 1 -2024-02-15 11:08:08, INFO: Planning width: 10 -2024-02-15 11:08:08, INFO: Sparse search: None -2024-02-15 11:08:10, INFO: human number: 10 -2024-02-15 11:08:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:15, INFO: Using device: cpu -2024-02-15 11:08:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:15, INFO: Similarity_func: concatenation -2024-02-15 11:08:15, INFO: Layerwise_graph: False -2024-02-15 11:08:15, INFO: Skip_connection: True -2024-02-15 11:08:15, INFO: Number of layers: 1 -2024-02-15 11:08:15, INFO: Similarity_func: concatenation -2024-02-15 11:08:15, INFO: Layerwise_graph: False -2024-02-15 11:08:15, INFO: Skip_connection: True -2024-02-15 11:08:15, INFO: Number of layers: 1 -2024-02-15 11:08:15, INFO: Planning depth: 1 -2024-02-15 11:08:15, INFO: Planning width: 10 -2024-02-15 11:08:15, INFO: Sparse search: None -2024-02-15 11:08:17, INFO: human number: 10 -2024-02-15 11:08:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:22, INFO: Using device: cpu -2024-02-15 11:08:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:22, INFO: Similarity_func: concatenation -2024-02-15 11:08:22, INFO: Layerwise_graph: False -2024-02-15 11:08:22, INFO: Skip_connection: True -2024-02-15 11:08:22, INFO: Number of layers: 1 -2024-02-15 11:08:22, INFO: Similarity_func: concatenation -2024-02-15 11:08:22, INFO: Layerwise_graph: False -2024-02-15 11:08:22, INFO: Skip_connection: True -2024-02-15 11:08:22, INFO: Number of layers: 1 -2024-02-15 11:08:22, INFO: Planning depth: 1 -2024-02-15 11:08:22, INFO: Planning width: 10 -2024-02-15 11:08:22, INFO: Sparse search: None -2024-02-15 11:08:24, INFO: human number: 10 -2024-02-15 11:08:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:28, INFO: Using device: cpu -2024-02-15 11:08:28, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:28, INFO: Similarity_func: concatenation -2024-02-15 11:08:28, INFO: Layerwise_graph: False -2024-02-15 11:08:28, INFO: Skip_connection: True -2024-02-15 11:08:28, INFO: Number of layers: 1 -2024-02-15 11:08:28, INFO: Similarity_func: concatenation -2024-02-15 11:08:28, INFO: Layerwise_graph: False -2024-02-15 11:08:28, INFO: Skip_connection: True -2024-02-15 11:08:28, INFO: Number of layers: 1 -2024-02-15 11:08:28, INFO: Planning depth: 1 -2024-02-15 11:08:28, INFO: Planning width: 10 -2024-02-15 11:08:28, INFO: Sparse search: None -2024-02-15 11:08:31, INFO: human number: 10 -2024-02-15 11:08:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:31, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:35, INFO: Using device: cpu -2024-02-15 11:08:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:35, INFO: Similarity_func: concatenation -2024-02-15 11:08:35, INFO: Layerwise_graph: False -2024-02-15 11:08:35, INFO: Skip_connection: True -2024-02-15 11:08:35, INFO: Number of layers: 1 -2024-02-15 11:08:35, INFO: Similarity_func: concatenation -2024-02-15 11:08:35, INFO: Layerwise_graph: False -2024-02-15 11:08:35, INFO: Skip_connection: True -2024-02-15 11:08:35, INFO: Number of layers: 1 -2024-02-15 11:08:35, INFO: Planning depth: 1 -2024-02-15 11:08:35, INFO: Planning width: 10 -2024-02-15 11:08:35, INFO: Sparse search: None -2024-02-15 11:08:38, INFO: human number: 10 -2024-02-15 11:08:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:38, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:43, INFO: Using device: cpu -2024-02-15 11:08:43, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:43, INFO: Similarity_func: concatenation -2024-02-15 11:08:43, INFO: Layerwise_graph: False -2024-02-15 11:08:43, INFO: Skip_connection: True -2024-02-15 11:08:43, INFO: Number of layers: 1 -2024-02-15 11:08:43, INFO: Similarity_func: concatenation -2024-02-15 11:08:43, INFO: Layerwise_graph: False -2024-02-15 11:08:43, INFO: Skip_connection: True -2024-02-15 11:08:43, INFO: Number of layers: 1 -2024-02-15 11:08:43, INFO: Planning depth: 1 -2024-02-15 11:08:43, INFO: Planning width: 10 -2024-02-15 11:08:43, INFO: Sparse search: None -2024-02-15 11:08:45, INFO: human number: 10 -2024-02-15 11:08:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:45, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:49, INFO: Using device: cpu -2024-02-15 11:08:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:49, INFO: Similarity_func: concatenation -2024-02-15 11:08:49, INFO: Layerwise_graph: False -2024-02-15 11:08:49, INFO: Skip_connection: True -2024-02-15 11:08:49, INFO: Number of layers: 1 -2024-02-15 11:08:49, INFO: Similarity_func: concatenation -2024-02-15 11:08:49, INFO: Layerwise_graph: False -2024-02-15 11:08:49, INFO: Skip_connection: True -2024-02-15 11:08:49, INFO: Number of layers: 1 -2024-02-15 11:08:49, INFO: Planning depth: 1 -2024-02-15 11:08:49, INFO: Planning width: 10 -2024-02-15 11:08:49, INFO: Sparse search: None -2024-02-15 11:08:52, INFO: human number: 10 -2024-02-15 11:08:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:08:56, INFO: Using device: cpu -2024-02-15 11:08:56, INFO: Loaded RL weights with best VAL -2024-02-15 11:08:56, INFO: Similarity_func: concatenation -2024-02-15 11:08:56, INFO: Layerwise_graph: False -2024-02-15 11:08:56, INFO: Skip_connection: True -2024-02-15 11:08:56, INFO: Number of layers: 1 -2024-02-15 11:08:56, INFO: Similarity_func: concatenation -2024-02-15 11:08:56, INFO: Layerwise_graph: False -2024-02-15 11:08:56, INFO: Skip_connection: True -2024-02-15 11:08:56, INFO: Number of layers: 1 -2024-02-15 11:08:56, INFO: Planning depth: 1 -2024-02-15 11:08:56, INFO: Planning width: 10 -2024-02-15 11:08:56, INFO: Sparse search: None -2024-02-15 11:08:59, INFO: human number: 10 -2024-02-15 11:08:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:08:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:08:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:08:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:08:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:03, INFO: Using device: cpu -2024-02-15 11:09:03, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:03, INFO: Similarity_func: concatenation -2024-02-15 11:09:03, INFO: Layerwise_graph: False -2024-02-15 11:09:03, INFO: Skip_connection: True -2024-02-15 11:09:03, INFO: Number of layers: 1 -2024-02-15 11:09:03, INFO: Similarity_func: concatenation -2024-02-15 11:09:03, INFO: Layerwise_graph: False -2024-02-15 11:09:03, INFO: Skip_connection: True -2024-02-15 11:09:03, INFO: Number of layers: 1 -2024-02-15 11:09:03, INFO: Planning depth: 1 -2024-02-15 11:09:03, INFO: Planning width: 10 -2024-02-15 11:09:03, INFO: Sparse search: None -2024-02-15 11:09:06, INFO: human number: 10 -2024-02-15 11:09:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:06, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:10, INFO: Using device: cpu -2024-02-15 11:09:10, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:10, INFO: Similarity_func: concatenation -2024-02-15 11:09:10, INFO: Layerwise_graph: False -2024-02-15 11:09:10, INFO: Skip_connection: True -2024-02-15 11:09:10, INFO: Number of layers: 1 -2024-02-15 11:09:10, INFO: Similarity_func: concatenation -2024-02-15 11:09:10, INFO: Layerwise_graph: False -2024-02-15 11:09:10, INFO: Skip_connection: True -2024-02-15 11:09:10, INFO: Number of layers: 1 -2024-02-15 11:09:10, INFO: Planning depth: 1 -2024-02-15 11:09:10, INFO: Planning width: 10 -2024-02-15 11:09:10, INFO: Sparse search: None -2024-02-15 11:09:12, INFO: human number: 10 -2024-02-15 11:09:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:12, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:17, INFO: Using device: cpu -2024-02-15 11:09:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:17, INFO: Similarity_func: concatenation -2024-02-15 11:09:17, INFO: Layerwise_graph: False -2024-02-15 11:09:17, INFO: Skip_connection: True -2024-02-15 11:09:17, INFO: Number of layers: 1 -2024-02-15 11:09:17, INFO: Similarity_func: concatenation -2024-02-15 11:09:17, INFO: Layerwise_graph: False -2024-02-15 11:09:17, INFO: Skip_connection: True -2024-02-15 11:09:17, INFO: Number of layers: 1 -2024-02-15 11:09:17, INFO: Planning depth: 1 -2024-02-15 11:09:17, INFO: Planning width: 10 -2024-02-15 11:09:17, INFO: Sparse search: None -2024-02-15 11:09:20, INFO: human number: 10 -2024-02-15 11:09:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:20, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:24, INFO: Using device: cpu -2024-02-15 11:09:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:24, INFO: Similarity_func: concatenation -2024-02-15 11:09:24, INFO: Layerwise_graph: False -2024-02-15 11:09:24, INFO: Skip_connection: True -2024-02-15 11:09:24, INFO: Number of layers: 1 -2024-02-15 11:09:24, INFO: Similarity_func: concatenation -2024-02-15 11:09:24, INFO: Layerwise_graph: False -2024-02-15 11:09:24, INFO: Skip_connection: True -2024-02-15 11:09:24, INFO: Number of layers: 1 -2024-02-15 11:09:24, INFO: Planning depth: 1 -2024-02-15 11:09:24, INFO: Planning width: 10 -2024-02-15 11:09:24, INFO: Sparse search: None -2024-02-15 11:09:27, INFO: human number: 10 -2024-02-15 11:09:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:27, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:31, INFO: Using device: cpu -2024-02-15 11:09:31, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:31, INFO: Similarity_func: concatenation -2024-02-15 11:09:31, INFO: Layerwise_graph: False -2024-02-15 11:09:31, INFO: Skip_connection: True -2024-02-15 11:09:31, INFO: Number of layers: 1 -2024-02-15 11:09:31, INFO: Similarity_func: concatenation -2024-02-15 11:09:31, INFO: Layerwise_graph: False -2024-02-15 11:09:31, INFO: Skip_connection: True -2024-02-15 11:09:31, INFO: Number of layers: 1 -2024-02-15 11:09:31, INFO: Planning depth: 1 -2024-02-15 11:09:31, INFO: Planning width: 10 -2024-02-15 11:09:31, INFO: Sparse search: None -2024-02-15 11:09:33, INFO: human number: 10 -2024-02-15 11:09:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:33, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:38, INFO: Using device: cpu -2024-02-15 11:09:38, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:38, INFO: Similarity_func: concatenation -2024-02-15 11:09:38, INFO: Layerwise_graph: False -2024-02-15 11:09:38, INFO: Skip_connection: True -2024-02-15 11:09:38, INFO: Number of layers: 1 -2024-02-15 11:09:38, INFO: Similarity_func: concatenation -2024-02-15 11:09:38, INFO: Layerwise_graph: False -2024-02-15 11:09:38, INFO: Skip_connection: True -2024-02-15 11:09:38, INFO: Number of layers: 1 -2024-02-15 11:09:38, INFO: Planning depth: 1 -2024-02-15 11:09:38, INFO: Planning width: 10 -2024-02-15 11:09:38, INFO: Sparse search: None -2024-02-15 11:09:40, INFO: human number: 10 -2024-02-15 11:09:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:40, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:45, INFO: Using device: cpu -2024-02-15 11:09:45, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:45, INFO: Similarity_func: concatenation -2024-02-15 11:09:45, INFO: Layerwise_graph: False -2024-02-15 11:09:45, INFO: Skip_connection: True -2024-02-15 11:09:45, INFO: Number of layers: 1 -2024-02-15 11:09:45, INFO: Similarity_func: concatenation -2024-02-15 11:09:45, INFO: Layerwise_graph: False -2024-02-15 11:09:45, INFO: Skip_connection: True -2024-02-15 11:09:45, INFO: Number of layers: 1 -2024-02-15 11:09:45, INFO: Planning depth: 1 -2024-02-15 11:09:45, INFO: Planning width: 10 -2024-02-15 11:09:45, INFO: Sparse search: None -2024-02-15 11:09:47, INFO: human number: 10 -2024-02-15 11:09:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:47, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:52, INFO: Using device: cpu -2024-02-15 11:09:52, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:52, INFO: Similarity_func: concatenation -2024-02-15 11:09:52, INFO: Layerwise_graph: False -2024-02-15 11:09:52, INFO: Skip_connection: True -2024-02-15 11:09:52, INFO: Number of layers: 1 -2024-02-15 11:09:52, INFO: Similarity_func: concatenation -2024-02-15 11:09:52, INFO: Layerwise_graph: False -2024-02-15 11:09:52, INFO: Skip_connection: True -2024-02-15 11:09:52, INFO: Number of layers: 1 -2024-02-15 11:09:52, INFO: Planning depth: 1 -2024-02-15 11:09:52, INFO: Planning width: 10 -2024-02-15 11:09:52, INFO: Sparse search: None -2024-02-15 11:09:54, INFO: human number: 10 -2024-02-15 11:09:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:09:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:09:54, INFO: Square width: 10, circle width: 4 -2024-02-15 11:09:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:09:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:09:59, INFO: Using device: cpu -2024-02-15 11:09:59, INFO: Loaded RL weights with best VAL -2024-02-15 11:09:59, INFO: Similarity_func: concatenation -2024-02-15 11:09:59, INFO: Layerwise_graph: False -2024-02-15 11:09:59, INFO: Skip_connection: True -2024-02-15 11:09:59, INFO: Number of layers: 1 -2024-02-15 11:09:59, INFO: Similarity_func: concatenation -2024-02-15 11:09:59, INFO: Layerwise_graph: False -2024-02-15 11:09:59, INFO: Skip_connection: True -2024-02-15 11:09:59, INFO: Number of layers: 1 -2024-02-15 11:09:59, INFO: Planning depth: 1 -2024-02-15 11:09:59, INFO: Planning width: 10 -2024-02-15 11:09:59, INFO: Sparse search: None -2024-02-15 11:10:02, INFO: human number: 10 -2024-02-15 11:10:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:02, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:06, INFO: Using device: cpu -2024-02-15 11:10:06, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:06, INFO: Similarity_func: concatenation -2024-02-15 11:10:06, INFO: Layerwise_graph: False -2024-02-15 11:10:06, INFO: Skip_connection: True -2024-02-15 11:10:06, INFO: Number of layers: 1 -2024-02-15 11:10:06, INFO: Similarity_func: concatenation -2024-02-15 11:10:06, INFO: Layerwise_graph: False -2024-02-15 11:10:06, INFO: Skip_connection: True -2024-02-15 11:10:06, INFO: Number of layers: 1 -2024-02-15 11:10:06, INFO: Planning depth: 1 -2024-02-15 11:10:06, INFO: Planning width: 10 -2024-02-15 11:10:06, INFO: Sparse search: None -2024-02-15 11:10:08, INFO: human number: 10 -2024-02-15 11:10:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:08, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:12, INFO: Using device: cpu -2024-02-15 11:10:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:12, INFO: Similarity_func: concatenation -2024-02-15 11:10:12, INFO: Layerwise_graph: False -2024-02-15 11:10:12, INFO: Skip_connection: True -2024-02-15 11:10:12, INFO: Number of layers: 1 -2024-02-15 11:10:12, INFO: Similarity_func: concatenation -2024-02-15 11:10:12, INFO: Layerwise_graph: False -2024-02-15 11:10:12, INFO: Skip_connection: True -2024-02-15 11:10:12, INFO: Number of layers: 1 -2024-02-15 11:10:12, INFO: Planning depth: 1 -2024-02-15 11:10:12, INFO: Planning width: 10 -2024-02-15 11:10:12, INFO: Sparse search: None -2024-02-15 11:10:15, INFO: human number: 10 -2024-02-15 11:10:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:20, INFO: Using device: cpu -2024-02-15 11:10:20, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:20, INFO: Similarity_func: concatenation -2024-02-15 11:10:20, INFO: Layerwise_graph: False -2024-02-15 11:10:20, INFO: Skip_connection: True -2024-02-15 11:10:20, INFO: Number of layers: 1 -2024-02-15 11:10:20, INFO: Similarity_func: concatenation -2024-02-15 11:10:20, INFO: Layerwise_graph: False -2024-02-15 11:10:20, INFO: Skip_connection: True -2024-02-15 11:10:20, INFO: Number of layers: 1 -2024-02-15 11:10:20, INFO: Planning depth: 1 -2024-02-15 11:10:20, INFO: Planning width: 10 -2024-02-15 11:10:20, INFO: Sparse search: None -2024-02-15 11:10:22, INFO: human number: 10 -2024-02-15 11:10:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:22, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:26, INFO: Using device: cpu -2024-02-15 11:10:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:26, INFO: Similarity_func: concatenation -2024-02-15 11:10:26, INFO: Layerwise_graph: False -2024-02-15 11:10:26, INFO: Skip_connection: True -2024-02-15 11:10:26, INFO: Number of layers: 1 -2024-02-15 11:10:26, INFO: Similarity_func: concatenation -2024-02-15 11:10:26, INFO: Layerwise_graph: False -2024-02-15 11:10:26, INFO: Skip_connection: True -2024-02-15 11:10:26, INFO: Number of layers: 1 -2024-02-15 11:10:26, INFO: Planning depth: 1 -2024-02-15 11:10:26, INFO: Planning width: 10 -2024-02-15 11:10:26, INFO: Sparse search: None -2024-02-15 11:10:29, INFO: human number: 10 -2024-02-15 11:10:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:29, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:33, INFO: Using device: cpu -2024-02-15 11:10:33, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:33, INFO: Similarity_func: concatenation -2024-02-15 11:10:33, INFO: Layerwise_graph: False -2024-02-15 11:10:33, INFO: Skip_connection: True -2024-02-15 11:10:33, INFO: Number of layers: 1 -2024-02-15 11:10:33, INFO: Similarity_func: concatenation -2024-02-15 11:10:33, INFO: Layerwise_graph: False -2024-02-15 11:10:33, INFO: Skip_connection: True -2024-02-15 11:10:33, INFO: Number of layers: 1 -2024-02-15 11:10:33, INFO: Planning depth: 1 -2024-02-15 11:10:33, INFO: Planning width: 10 -2024-02-15 11:10:33, INFO: Sparse search: None -2024-02-15 11:10:36, INFO: human number: 10 -2024-02-15 11:10:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:36, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:40, INFO: Using device: cpu -2024-02-15 11:10:40, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:40, INFO: Similarity_func: concatenation -2024-02-15 11:10:40, INFO: Layerwise_graph: False -2024-02-15 11:10:40, INFO: Skip_connection: True -2024-02-15 11:10:40, INFO: Number of layers: 1 -2024-02-15 11:10:40, INFO: Similarity_func: concatenation -2024-02-15 11:10:40, INFO: Layerwise_graph: False -2024-02-15 11:10:40, INFO: Skip_connection: True -2024-02-15 11:10:40, INFO: Number of layers: 1 -2024-02-15 11:10:40, INFO: Planning depth: 1 -2024-02-15 11:10:40, INFO: Planning width: 10 -2024-02-15 11:10:40, INFO: Sparse search: None -2024-02-15 11:10:43, INFO: human number: 10 -2024-02-15 11:10:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:43, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:47, INFO: Using device: cpu -2024-02-15 11:10:47, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:47, INFO: Similarity_func: concatenation -2024-02-15 11:10:47, INFO: Layerwise_graph: False -2024-02-15 11:10:47, INFO: Skip_connection: True -2024-02-15 11:10:47, INFO: Number of layers: 1 -2024-02-15 11:10:47, INFO: Similarity_func: concatenation -2024-02-15 11:10:47, INFO: Layerwise_graph: False -2024-02-15 11:10:47, INFO: Skip_connection: True -2024-02-15 11:10:47, INFO: Number of layers: 1 -2024-02-15 11:10:47, INFO: Planning depth: 1 -2024-02-15 11:10:47, INFO: Planning width: 10 -2024-02-15 11:10:47, INFO: Sparse search: None -2024-02-15 11:10:50, INFO: human number: 10 -2024-02-15 11:10:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:50, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:10:54, INFO: Using device: cpu -2024-02-15 11:10:54, INFO: Loaded RL weights with best VAL -2024-02-15 11:10:54, INFO: Similarity_func: concatenation -2024-02-15 11:10:54, INFO: Layerwise_graph: False -2024-02-15 11:10:54, INFO: Skip_connection: True -2024-02-15 11:10:54, INFO: Number of layers: 1 -2024-02-15 11:10:54, INFO: Similarity_func: concatenation -2024-02-15 11:10:54, INFO: Layerwise_graph: False -2024-02-15 11:10:54, INFO: Skip_connection: True -2024-02-15 11:10:54, INFO: Number of layers: 1 -2024-02-15 11:10:54, INFO: Planning depth: 1 -2024-02-15 11:10:54, INFO: Planning width: 10 -2024-02-15 11:10:54, INFO: Sparse search: None -2024-02-15 11:10:57, INFO: human number: 10 -2024-02-15 11:10:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:10:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:10:57, INFO: Square width: 10, circle width: 4 -2024-02-15 11:10:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:10:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:01, INFO: Using device: cpu -2024-02-15 11:11:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:01, INFO: Similarity_func: concatenation -2024-02-15 11:11:01, INFO: Layerwise_graph: False -2024-02-15 11:11:01, INFO: Skip_connection: True -2024-02-15 11:11:01, INFO: Number of layers: 1 -2024-02-15 11:11:01, INFO: Similarity_func: concatenation -2024-02-15 11:11:01, INFO: Layerwise_graph: False -2024-02-15 11:11:01, INFO: Skip_connection: True -2024-02-15 11:11:01, INFO: Number of layers: 1 -2024-02-15 11:11:01, INFO: Planning depth: 1 -2024-02-15 11:11:01, INFO: Planning width: 10 -2024-02-15 11:11:01, INFO: Sparse search: None -2024-02-15 11:11:03, INFO: human number: 10 -2024-02-15 11:11:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:07, INFO: Using device: cpu -2024-02-15 11:11:07, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:07, INFO: Similarity_func: concatenation -2024-02-15 11:11:07, INFO: Layerwise_graph: False -2024-02-15 11:11:07, INFO: Skip_connection: True -2024-02-15 11:11:07, INFO: Number of layers: 1 -2024-02-15 11:11:08, INFO: Similarity_func: concatenation -2024-02-15 11:11:08, INFO: Layerwise_graph: False -2024-02-15 11:11:08, INFO: Skip_connection: True -2024-02-15 11:11:08, INFO: Number of layers: 1 -2024-02-15 11:11:08, INFO: Planning depth: 1 -2024-02-15 11:11:08, INFO: Planning width: 10 -2024-02-15 11:11:08, INFO: Sparse search: None -2024-02-15 11:11:10, INFO: human number: 10 -2024-02-15 11:11:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:14, INFO: Using device: cpu -2024-02-15 11:11:14, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:14, INFO: Similarity_func: concatenation -2024-02-15 11:11:14, INFO: Layerwise_graph: False -2024-02-15 11:11:14, INFO: Skip_connection: True -2024-02-15 11:11:14, INFO: Number of layers: 1 -2024-02-15 11:11:14, INFO: Similarity_func: concatenation -2024-02-15 11:11:14, INFO: Layerwise_graph: False -2024-02-15 11:11:14, INFO: Skip_connection: True -2024-02-15 11:11:14, INFO: Number of layers: 1 -2024-02-15 11:11:14, INFO: Planning depth: 1 -2024-02-15 11:11:14, INFO: Planning width: 10 -2024-02-15 11:11:14, INFO: Sparse search: None -2024-02-15 11:11:17, INFO: human number: 10 -2024-02-15 11:11:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:22, INFO: Using device: cpu -2024-02-15 11:11:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:22, INFO: Similarity_func: concatenation -2024-02-15 11:11:22, INFO: Layerwise_graph: False -2024-02-15 11:11:22, INFO: Skip_connection: True -2024-02-15 11:11:22, INFO: Number of layers: 1 -2024-02-15 11:11:22, INFO: Similarity_func: concatenation -2024-02-15 11:11:22, INFO: Layerwise_graph: False -2024-02-15 11:11:22, INFO: Skip_connection: True -2024-02-15 11:11:22, INFO: Number of layers: 1 -2024-02-15 11:11:22, INFO: Planning depth: 1 -2024-02-15 11:11:22, INFO: Planning width: 10 -2024-02-15 11:11:22, INFO: Sparse search: None -2024-02-15 11:11:24, INFO: human number: 10 -2024-02-15 11:11:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:29, INFO: Using device: cpu -2024-02-15 11:11:29, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:29, INFO: Similarity_func: concatenation -2024-02-15 11:11:29, INFO: Layerwise_graph: False -2024-02-15 11:11:29, INFO: Skip_connection: True -2024-02-15 11:11:29, INFO: Number of layers: 1 -2024-02-15 11:11:29, INFO: Similarity_func: concatenation -2024-02-15 11:11:29, INFO: Layerwise_graph: False -2024-02-15 11:11:29, INFO: Skip_connection: True -2024-02-15 11:11:29, INFO: Number of layers: 1 -2024-02-15 11:11:29, INFO: Planning depth: 1 -2024-02-15 11:11:29, INFO: Planning width: 10 -2024-02-15 11:11:29, INFO: Sparse search: None -2024-02-15 11:11:32, INFO: human number: 10 -2024-02-15 11:11:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:32, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:36, INFO: Using device: cpu -2024-02-15 11:11:36, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:36, INFO: Similarity_func: concatenation -2024-02-15 11:11:36, INFO: Layerwise_graph: False -2024-02-15 11:11:36, INFO: Skip_connection: True -2024-02-15 11:11:36, INFO: Number of layers: 1 -2024-02-15 11:11:36, INFO: Similarity_func: concatenation -2024-02-15 11:11:36, INFO: Layerwise_graph: False -2024-02-15 11:11:36, INFO: Skip_connection: True -2024-02-15 11:11:36, INFO: Number of layers: 1 -2024-02-15 11:11:36, INFO: Planning depth: 1 -2024-02-15 11:11:36, INFO: Planning width: 10 -2024-02-15 11:11:36, INFO: Sparse search: None -2024-02-15 11:11:39, INFO: human number: 10 -2024-02-15 11:11:39, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:39, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:39, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:43, INFO: Using device: cpu -2024-02-15 11:11:43, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:43, INFO: Similarity_func: concatenation -2024-02-15 11:11:43, INFO: Layerwise_graph: False -2024-02-15 11:11:43, INFO: Skip_connection: True -2024-02-15 11:11:43, INFO: Number of layers: 1 -2024-02-15 11:11:43, INFO: Similarity_func: concatenation -2024-02-15 11:11:43, INFO: Layerwise_graph: False -2024-02-15 11:11:43, INFO: Skip_connection: True -2024-02-15 11:11:43, INFO: Number of layers: 1 -2024-02-15 11:11:43, INFO: Planning depth: 1 -2024-02-15 11:11:43, INFO: Planning width: 10 -2024-02-15 11:11:43, INFO: Sparse search: None -2024-02-15 11:11:46, INFO: human number: 10 -2024-02-15 11:11:46, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:46, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:46, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:50, INFO: Using device: cpu -2024-02-15 11:11:50, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:50, INFO: Similarity_func: concatenation -2024-02-15 11:11:50, INFO: Layerwise_graph: False -2024-02-15 11:11:50, INFO: Skip_connection: True -2024-02-15 11:11:50, INFO: Number of layers: 1 -2024-02-15 11:11:50, INFO: Similarity_func: concatenation -2024-02-15 11:11:50, INFO: Layerwise_graph: False -2024-02-15 11:11:50, INFO: Skip_connection: True -2024-02-15 11:11:50, INFO: Number of layers: 1 -2024-02-15 11:11:50, INFO: Planning depth: 1 -2024-02-15 11:11:50, INFO: Planning width: 10 -2024-02-15 11:11:50, INFO: Sparse search: None -2024-02-15 11:11:52, INFO: human number: 10 -2024-02-15 11:11:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:11:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:11:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:11:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:11:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:11:57, INFO: Using device: cpu -2024-02-15 11:11:57, INFO: Loaded RL weights with best VAL -2024-02-15 11:11:57, INFO: Similarity_func: concatenation -2024-02-15 11:11:57, INFO: Layerwise_graph: False -2024-02-15 11:11:57, INFO: Skip_connection: True -2024-02-15 11:11:57, INFO: Number of layers: 1 -2024-02-15 11:11:57, INFO: Similarity_func: concatenation -2024-02-15 11:11:57, INFO: Layerwise_graph: False -2024-02-15 11:11:57, INFO: Skip_connection: True -2024-02-15 11:11:57, INFO: Number of layers: 1 -2024-02-15 11:11:57, INFO: Planning depth: 1 -2024-02-15 11:11:57, INFO: Planning width: 10 -2024-02-15 11:11:57, INFO: Sparse search: None -2024-02-15 11:12:00, INFO: human number: 10 -2024-02-15 11:12:00, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:00, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:00, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:04, INFO: Using device: cpu -2024-02-15 11:12:04, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:04, INFO: Similarity_func: concatenation -2024-02-15 11:12:04, INFO: Layerwise_graph: False -2024-02-15 11:12:04, INFO: Skip_connection: True -2024-02-15 11:12:04, INFO: Number of layers: 1 -2024-02-15 11:12:04, INFO: Similarity_func: concatenation -2024-02-15 11:12:04, INFO: Layerwise_graph: False -2024-02-15 11:12:04, INFO: Skip_connection: True -2024-02-15 11:12:04, INFO: Number of layers: 1 -2024-02-15 11:12:04, INFO: Planning depth: 1 -2024-02-15 11:12:04, INFO: Planning width: 10 -2024-02-15 11:12:04, INFO: Sparse search: None -2024-02-15 11:12:07, INFO: human number: 10 -2024-02-15 11:12:07, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:07, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:07, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:11, INFO: Using device: cpu -2024-02-15 11:12:11, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:11, INFO: Similarity_func: concatenation -2024-02-15 11:12:11, INFO: Layerwise_graph: False -2024-02-15 11:12:11, INFO: Skip_connection: True -2024-02-15 11:12:11, INFO: Number of layers: 1 -2024-02-15 11:12:11, INFO: Similarity_func: concatenation -2024-02-15 11:12:11, INFO: Layerwise_graph: False -2024-02-15 11:12:11, INFO: Skip_connection: True -2024-02-15 11:12:11, INFO: Number of layers: 1 -2024-02-15 11:12:11, INFO: Planning depth: 1 -2024-02-15 11:12:11, INFO: Planning width: 10 -2024-02-15 11:12:11, INFO: Sparse search: None -2024-02-15 11:12:14, INFO: human number: 10 -2024-02-15 11:12:14, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:14, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:14, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:17, INFO: Using device: cpu -2024-02-15 11:12:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:17, INFO: Similarity_func: concatenation -2024-02-15 11:12:17, INFO: Layerwise_graph: False -2024-02-15 11:12:17, INFO: Skip_connection: True -2024-02-15 11:12:17, INFO: Number of layers: 1 -2024-02-15 11:12:17, INFO: Similarity_func: concatenation -2024-02-15 11:12:17, INFO: Layerwise_graph: False -2024-02-15 11:12:17, INFO: Skip_connection: True -2024-02-15 11:12:17, INFO: Number of layers: 1 -2024-02-15 11:12:17, INFO: Planning depth: 1 -2024-02-15 11:12:17, INFO: Planning width: 10 -2024-02-15 11:12:17, INFO: Sparse search: None -2024-02-15 11:12:20, INFO: human number: 10 -2024-02-15 11:12:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:20, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:24, INFO: Using device: cpu -2024-02-15 11:12:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:24, INFO: Similarity_func: concatenation -2024-02-15 11:12:24, INFO: Layerwise_graph: False -2024-02-15 11:12:24, INFO: Skip_connection: True -2024-02-15 11:12:24, INFO: Number of layers: 1 -2024-02-15 11:12:24, INFO: Similarity_func: concatenation -2024-02-15 11:12:24, INFO: Layerwise_graph: False -2024-02-15 11:12:24, INFO: Skip_connection: True -2024-02-15 11:12:24, INFO: Number of layers: 1 -2024-02-15 11:12:24, INFO: Planning depth: 1 -2024-02-15 11:12:24, INFO: Planning width: 10 -2024-02-15 11:12:24, INFO: Sparse search: None -2024-02-15 11:12:27, INFO: human number: 10 -2024-02-15 11:12:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:27, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:31, INFO: Using device: cpu -2024-02-15 11:12:31, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:31, INFO: Similarity_func: concatenation -2024-02-15 11:12:31, INFO: Layerwise_graph: False -2024-02-15 11:12:31, INFO: Skip_connection: True -2024-02-15 11:12:31, INFO: Number of layers: 1 -2024-02-15 11:12:31, INFO: Similarity_func: concatenation -2024-02-15 11:12:31, INFO: Layerwise_graph: False -2024-02-15 11:12:31, INFO: Skip_connection: True -2024-02-15 11:12:31, INFO: Number of layers: 1 -2024-02-15 11:12:31, INFO: Planning depth: 1 -2024-02-15 11:12:31, INFO: Planning width: 10 -2024-02-15 11:12:31, INFO: Sparse search: None -2024-02-15 11:12:34, INFO: human number: 10 -2024-02-15 11:12:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:34, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:38, INFO: Using device: cpu -2024-02-15 11:12:38, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:38, INFO: Similarity_func: concatenation -2024-02-15 11:12:38, INFO: Layerwise_graph: False -2024-02-15 11:12:38, INFO: Skip_connection: True -2024-02-15 11:12:38, INFO: Number of layers: 1 -2024-02-15 11:12:38, INFO: Similarity_func: concatenation -2024-02-15 11:12:38, INFO: Layerwise_graph: False -2024-02-15 11:12:38, INFO: Skip_connection: True -2024-02-15 11:12:38, INFO: Number of layers: 1 -2024-02-15 11:12:38, INFO: Planning depth: 1 -2024-02-15 11:12:38, INFO: Planning width: 10 -2024-02-15 11:12:38, INFO: Sparse search: None -2024-02-15 11:12:41, INFO: human number: 10 -2024-02-15 11:12:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:41, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:45, INFO: Using device: cpu -2024-02-15 11:12:45, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:45, INFO: Similarity_func: concatenation -2024-02-15 11:12:45, INFO: Layerwise_graph: False -2024-02-15 11:12:45, INFO: Skip_connection: True -2024-02-15 11:12:45, INFO: Number of layers: 1 -2024-02-15 11:12:45, INFO: Similarity_func: concatenation -2024-02-15 11:12:45, INFO: Layerwise_graph: False -2024-02-15 11:12:45, INFO: Skip_connection: True -2024-02-15 11:12:45, INFO: Number of layers: 1 -2024-02-15 11:12:45, INFO: Planning depth: 1 -2024-02-15 11:12:45, INFO: Planning width: 10 -2024-02-15 11:12:45, INFO: Sparse search: None -2024-02-15 11:12:47, INFO: human number: 10 -2024-02-15 11:12:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:47, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:52, INFO: Using device: cpu -2024-02-15 11:12:52, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:52, INFO: Similarity_func: concatenation -2024-02-15 11:12:52, INFO: Layerwise_graph: False -2024-02-15 11:12:52, INFO: Skip_connection: True -2024-02-15 11:12:52, INFO: Number of layers: 1 -2024-02-15 11:12:52, INFO: Similarity_func: concatenation -2024-02-15 11:12:52, INFO: Layerwise_graph: False -2024-02-15 11:12:52, INFO: Skip_connection: True -2024-02-15 11:12:52, INFO: Number of layers: 1 -2024-02-15 11:12:52, INFO: Planning depth: 1 -2024-02-15 11:12:52, INFO: Planning width: 10 -2024-02-15 11:12:52, INFO: Sparse search: None -2024-02-15 11:12:54, INFO: human number: 10 -2024-02-15 11:12:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:12:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:12:54, INFO: Square width: 10, circle width: 4 -2024-02-15 11:12:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:12:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:12:59, INFO: Using device: cpu -2024-02-15 11:12:59, INFO: Loaded RL weights with best VAL -2024-02-15 11:12:59, INFO: Similarity_func: concatenation -2024-02-15 11:12:59, INFO: Layerwise_graph: False -2024-02-15 11:12:59, INFO: Skip_connection: True -2024-02-15 11:12:59, INFO: Number of layers: 1 -2024-02-15 11:12:59, INFO: Similarity_func: concatenation -2024-02-15 11:12:59, INFO: Layerwise_graph: False -2024-02-15 11:12:59, INFO: Skip_connection: True -2024-02-15 11:12:59, INFO: Number of layers: 1 -2024-02-15 11:12:59, INFO: Planning depth: 1 -2024-02-15 11:12:59, INFO: Planning width: 10 -2024-02-15 11:12:59, INFO: Sparse search: None -2024-02-15 11:13:01, INFO: human number: 10 -2024-02-15 11:13:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:01, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:05, INFO: Using device: cpu -2024-02-15 11:13:05, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:05, INFO: Similarity_func: concatenation -2024-02-15 11:13:05, INFO: Layerwise_graph: False -2024-02-15 11:13:05, INFO: Skip_connection: True -2024-02-15 11:13:05, INFO: Number of layers: 1 -2024-02-15 11:13:05, INFO: Similarity_func: concatenation -2024-02-15 11:13:05, INFO: Layerwise_graph: False -2024-02-15 11:13:05, INFO: Skip_connection: True -2024-02-15 11:13:05, INFO: Number of layers: 1 -2024-02-15 11:13:05, INFO: Planning depth: 1 -2024-02-15 11:13:05, INFO: Planning width: 10 -2024-02-15 11:13:05, INFO: Sparse search: None -2024-02-15 11:13:08, INFO: human number: 10 -2024-02-15 11:13:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:08, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:12, INFO: Using device: cpu -2024-02-15 11:13:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:12, INFO: Similarity_func: concatenation -2024-02-15 11:13:12, INFO: Layerwise_graph: False -2024-02-15 11:13:12, INFO: Skip_connection: True -2024-02-15 11:13:12, INFO: Number of layers: 1 -2024-02-15 11:13:12, INFO: Similarity_func: concatenation -2024-02-15 11:13:12, INFO: Layerwise_graph: False -2024-02-15 11:13:12, INFO: Skip_connection: True -2024-02-15 11:13:12, INFO: Number of layers: 1 -2024-02-15 11:13:12, INFO: Planning depth: 1 -2024-02-15 11:13:12, INFO: Planning width: 10 -2024-02-15 11:13:12, INFO: Sparse search: None -2024-02-15 11:13:15, INFO: human number: 10 -2024-02-15 11:13:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:19, INFO: Using device: cpu -2024-02-15 11:13:19, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:19, INFO: Similarity_func: concatenation -2024-02-15 11:13:19, INFO: Layerwise_graph: False -2024-02-15 11:13:19, INFO: Skip_connection: True -2024-02-15 11:13:19, INFO: Number of layers: 1 -2024-02-15 11:13:19, INFO: Similarity_func: concatenation -2024-02-15 11:13:19, INFO: Layerwise_graph: False -2024-02-15 11:13:19, INFO: Skip_connection: True -2024-02-15 11:13:19, INFO: Number of layers: 1 -2024-02-15 11:13:19, INFO: Planning depth: 1 -2024-02-15 11:13:19, INFO: Planning width: 10 -2024-02-15 11:13:19, INFO: Sparse search: None -2024-02-15 11:13:22, INFO: human number: 10 -2024-02-15 11:13:22, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:22, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:22, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:26, INFO: Using device: cpu -2024-02-15 11:13:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:26, INFO: Similarity_func: concatenation -2024-02-15 11:13:26, INFO: Layerwise_graph: False -2024-02-15 11:13:26, INFO: Skip_connection: True -2024-02-15 11:13:26, INFO: Number of layers: 1 -2024-02-15 11:13:26, INFO: Similarity_func: concatenation -2024-02-15 11:13:26, INFO: Layerwise_graph: False -2024-02-15 11:13:26, INFO: Skip_connection: True -2024-02-15 11:13:26, INFO: Number of layers: 1 -2024-02-15 11:13:26, INFO: Planning depth: 1 -2024-02-15 11:13:26, INFO: Planning width: 10 -2024-02-15 11:13:26, INFO: Sparse search: None -2024-02-15 11:13:29, INFO: human number: 10 -2024-02-15 11:13:29, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:29, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:29, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:33, INFO: Using device: cpu -2024-02-15 11:13:33, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:33, INFO: Similarity_func: concatenation -2024-02-15 11:13:33, INFO: Layerwise_graph: False -2024-02-15 11:13:33, INFO: Skip_connection: True -2024-02-15 11:13:33, INFO: Number of layers: 1 -2024-02-15 11:13:33, INFO: Similarity_func: concatenation -2024-02-15 11:13:33, INFO: Layerwise_graph: False -2024-02-15 11:13:33, INFO: Skip_connection: True -2024-02-15 11:13:33, INFO: Number of layers: 1 -2024-02-15 11:13:33, INFO: Planning depth: 1 -2024-02-15 11:13:33, INFO: Planning width: 10 -2024-02-15 11:13:33, INFO: Sparse search: None -2024-02-15 11:13:36, INFO: human number: 10 -2024-02-15 11:13:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:36, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:40, INFO: Using device: cpu -2024-02-15 11:13:40, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:40, INFO: Similarity_func: concatenation -2024-02-15 11:13:40, INFO: Layerwise_graph: False -2024-02-15 11:13:40, INFO: Skip_connection: True -2024-02-15 11:13:40, INFO: Number of layers: 1 -2024-02-15 11:13:40, INFO: Similarity_func: concatenation -2024-02-15 11:13:40, INFO: Layerwise_graph: False -2024-02-15 11:13:40, INFO: Skip_connection: True -2024-02-15 11:13:40, INFO: Number of layers: 1 -2024-02-15 11:13:40, INFO: Planning depth: 1 -2024-02-15 11:13:40, INFO: Planning width: 10 -2024-02-15 11:13:40, INFO: Sparse search: None -2024-02-15 11:13:43, INFO: human number: 10 -2024-02-15 11:13:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:43, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:47, INFO: Using device: cpu -2024-02-15 11:13:47, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:47, INFO: Similarity_func: concatenation -2024-02-15 11:13:47, INFO: Layerwise_graph: False -2024-02-15 11:13:47, INFO: Skip_connection: True -2024-02-15 11:13:47, INFO: Number of layers: 1 -2024-02-15 11:13:47, INFO: Similarity_func: concatenation -2024-02-15 11:13:47, INFO: Layerwise_graph: False -2024-02-15 11:13:47, INFO: Skip_connection: True -2024-02-15 11:13:47, INFO: Number of layers: 1 -2024-02-15 11:13:47, INFO: Planning depth: 1 -2024-02-15 11:13:47, INFO: Planning width: 10 -2024-02-15 11:13:47, INFO: Sparse search: None -2024-02-15 11:13:50, INFO: human number: 10 -2024-02-15 11:13:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:50, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:13:54, INFO: Using device: cpu -2024-02-15 11:13:54, INFO: Loaded RL weights with best VAL -2024-02-15 11:13:54, INFO: Similarity_func: concatenation -2024-02-15 11:13:54, INFO: Layerwise_graph: False -2024-02-15 11:13:54, INFO: Skip_connection: True -2024-02-15 11:13:54, INFO: Number of layers: 1 -2024-02-15 11:13:54, INFO: Similarity_func: concatenation -2024-02-15 11:13:54, INFO: Layerwise_graph: False -2024-02-15 11:13:54, INFO: Skip_connection: True -2024-02-15 11:13:54, INFO: Number of layers: 1 -2024-02-15 11:13:54, INFO: Planning depth: 1 -2024-02-15 11:13:54, INFO: Planning width: 10 -2024-02-15 11:13:54, INFO: Sparse search: None -2024-02-15 11:13:57, INFO: human number: 10 -2024-02-15 11:13:57, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:13:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:13:57, INFO: Square width: 10, circle width: 4 -2024-02-15 11:13:57, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:13:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:01, INFO: Using device: cpu -2024-02-15 11:14:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:01, INFO: Similarity_func: concatenation -2024-02-15 11:14:01, INFO: Layerwise_graph: False -2024-02-15 11:14:01, INFO: Skip_connection: True -2024-02-15 11:14:01, INFO: Number of layers: 1 -2024-02-15 11:14:01, INFO: Similarity_func: concatenation -2024-02-15 11:14:01, INFO: Layerwise_graph: False -2024-02-15 11:14:01, INFO: Skip_connection: True -2024-02-15 11:14:01, INFO: Number of layers: 1 -2024-02-15 11:14:01, INFO: Planning depth: 1 -2024-02-15 11:14:01, INFO: Planning width: 10 -2024-02-15 11:14:01, INFO: Sparse search: None -2024-02-15 11:14:04, INFO: human number: 10 -2024-02-15 11:14:04, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:04, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:04, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:08, INFO: Using device: cpu -2024-02-15 11:14:08, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:08, INFO: Similarity_func: concatenation -2024-02-15 11:14:08, INFO: Layerwise_graph: False -2024-02-15 11:14:08, INFO: Skip_connection: True -2024-02-15 11:14:08, INFO: Number of layers: 1 -2024-02-15 11:14:08, INFO: Similarity_func: concatenation -2024-02-15 11:14:08, INFO: Layerwise_graph: False -2024-02-15 11:14:08, INFO: Skip_connection: True -2024-02-15 11:14:08, INFO: Number of layers: 1 -2024-02-15 11:14:08, INFO: Planning depth: 1 -2024-02-15 11:14:08, INFO: Planning width: 10 -2024-02-15 11:14:08, INFO: Sparse search: None -2024-02-15 11:14:11, INFO: human number: 10 -2024-02-15 11:14:11, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:11, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:11, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:15, INFO: Using device: cpu -2024-02-15 11:14:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:15, INFO: Similarity_func: concatenation -2024-02-15 11:14:15, INFO: Layerwise_graph: False -2024-02-15 11:14:15, INFO: Skip_connection: True -2024-02-15 11:14:15, INFO: Number of layers: 1 -2024-02-15 11:14:15, INFO: Similarity_func: concatenation -2024-02-15 11:14:15, INFO: Layerwise_graph: False -2024-02-15 11:14:15, INFO: Skip_connection: True -2024-02-15 11:14:15, INFO: Number of layers: 1 -2024-02-15 11:14:15, INFO: Planning depth: 1 -2024-02-15 11:14:15, INFO: Planning width: 10 -2024-02-15 11:14:15, INFO: Sparse search: None -2024-02-15 11:14:18, INFO: human number: 10 -2024-02-15 11:14:18, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:18, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:18, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:22, INFO: Using device: cpu -2024-02-15 11:14:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:22, INFO: Similarity_func: concatenation -2024-02-15 11:14:22, INFO: Layerwise_graph: False -2024-02-15 11:14:22, INFO: Skip_connection: True -2024-02-15 11:14:22, INFO: Number of layers: 1 -2024-02-15 11:14:22, INFO: Similarity_func: concatenation -2024-02-15 11:14:22, INFO: Layerwise_graph: False -2024-02-15 11:14:22, INFO: Skip_connection: True -2024-02-15 11:14:22, INFO: Number of layers: 1 -2024-02-15 11:14:22, INFO: Planning depth: 1 -2024-02-15 11:14:22, INFO: Planning width: 10 -2024-02-15 11:14:22, INFO: Sparse search: None -2024-02-15 11:14:25, INFO: human number: 10 -2024-02-15 11:14:25, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:25, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:25, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:30, INFO: Using device: cpu -2024-02-15 11:14:30, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:30, INFO: Similarity_func: concatenation -2024-02-15 11:14:30, INFO: Layerwise_graph: False -2024-02-15 11:14:30, INFO: Skip_connection: True -2024-02-15 11:14:30, INFO: Number of layers: 1 -2024-02-15 11:14:30, INFO: Similarity_func: concatenation -2024-02-15 11:14:30, INFO: Layerwise_graph: False -2024-02-15 11:14:30, INFO: Skip_connection: True -2024-02-15 11:14:30, INFO: Number of layers: 1 -2024-02-15 11:14:30, INFO: Planning depth: 1 -2024-02-15 11:14:30, INFO: Planning width: 10 -2024-02-15 11:14:30, INFO: Sparse search: None -2024-02-15 11:14:32, INFO: human number: 10 -2024-02-15 11:14:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:32, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:37, INFO: Using device: cpu -2024-02-15 11:14:37, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:37, INFO: Similarity_func: concatenation -2024-02-15 11:14:37, INFO: Layerwise_graph: False -2024-02-15 11:14:37, INFO: Skip_connection: True -2024-02-15 11:14:37, INFO: Number of layers: 1 -2024-02-15 11:14:37, INFO: Similarity_func: concatenation -2024-02-15 11:14:37, INFO: Layerwise_graph: False -2024-02-15 11:14:37, INFO: Skip_connection: True -2024-02-15 11:14:37, INFO: Number of layers: 1 -2024-02-15 11:14:37, INFO: Planning depth: 1 -2024-02-15 11:14:37, INFO: Planning width: 10 -2024-02-15 11:14:37, INFO: Sparse search: None -2024-02-15 11:14:40, INFO: human number: 10 -2024-02-15 11:14:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:40, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:44, INFO: Using device: cpu -2024-02-15 11:14:44, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:44, INFO: Similarity_func: concatenation -2024-02-15 11:14:44, INFO: Layerwise_graph: False -2024-02-15 11:14:44, INFO: Skip_connection: True -2024-02-15 11:14:44, INFO: Number of layers: 1 -2024-02-15 11:14:44, INFO: Similarity_func: concatenation -2024-02-15 11:14:44, INFO: Layerwise_graph: False -2024-02-15 11:14:44, INFO: Skip_connection: True -2024-02-15 11:14:44, INFO: Number of layers: 1 -2024-02-15 11:14:44, INFO: Planning depth: 1 -2024-02-15 11:14:44, INFO: Planning width: 10 -2024-02-15 11:14:44, INFO: Sparse search: None -2024-02-15 11:14:47, INFO: human number: 10 -2024-02-15 11:14:47, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:47, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:47, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:50, INFO: Using device: cpu -2024-02-15 11:14:50, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:50, INFO: Similarity_func: concatenation -2024-02-15 11:14:50, INFO: Layerwise_graph: False -2024-02-15 11:14:50, INFO: Skip_connection: True -2024-02-15 11:14:50, INFO: Number of layers: 1 -2024-02-15 11:14:50, INFO: Similarity_func: concatenation -2024-02-15 11:14:50, INFO: Layerwise_graph: False -2024-02-15 11:14:50, INFO: Skip_connection: True -2024-02-15 11:14:50, INFO: Number of layers: 1 -2024-02-15 11:14:50, INFO: Planning depth: 1 -2024-02-15 11:14:50, INFO: Planning width: 10 -2024-02-15 11:14:50, INFO: Sparse search: None -2024-02-15 11:14:53, INFO: human number: 10 -2024-02-15 11:14:53, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:53, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:53, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:14:57, INFO: Using device: cpu -2024-02-15 11:14:57, INFO: Loaded RL weights with best VAL -2024-02-15 11:14:57, INFO: Similarity_func: concatenation -2024-02-15 11:14:57, INFO: Layerwise_graph: False -2024-02-15 11:14:57, INFO: Skip_connection: True -2024-02-15 11:14:57, INFO: Number of layers: 1 -2024-02-15 11:14:57, INFO: Similarity_func: concatenation -2024-02-15 11:14:57, INFO: Layerwise_graph: False -2024-02-15 11:14:57, INFO: Skip_connection: True -2024-02-15 11:14:57, INFO: Number of layers: 1 -2024-02-15 11:14:57, INFO: Planning depth: 1 -2024-02-15 11:14:57, INFO: Planning width: 10 -2024-02-15 11:14:57, INFO: Sparse search: None -2024-02-15 11:14:59, INFO: human number: 10 -2024-02-15 11:14:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:14:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:14:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:14:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:14:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:04, INFO: Using device: cpu -2024-02-15 11:15:04, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:04, INFO: Similarity_func: concatenation -2024-02-15 11:15:04, INFO: Layerwise_graph: False -2024-02-15 11:15:04, INFO: Skip_connection: True -2024-02-15 11:15:04, INFO: Number of layers: 1 -2024-02-15 11:15:04, INFO: Similarity_func: concatenation -2024-02-15 11:15:04, INFO: Layerwise_graph: False -2024-02-15 11:15:04, INFO: Skip_connection: True -2024-02-15 11:15:04, INFO: Number of layers: 1 -2024-02-15 11:15:04, INFO: Planning depth: 1 -2024-02-15 11:15:04, INFO: Planning width: 10 -2024-02-15 11:15:04, INFO: Sparse search: None -2024-02-15 11:15:06, INFO: human number: 10 -2024-02-15 11:15:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:06, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:10, INFO: Using device: cpu -2024-02-15 11:15:10, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:10, INFO: Similarity_func: concatenation -2024-02-15 11:15:10, INFO: Layerwise_graph: False -2024-02-15 11:15:10, INFO: Skip_connection: True -2024-02-15 11:15:10, INFO: Number of layers: 1 -2024-02-15 11:15:10, INFO: Similarity_func: concatenation -2024-02-15 11:15:10, INFO: Layerwise_graph: False -2024-02-15 11:15:10, INFO: Skip_connection: True -2024-02-15 11:15:10, INFO: Number of layers: 1 -2024-02-15 11:15:10, INFO: Planning depth: 1 -2024-02-15 11:15:10, INFO: Planning width: 10 -2024-02-15 11:15:10, INFO: Sparse search: None -2024-02-15 11:15:13, INFO: human number: 10 -2024-02-15 11:15:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:13, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:17, INFO: Using device: cpu -2024-02-15 11:15:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:17, INFO: Similarity_func: concatenation -2024-02-15 11:15:17, INFO: Layerwise_graph: False -2024-02-15 11:15:17, INFO: Skip_connection: True -2024-02-15 11:15:17, INFO: Number of layers: 1 -2024-02-15 11:15:17, INFO: Similarity_func: concatenation -2024-02-15 11:15:17, INFO: Layerwise_graph: False -2024-02-15 11:15:17, INFO: Skip_connection: True -2024-02-15 11:15:17, INFO: Number of layers: 1 -2024-02-15 11:15:17, INFO: Planning depth: 1 -2024-02-15 11:15:17, INFO: Planning width: 10 -2024-02-15 11:15:17, INFO: Sparse search: None -2024-02-15 11:15:20, INFO: human number: 10 -2024-02-15 11:15:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:20, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:24, INFO: Using device: cpu -2024-02-15 11:15:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:24, INFO: Similarity_func: concatenation -2024-02-15 11:15:24, INFO: Layerwise_graph: False -2024-02-15 11:15:24, INFO: Skip_connection: True -2024-02-15 11:15:24, INFO: Number of layers: 1 -2024-02-15 11:15:24, INFO: Similarity_func: concatenation -2024-02-15 11:15:24, INFO: Layerwise_graph: False -2024-02-15 11:15:24, INFO: Skip_connection: True -2024-02-15 11:15:24, INFO: Number of layers: 1 -2024-02-15 11:15:24, INFO: Planning depth: 1 -2024-02-15 11:15:24, INFO: Planning width: 10 -2024-02-15 11:15:24, INFO: Sparse search: None -2024-02-15 11:15:27, INFO: human number: 10 -2024-02-15 11:15:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:27, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:32, INFO: Using device: cpu -2024-02-15 11:15:32, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:32, INFO: Similarity_func: concatenation -2024-02-15 11:15:32, INFO: Layerwise_graph: False -2024-02-15 11:15:32, INFO: Skip_connection: True -2024-02-15 11:15:32, INFO: Number of layers: 1 -2024-02-15 11:15:32, INFO: Similarity_func: concatenation -2024-02-15 11:15:32, INFO: Layerwise_graph: False -2024-02-15 11:15:32, INFO: Skip_connection: True -2024-02-15 11:15:32, INFO: Number of layers: 1 -2024-02-15 11:15:32, INFO: Planning depth: 1 -2024-02-15 11:15:32, INFO: Planning width: 10 -2024-02-15 11:15:32, INFO: Sparse search: None -2024-02-15 11:15:34, INFO: human number: 10 -2024-02-15 11:15:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:34, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:39, INFO: Using device: cpu -2024-02-15 11:15:39, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:39, INFO: Similarity_func: concatenation -2024-02-15 11:15:39, INFO: Layerwise_graph: False -2024-02-15 11:15:39, INFO: Skip_connection: True -2024-02-15 11:15:39, INFO: Number of layers: 1 -2024-02-15 11:15:39, INFO: Similarity_func: concatenation -2024-02-15 11:15:39, INFO: Layerwise_graph: False -2024-02-15 11:15:39, INFO: Skip_connection: True -2024-02-15 11:15:39, INFO: Number of layers: 1 -2024-02-15 11:15:39, INFO: Planning depth: 1 -2024-02-15 11:15:39, INFO: Planning width: 10 -2024-02-15 11:15:39, INFO: Sparse search: None -2024-02-15 11:15:41, INFO: human number: 10 -2024-02-15 11:15:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:41, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:46, INFO: Using device: cpu -2024-02-15 11:15:46, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:46, INFO: Similarity_func: concatenation -2024-02-15 11:15:46, INFO: Layerwise_graph: False -2024-02-15 11:15:46, INFO: Skip_connection: True -2024-02-15 11:15:46, INFO: Number of layers: 1 -2024-02-15 11:15:46, INFO: Similarity_func: concatenation -2024-02-15 11:15:46, INFO: Layerwise_graph: False -2024-02-15 11:15:46, INFO: Skip_connection: True -2024-02-15 11:15:46, INFO: Number of layers: 1 -2024-02-15 11:15:46, INFO: Planning depth: 1 -2024-02-15 11:15:46, INFO: Planning width: 10 -2024-02-15 11:15:46, INFO: Sparse search: None -2024-02-15 11:15:49, INFO: human number: 10 -2024-02-15 11:15:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:49, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:15:53, INFO: Using device: cpu -2024-02-15 11:15:53, INFO: Loaded RL weights with best VAL -2024-02-15 11:15:53, INFO: Similarity_func: concatenation -2024-02-15 11:15:53, INFO: Layerwise_graph: False -2024-02-15 11:15:53, INFO: Skip_connection: True -2024-02-15 11:15:53, INFO: Number of layers: 1 -2024-02-15 11:15:53, INFO: Similarity_func: concatenation -2024-02-15 11:15:53, INFO: Layerwise_graph: False -2024-02-15 11:15:53, INFO: Skip_connection: True -2024-02-15 11:15:53, INFO: Number of layers: 1 -2024-02-15 11:15:53, INFO: Planning depth: 1 -2024-02-15 11:15:53, INFO: Planning width: 10 -2024-02-15 11:15:53, INFO: Sparse search: None -2024-02-15 11:15:55, INFO: human number: 10 -2024-02-15 11:15:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:15:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:15:55, INFO: Square width: 10, circle width: 4 -2024-02-15 11:15:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:15:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:00, INFO: Using device: cpu -2024-02-15 11:16:00, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:00, INFO: Similarity_func: concatenation -2024-02-15 11:16:00, INFO: Layerwise_graph: False -2024-02-15 11:16:00, INFO: Skip_connection: True -2024-02-15 11:16:00, INFO: Number of layers: 1 -2024-02-15 11:16:00, INFO: Similarity_func: concatenation -2024-02-15 11:16:00, INFO: Layerwise_graph: False -2024-02-15 11:16:00, INFO: Skip_connection: True -2024-02-15 11:16:00, INFO: Number of layers: 1 -2024-02-15 11:16:00, INFO: Planning depth: 1 -2024-02-15 11:16:00, INFO: Planning width: 10 -2024-02-15 11:16:00, INFO: Sparse search: None -2024-02-15 11:16:03, INFO: human number: 10 -2024-02-15 11:16:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:07, INFO: Using device: cpu -2024-02-15 11:16:07, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:07, INFO: Similarity_func: concatenation -2024-02-15 11:16:07, INFO: Layerwise_graph: False -2024-02-15 11:16:07, INFO: Skip_connection: True -2024-02-15 11:16:07, INFO: Number of layers: 1 -2024-02-15 11:16:07, INFO: Similarity_func: concatenation -2024-02-15 11:16:07, INFO: Layerwise_graph: False -2024-02-15 11:16:07, INFO: Skip_connection: True -2024-02-15 11:16:07, INFO: Number of layers: 1 -2024-02-15 11:16:07, INFO: Planning depth: 1 -2024-02-15 11:16:07, INFO: Planning width: 10 -2024-02-15 11:16:07, INFO: Sparse search: None -2024-02-15 11:16:10, INFO: human number: 10 -2024-02-15 11:16:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:14, INFO: Using device: cpu -2024-02-15 11:16:14, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:14, INFO: Similarity_func: concatenation -2024-02-15 11:16:14, INFO: Layerwise_graph: False -2024-02-15 11:16:14, INFO: Skip_connection: True -2024-02-15 11:16:14, INFO: Number of layers: 1 -2024-02-15 11:16:14, INFO: Similarity_func: concatenation -2024-02-15 11:16:14, INFO: Layerwise_graph: False -2024-02-15 11:16:14, INFO: Skip_connection: True -2024-02-15 11:16:14, INFO: Number of layers: 1 -2024-02-15 11:16:14, INFO: Planning depth: 1 -2024-02-15 11:16:14, INFO: Planning width: 10 -2024-02-15 11:16:14, INFO: Sparse search: None -2024-02-15 11:16:17, INFO: human number: 10 -2024-02-15 11:16:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:21, INFO: Using device: cpu -2024-02-15 11:16:21, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:21, INFO: Similarity_func: concatenation -2024-02-15 11:16:21, INFO: Layerwise_graph: False -2024-02-15 11:16:21, INFO: Skip_connection: True -2024-02-15 11:16:21, INFO: Number of layers: 1 -2024-02-15 11:16:21, INFO: Similarity_func: concatenation -2024-02-15 11:16:21, INFO: Layerwise_graph: False -2024-02-15 11:16:21, INFO: Skip_connection: True -2024-02-15 11:16:21, INFO: Number of layers: 1 -2024-02-15 11:16:21, INFO: Planning depth: 1 -2024-02-15 11:16:21, INFO: Planning width: 10 -2024-02-15 11:16:21, INFO: Sparse search: None -2024-02-15 11:16:24, INFO: human number: 10 -2024-02-15 11:16:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:28, INFO: Using device: cpu -2024-02-15 11:16:28, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:28, INFO: Similarity_func: concatenation -2024-02-15 11:16:28, INFO: Layerwise_graph: False -2024-02-15 11:16:28, INFO: Skip_connection: True -2024-02-15 11:16:28, INFO: Number of layers: 1 -2024-02-15 11:16:28, INFO: Similarity_func: concatenation -2024-02-15 11:16:28, INFO: Layerwise_graph: False -2024-02-15 11:16:28, INFO: Skip_connection: True -2024-02-15 11:16:28, INFO: Number of layers: 1 -2024-02-15 11:16:28, INFO: Planning depth: 1 -2024-02-15 11:16:28, INFO: Planning width: 10 -2024-02-15 11:16:28, INFO: Sparse search: None -2024-02-15 11:16:31, INFO: human number: 10 -2024-02-15 11:16:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:31, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:35, INFO: Using device: cpu -2024-02-15 11:16:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:35, INFO: Similarity_func: concatenation -2024-02-15 11:16:35, INFO: Layerwise_graph: False -2024-02-15 11:16:35, INFO: Skip_connection: True -2024-02-15 11:16:35, INFO: Number of layers: 1 -2024-02-15 11:16:35, INFO: Similarity_func: concatenation -2024-02-15 11:16:35, INFO: Layerwise_graph: False -2024-02-15 11:16:35, INFO: Skip_connection: True -2024-02-15 11:16:35, INFO: Number of layers: 1 -2024-02-15 11:16:35, INFO: Planning depth: 1 -2024-02-15 11:16:35, INFO: Planning width: 10 -2024-02-15 11:16:35, INFO: Sparse search: None -2024-02-15 11:16:38, INFO: human number: 10 -2024-02-15 11:16:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:38, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:42, INFO: Using device: cpu -2024-02-15 11:16:42, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:42, INFO: Similarity_func: concatenation -2024-02-15 11:16:42, INFO: Layerwise_graph: False -2024-02-15 11:16:42, INFO: Skip_connection: True -2024-02-15 11:16:42, INFO: Number of layers: 1 -2024-02-15 11:16:42, INFO: Similarity_func: concatenation -2024-02-15 11:16:42, INFO: Layerwise_graph: False -2024-02-15 11:16:42, INFO: Skip_connection: True -2024-02-15 11:16:42, INFO: Number of layers: 1 -2024-02-15 11:16:42, INFO: Planning depth: 1 -2024-02-15 11:16:42, INFO: Planning width: 10 -2024-02-15 11:16:42, INFO: Sparse search: None -2024-02-15 11:16:45, INFO: human number: 10 -2024-02-15 11:16:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:45, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:49, INFO: Using device: cpu -2024-02-15 11:16:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:49, INFO: Similarity_func: concatenation -2024-02-15 11:16:49, INFO: Layerwise_graph: False -2024-02-15 11:16:49, INFO: Skip_connection: True -2024-02-15 11:16:49, INFO: Number of layers: 1 -2024-02-15 11:16:49, INFO: Similarity_func: concatenation -2024-02-15 11:16:49, INFO: Layerwise_graph: False -2024-02-15 11:16:49, INFO: Skip_connection: True -2024-02-15 11:16:49, INFO: Number of layers: 1 -2024-02-15 11:16:49, INFO: Planning depth: 1 -2024-02-15 11:16:49, INFO: Planning width: 10 -2024-02-15 11:16:49, INFO: Sparse search: None -2024-02-15 11:16:52, INFO: human number: 10 -2024-02-15 11:16:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:16:56, INFO: Using device: cpu -2024-02-15 11:16:56, INFO: Loaded RL weights with best VAL -2024-02-15 11:16:56, INFO: Similarity_func: concatenation -2024-02-15 11:16:56, INFO: Layerwise_graph: False -2024-02-15 11:16:56, INFO: Skip_connection: True -2024-02-15 11:16:56, INFO: Number of layers: 1 -2024-02-15 11:16:56, INFO: Similarity_func: concatenation -2024-02-15 11:16:56, INFO: Layerwise_graph: False -2024-02-15 11:16:56, INFO: Skip_connection: True -2024-02-15 11:16:56, INFO: Number of layers: 1 -2024-02-15 11:16:56, INFO: Planning depth: 1 -2024-02-15 11:16:56, INFO: Planning width: 10 -2024-02-15 11:16:56, INFO: Sparse search: None -2024-02-15 11:16:59, INFO: human number: 10 -2024-02-15 11:16:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:16:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:16:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:16:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:16:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:03, INFO: Using device: cpu -2024-02-15 11:17:03, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:03, INFO: Similarity_func: concatenation -2024-02-15 11:17:03, INFO: Layerwise_graph: False -2024-02-15 11:17:03, INFO: Skip_connection: True -2024-02-15 11:17:03, INFO: Number of layers: 1 -2024-02-15 11:17:03, INFO: Similarity_func: concatenation -2024-02-15 11:17:03, INFO: Layerwise_graph: False -2024-02-15 11:17:03, INFO: Skip_connection: True -2024-02-15 11:17:03, INFO: Number of layers: 1 -2024-02-15 11:17:03, INFO: Planning depth: 1 -2024-02-15 11:17:03, INFO: Planning width: 10 -2024-02-15 11:17:03, INFO: Sparse search: None -2024-02-15 11:17:05, INFO: human number: 10 -2024-02-15 11:17:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:05, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:09, INFO: Using device: cpu -2024-02-15 11:17:09, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:09, INFO: Similarity_func: concatenation -2024-02-15 11:17:09, INFO: Layerwise_graph: False -2024-02-15 11:17:09, INFO: Skip_connection: True -2024-02-15 11:17:09, INFO: Number of layers: 1 -2024-02-15 11:17:09, INFO: Similarity_func: concatenation -2024-02-15 11:17:09, INFO: Layerwise_graph: False -2024-02-15 11:17:09, INFO: Skip_connection: True -2024-02-15 11:17:09, INFO: Number of layers: 1 -2024-02-15 11:17:09, INFO: Planning depth: 1 -2024-02-15 11:17:09, INFO: Planning width: 10 -2024-02-15 11:17:09, INFO: Sparse search: None -2024-02-15 11:17:12, INFO: human number: 10 -2024-02-15 11:17:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:12, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:17, INFO: Using device: cpu -2024-02-15 11:17:17, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:17, INFO: Similarity_func: concatenation -2024-02-15 11:17:17, INFO: Layerwise_graph: False -2024-02-15 11:17:17, INFO: Skip_connection: True -2024-02-15 11:17:17, INFO: Number of layers: 1 -2024-02-15 11:17:17, INFO: Similarity_func: concatenation -2024-02-15 11:17:17, INFO: Layerwise_graph: False -2024-02-15 11:17:17, INFO: Skip_connection: True -2024-02-15 11:17:17, INFO: Number of layers: 1 -2024-02-15 11:17:17, INFO: Planning depth: 1 -2024-02-15 11:17:17, INFO: Planning width: 10 -2024-02-15 11:17:17, INFO: Sparse search: None -2024-02-15 11:17:19, INFO: human number: 10 -2024-02-15 11:17:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:19, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:24, INFO: Using device: cpu -2024-02-15 11:17:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:24, INFO: Similarity_func: concatenation -2024-02-15 11:17:24, INFO: Layerwise_graph: False -2024-02-15 11:17:24, INFO: Skip_connection: True -2024-02-15 11:17:24, INFO: Number of layers: 1 -2024-02-15 11:17:24, INFO: Similarity_func: concatenation -2024-02-15 11:17:24, INFO: Layerwise_graph: False -2024-02-15 11:17:24, INFO: Skip_connection: True -2024-02-15 11:17:24, INFO: Number of layers: 1 -2024-02-15 11:17:24, INFO: Planning depth: 1 -2024-02-15 11:17:24, INFO: Planning width: 10 -2024-02-15 11:17:24, INFO: Sparse search: None -2024-02-15 11:17:26, INFO: human number: 10 -2024-02-15 11:17:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:26, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:31, INFO: Using device: cpu -2024-02-15 11:17:31, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:31, INFO: Similarity_func: concatenation -2024-02-15 11:17:31, INFO: Layerwise_graph: False -2024-02-15 11:17:31, INFO: Skip_connection: True -2024-02-15 11:17:31, INFO: Number of layers: 1 -2024-02-15 11:17:31, INFO: Similarity_func: concatenation -2024-02-15 11:17:31, INFO: Layerwise_graph: False -2024-02-15 11:17:31, INFO: Skip_connection: True -2024-02-15 11:17:31, INFO: Number of layers: 1 -2024-02-15 11:17:31, INFO: Planning depth: 1 -2024-02-15 11:17:31, INFO: Planning width: 10 -2024-02-15 11:17:31, INFO: Sparse search: None -2024-02-15 11:17:34, INFO: human number: 10 -2024-02-15 11:17:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:34, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:38, INFO: Using device: cpu -2024-02-15 11:17:38, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:38, INFO: Similarity_func: concatenation -2024-02-15 11:17:38, INFO: Layerwise_graph: False -2024-02-15 11:17:38, INFO: Skip_connection: True -2024-02-15 11:17:38, INFO: Number of layers: 1 -2024-02-15 11:17:38, INFO: Similarity_func: concatenation -2024-02-15 11:17:38, INFO: Layerwise_graph: False -2024-02-15 11:17:38, INFO: Skip_connection: True -2024-02-15 11:17:38, INFO: Number of layers: 1 -2024-02-15 11:17:38, INFO: Planning depth: 1 -2024-02-15 11:17:38, INFO: Planning width: 10 -2024-02-15 11:17:38, INFO: Sparse search: None -2024-02-15 11:17:41, INFO: human number: 10 -2024-02-15 11:17:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:41, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:45, INFO: Using device: cpu -2024-02-15 11:17:45, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:45, INFO: Similarity_func: concatenation -2024-02-15 11:17:45, INFO: Layerwise_graph: False -2024-02-15 11:17:45, INFO: Skip_connection: True -2024-02-15 11:17:45, INFO: Number of layers: 1 -2024-02-15 11:17:45, INFO: Similarity_func: concatenation -2024-02-15 11:17:45, INFO: Layerwise_graph: False -2024-02-15 11:17:45, INFO: Skip_connection: True -2024-02-15 11:17:45, INFO: Number of layers: 1 -2024-02-15 11:17:45, INFO: Planning depth: 1 -2024-02-15 11:17:45, INFO: Planning width: 10 -2024-02-15 11:17:45, INFO: Sparse search: None -2024-02-15 11:17:48, INFO: human number: 10 -2024-02-15 11:17:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:48, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:52, INFO: Using device: cpu -2024-02-15 11:17:52, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:52, INFO: Similarity_func: concatenation -2024-02-15 11:17:52, INFO: Layerwise_graph: False -2024-02-15 11:17:52, INFO: Skip_connection: True -2024-02-15 11:17:52, INFO: Number of layers: 1 -2024-02-15 11:17:52, INFO: Similarity_func: concatenation -2024-02-15 11:17:52, INFO: Layerwise_graph: False -2024-02-15 11:17:52, INFO: Skip_connection: True -2024-02-15 11:17:52, INFO: Number of layers: 1 -2024-02-15 11:17:52, INFO: Planning depth: 1 -2024-02-15 11:17:52, INFO: Planning width: 10 -2024-02-15 11:17:52, INFO: Sparse search: None -2024-02-15 11:17:54, INFO: human number: 10 -2024-02-15 11:17:54, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:17:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:17:54, INFO: Square width: 10, circle width: 4 -2024-02-15 11:17:54, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:17:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:17:58, INFO: Using device: cpu -2024-02-15 11:17:58, INFO: Loaded RL weights with best VAL -2024-02-15 11:17:58, INFO: Similarity_func: concatenation -2024-02-15 11:17:58, INFO: Layerwise_graph: False -2024-02-15 11:17:58, INFO: Skip_connection: True -2024-02-15 11:17:58, INFO: Number of layers: 1 -2024-02-15 11:17:58, INFO: Similarity_func: concatenation -2024-02-15 11:17:58, INFO: Layerwise_graph: False -2024-02-15 11:17:58, INFO: Skip_connection: True -2024-02-15 11:17:58, INFO: Number of layers: 1 -2024-02-15 11:17:58, INFO: Planning depth: 1 -2024-02-15 11:17:58, INFO: Planning width: 10 -2024-02-15 11:17:58, INFO: Sparse search: None -2024-02-15 11:18:01, INFO: human number: 10 -2024-02-15 11:18:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:01, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:05, INFO: Using device: cpu -2024-02-15 11:18:05, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:05, INFO: Similarity_func: concatenation -2024-02-15 11:18:05, INFO: Layerwise_graph: False -2024-02-15 11:18:05, INFO: Skip_connection: True -2024-02-15 11:18:05, INFO: Number of layers: 1 -2024-02-15 11:18:05, INFO: Similarity_func: concatenation -2024-02-15 11:18:05, INFO: Layerwise_graph: False -2024-02-15 11:18:05, INFO: Skip_connection: True -2024-02-15 11:18:05, INFO: Number of layers: 1 -2024-02-15 11:18:05, INFO: Planning depth: 1 -2024-02-15 11:18:05, INFO: Planning width: 10 -2024-02-15 11:18:05, INFO: Sparse search: None -2024-02-15 11:18:08, INFO: human number: 10 -2024-02-15 11:18:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:08, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:12, INFO: Using device: cpu -2024-02-15 11:18:12, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:12, INFO: Similarity_func: concatenation -2024-02-15 11:18:12, INFO: Layerwise_graph: False -2024-02-15 11:18:12, INFO: Skip_connection: True -2024-02-15 11:18:12, INFO: Number of layers: 1 -2024-02-15 11:18:12, INFO: Similarity_func: concatenation -2024-02-15 11:18:12, INFO: Layerwise_graph: False -2024-02-15 11:18:12, INFO: Skip_connection: True -2024-02-15 11:18:12, INFO: Number of layers: 1 -2024-02-15 11:18:12, INFO: Planning depth: 1 -2024-02-15 11:18:12, INFO: Planning width: 10 -2024-02-15 11:18:12, INFO: Sparse search: None -2024-02-15 11:18:15, INFO: human number: 10 -2024-02-15 11:18:15, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:15, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:15, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:19, INFO: Using device: cpu -2024-02-15 11:18:19, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:19, INFO: Similarity_func: concatenation -2024-02-15 11:18:19, INFO: Layerwise_graph: False -2024-02-15 11:18:19, INFO: Skip_connection: True -2024-02-15 11:18:19, INFO: Number of layers: 1 -2024-02-15 11:18:19, INFO: Similarity_func: concatenation -2024-02-15 11:18:19, INFO: Layerwise_graph: False -2024-02-15 11:18:19, INFO: Skip_connection: True -2024-02-15 11:18:19, INFO: Number of layers: 1 -2024-02-15 11:18:19, INFO: Planning depth: 1 -2024-02-15 11:18:19, INFO: Planning width: 10 -2024-02-15 11:18:19, INFO: Sparse search: None -2024-02-15 11:18:21, INFO: human number: 10 -2024-02-15 11:18:21, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:21, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:21, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:26, INFO: Using device: cpu -2024-02-15 11:18:26, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:26, INFO: Similarity_func: concatenation -2024-02-15 11:18:26, INFO: Layerwise_graph: False -2024-02-15 11:18:26, INFO: Skip_connection: True -2024-02-15 11:18:26, INFO: Number of layers: 1 -2024-02-15 11:18:26, INFO: Similarity_func: concatenation -2024-02-15 11:18:26, INFO: Layerwise_graph: False -2024-02-15 11:18:26, INFO: Skip_connection: True -2024-02-15 11:18:26, INFO: Number of layers: 1 -2024-02-15 11:18:26, INFO: Planning depth: 1 -2024-02-15 11:18:26, INFO: Planning width: 10 -2024-02-15 11:18:26, INFO: Sparse search: None -2024-02-15 11:18:28, INFO: human number: 10 -2024-02-15 11:18:28, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:28, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:28, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:32, INFO: Using device: cpu -2024-02-15 11:18:32, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:32, INFO: Similarity_func: concatenation -2024-02-15 11:18:32, INFO: Layerwise_graph: False -2024-02-15 11:18:32, INFO: Skip_connection: True -2024-02-15 11:18:32, INFO: Number of layers: 1 -2024-02-15 11:18:32, INFO: Similarity_func: concatenation -2024-02-15 11:18:32, INFO: Layerwise_graph: False -2024-02-15 11:18:32, INFO: Skip_connection: True -2024-02-15 11:18:32, INFO: Number of layers: 1 -2024-02-15 11:18:32, INFO: Planning depth: 1 -2024-02-15 11:18:32, INFO: Planning width: 10 -2024-02-15 11:18:32, INFO: Sparse search: None -2024-02-15 11:18:35, INFO: human number: 10 -2024-02-15 11:18:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:35, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:40, INFO: Using device: cpu -2024-02-15 11:18:40, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:40, INFO: Similarity_func: concatenation -2024-02-15 11:18:40, INFO: Layerwise_graph: False -2024-02-15 11:18:40, INFO: Skip_connection: True -2024-02-15 11:18:40, INFO: Number of layers: 1 -2024-02-15 11:18:40, INFO: Similarity_func: concatenation -2024-02-15 11:18:40, INFO: Layerwise_graph: False -2024-02-15 11:18:40, INFO: Skip_connection: True -2024-02-15 11:18:40, INFO: Number of layers: 1 -2024-02-15 11:18:40, INFO: Planning depth: 1 -2024-02-15 11:18:40, INFO: Planning width: 10 -2024-02-15 11:18:40, INFO: Sparse search: None -2024-02-15 11:18:43, INFO: human number: 10 -2024-02-15 11:18:43, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:43, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:43, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:47, INFO: Using device: cpu -2024-02-15 11:18:47, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:47, INFO: Similarity_func: concatenation -2024-02-15 11:18:47, INFO: Layerwise_graph: False -2024-02-15 11:18:47, INFO: Skip_connection: True -2024-02-15 11:18:47, INFO: Number of layers: 1 -2024-02-15 11:18:47, INFO: Similarity_func: concatenation -2024-02-15 11:18:47, INFO: Layerwise_graph: False -2024-02-15 11:18:47, INFO: Skip_connection: True -2024-02-15 11:18:47, INFO: Number of layers: 1 -2024-02-15 11:18:47, INFO: Planning depth: 1 -2024-02-15 11:18:47, INFO: Planning width: 10 -2024-02-15 11:18:47, INFO: Sparse search: None -2024-02-15 11:18:49, INFO: human number: 10 -2024-02-15 11:18:49, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:49, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:49, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:18:54, INFO: Using device: cpu -2024-02-15 11:18:54, INFO: Loaded RL weights with best VAL -2024-02-15 11:18:54, INFO: Similarity_func: concatenation -2024-02-15 11:18:54, INFO: Layerwise_graph: False -2024-02-15 11:18:54, INFO: Skip_connection: True -2024-02-15 11:18:54, INFO: Number of layers: 1 -2024-02-15 11:18:54, INFO: Similarity_func: concatenation -2024-02-15 11:18:54, INFO: Layerwise_graph: False -2024-02-15 11:18:54, INFO: Skip_connection: True -2024-02-15 11:18:54, INFO: Number of layers: 1 -2024-02-15 11:18:54, INFO: Planning depth: 1 -2024-02-15 11:18:54, INFO: Planning width: 10 -2024-02-15 11:18:54, INFO: Sparse search: None -2024-02-15 11:18:56, INFO: human number: 10 -2024-02-15 11:18:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:18:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:18:56, INFO: Square width: 10, circle width: 4 -2024-02-15 11:18:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:18:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:01, INFO: Using device: cpu -2024-02-15 11:19:01, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:01, INFO: Similarity_func: concatenation -2024-02-15 11:19:01, INFO: Layerwise_graph: False -2024-02-15 11:19:01, INFO: Skip_connection: True -2024-02-15 11:19:01, INFO: Number of layers: 1 -2024-02-15 11:19:01, INFO: Similarity_func: concatenation -2024-02-15 11:19:01, INFO: Layerwise_graph: False -2024-02-15 11:19:01, INFO: Skip_connection: True -2024-02-15 11:19:01, INFO: Number of layers: 1 -2024-02-15 11:19:01, INFO: Planning depth: 1 -2024-02-15 11:19:01, INFO: Planning width: 10 -2024-02-15 11:19:01, INFO: Sparse search: None -2024-02-15 11:19:03, INFO: human number: 10 -2024-02-15 11:19:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:08, INFO: Using device: cpu -2024-02-15 11:19:08, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:08, INFO: Similarity_func: concatenation -2024-02-15 11:19:08, INFO: Layerwise_graph: False -2024-02-15 11:19:08, INFO: Skip_connection: True -2024-02-15 11:19:08, INFO: Number of layers: 1 -2024-02-15 11:19:08, INFO: Similarity_func: concatenation -2024-02-15 11:19:08, INFO: Layerwise_graph: False -2024-02-15 11:19:08, INFO: Skip_connection: True -2024-02-15 11:19:08, INFO: Number of layers: 1 -2024-02-15 11:19:08, INFO: Planning depth: 1 -2024-02-15 11:19:08, INFO: Planning width: 10 -2024-02-15 11:19:08, INFO: Sparse search: None -2024-02-15 11:19:10, INFO: human number: 10 -2024-02-15 11:19:10, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:10, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:10, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:15, INFO: Using device: cpu -2024-02-15 11:19:15, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:15, INFO: Similarity_func: concatenation -2024-02-15 11:19:15, INFO: Layerwise_graph: False -2024-02-15 11:19:15, INFO: Skip_connection: True -2024-02-15 11:19:15, INFO: Number of layers: 1 -2024-02-15 11:19:15, INFO: Similarity_func: concatenation -2024-02-15 11:19:15, INFO: Layerwise_graph: False -2024-02-15 11:19:15, INFO: Skip_connection: True -2024-02-15 11:19:15, INFO: Number of layers: 1 -2024-02-15 11:19:15, INFO: Planning depth: 1 -2024-02-15 11:19:15, INFO: Planning width: 10 -2024-02-15 11:19:15, INFO: Sparse search: None -2024-02-15 11:19:17, INFO: human number: 10 -2024-02-15 11:19:17, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:17, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:17, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:22, INFO: Using device: cpu -2024-02-15 11:19:22, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:22, INFO: Similarity_func: concatenation -2024-02-15 11:19:22, INFO: Layerwise_graph: False -2024-02-15 11:19:22, INFO: Skip_connection: True -2024-02-15 11:19:22, INFO: Number of layers: 1 -2024-02-15 11:19:22, INFO: Similarity_func: concatenation -2024-02-15 11:19:22, INFO: Layerwise_graph: False -2024-02-15 11:19:22, INFO: Skip_connection: True -2024-02-15 11:19:22, INFO: Number of layers: 1 -2024-02-15 11:19:22, INFO: Planning depth: 1 -2024-02-15 11:19:22, INFO: Planning width: 10 -2024-02-15 11:19:22, INFO: Sparse search: None -2024-02-15 11:19:24, INFO: human number: 10 -2024-02-15 11:19:24, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:24, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:24, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:29, INFO: Using device: cpu -2024-02-15 11:19:29, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:29, INFO: Similarity_func: concatenation -2024-02-15 11:19:29, INFO: Layerwise_graph: False -2024-02-15 11:19:29, INFO: Skip_connection: True -2024-02-15 11:19:29, INFO: Number of layers: 1 -2024-02-15 11:19:29, INFO: Similarity_func: concatenation -2024-02-15 11:19:29, INFO: Layerwise_graph: False -2024-02-15 11:19:29, INFO: Skip_connection: True -2024-02-15 11:19:29, INFO: Number of layers: 1 -2024-02-15 11:19:29, INFO: Planning depth: 1 -2024-02-15 11:19:29, INFO: Planning width: 10 -2024-02-15 11:19:29, INFO: Sparse search: None -2024-02-15 11:19:31, INFO: human number: 10 -2024-02-15 11:19:31, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:31, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:31, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:35, INFO: Using device: cpu -2024-02-15 11:19:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:35, INFO: Similarity_func: concatenation -2024-02-15 11:19:35, INFO: Layerwise_graph: False -2024-02-15 11:19:35, INFO: Skip_connection: True -2024-02-15 11:19:35, INFO: Number of layers: 1 -2024-02-15 11:19:35, INFO: Similarity_func: concatenation -2024-02-15 11:19:35, INFO: Layerwise_graph: False -2024-02-15 11:19:35, INFO: Skip_connection: True -2024-02-15 11:19:35, INFO: Number of layers: 1 -2024-02-15 11:19:35, INFO: Planning depth: 1 -2024-02-15 11:19:35, INFO: Planning width: 10 -2024-02-15 11:19:35, INFO: Sparse search: None -2024-02-15 11:19:38, INFO: human number: 10 -2024-02-15 11:19:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:38, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:42, INFO: Using device: cpu -2024-02-15 11:19:42, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:42, INFO: Similarity_func: concatenation -2024-02-15 11:19:42, INFO: Layerwise_graph: False -2024-02-15 11:19:42, INFO: Skip_connection: True -2024-02-15 11:19:42, INFO: Number of layers: 1 -2024-02-15 11:19:42, INFO: Similarity_func: concatenation -2024-02-15 11:19:42, INFO: Layerwise_graph: False -2024-02-15 11:19:42, INFO: Skip_connection: True -2024-02-15 11:19:42, INFO: Number of layers: 1 -2024-02-15 11:19:42, INFO: Planning depth: 1 -2024-02-15 11:19:42, INFO: Planning width: 10 -2024-02-15 11:19:42, INFO: Sparse search: None -2024-02-15 11:19:45, INFO: human number: 10 -2024-02-15 11:19:45, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:45, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:45, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:49, INFO: Using device: cpu -2024-02-15 11:19:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:49, INFO: Similarity_func: concatenation -2024-02-15 11:19:49, INFO: Layerwise_graph: False -2024-02-15 11:19:49, INFO: Skip_connection: True -2024-02-15 11:19:49, INFO: Number of layers: 1 -2024-02-15 11:19:49, INFO: Similarity_func: concatenation -2024-02-15 11:19:49, INFO: Layerwise_graph: False -2024-02-15 11:19:49, INFO: Skip_connection: True -2024-02-15 11:19:49, INFO: Number of layers: 1 -2024-02-15 11:19:49, INFO: Planning depth: 1 -2024-02-15 11:19:49, INFO: Planning width: 10 -2024-02-15 11:19:49, INFO: Sparse search: None -2024-02-15 11:19:52, INFO: human number: 10 -2024-02-15 11:19:52, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:52, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:52, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:19:56, INFO: Using device: cpu -2024-02-15 11:19:56, INFO: Loaded RL weights with best VAL -2024-02-15 11:19:56, INFO: Similarity_func: concatenation -2024-02-15 11:19:56, INFO: Layerwise_graph: False -2024-02-15 11:19:56, INFO: Skip_connection: True -2024-02-15 11:19:56, INFO: Number of layers: 1 -2024-02-15 11:19:56, INFO: Similarity_func: concatenation -2024-02-15 11:19:56, INFO: Layerwise_graph: False -2024-02-15 11:19:56, INFO: Skip_connection: True -2024-02-15 11:19:56, INFO: Number of layers: 1 -2024-02-15 11:19:56, INFO: Planning depth: 1 -2024-02-15 11:19:56, INFO: Planning width: 10 -2024-02-15 11:19:56, INFO: Sparse search: None -2024-02-15 11:19:59, INFO: human number: 10 -2024-02-15 11:19:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:19:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:19:59, INFO: Square width: 10, circle width: 4 -2024-02-15 11:19:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:19:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:03, INFO: Using device: cpu -2024-02-15 11:20:03, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:03, INFO: Similarity_func: concatenation -2024-02-15 11:20:03, INFO: Layerwise_graph: False -2024-02-15 11:20:03, INFO: Skip_connection: True -2024-02-15 11:20:03, INFO: Number of layers: 1 -2024-02-15 11:20:03, INFO: Similarity_func: concatenation -2024-02-15 11:20:03, INFO: Layerwise_graph: False -2024-02-15 11:20:03, INFO: Skip_connection: True -2024-02-15 11:20:03, INFO: Number of layers: 1 -2024-02-15 11:20:03, INFO: Planning depth: 1 -2024-02-15 11:20:03, INFO: Planning width: 10 -2024-02-15 11:20:03, INFO: Sparse search: None -2024-02-15 11:20:06, INFO: human number: 10 -2024-02-15 11:20:06, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:06, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:06, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:10, INFO: Using device: cpu -2024-02-15 11:20:10, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:10, INFO: Similarity_func: concatenation -2024-02-15 11:20:10, INFO: Layerwise_graph: False -2024-02-15 11:20:10, INFO: Skip_connection: True -2024-02-15 11:20:10, INFO: Number of layers: 1 -2024-02-15 11:20:10, INFO: Similarity_func: concatenation -2024-02-15 11:20:10, INFO: Layerwise_graph: False -2024-02-15 11:20:10, INFO: Skip_connection: True -2024-02-15 11:20:10, INFO: Number of layers: 1 -2024-02-15 11:20:10, INFO: Planning depth: 1 -2024-02-15 11:20:10, INFO: Planning width: 10 -2024-02-15 11:20:10, INFO: Sparse search: None -2024-02-15 11:20:13, INFO: human number: 10 -2024-02-15 11:20:13, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:13, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:13, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:18, INFO: Using device: cpu -2024-02-15 11:20:18, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:18, INFO: Similarity_func: concatenation -2024-02-15 11:20:18, INFO: Layerwise_graph: False -2024-02-15 11:20:18, INFO: Skip_connection: True -2024-02-15 11:20:18, INFO: Number of layers: 1 -2024-02-15 11:20:18, INFO: Similarity_func: concatenation -2024-02-15 11:20:18, INFO: Layerwise_graph: False -2024-02-15 11:20:18, INFO: Skip_connection: True -2024-02-15 11:20:18, INFO: Number of layers: 1 -2024-02-15 11:20:18, INFO: Planning depth: 1 -2024-02-15 11:20:18, INFO: Planning width: 10 -2024-02-15 11:20:18, INFO: Sparse search: None -2024-02-15 11:20:20, INFO: human number: 10 -2024-02-15 11:20:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:20, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:24, INFO: Using device: cpu -2024-02-15 11:20:24, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:24, INFO: Similarity_func: concatenation -2024-02-15 11:20:24, INFO: Layerwise_graph: False -2024-02-15 11:20:24, INFO: Skip_connection: True -2024-02-15 11:20:24, INFO: Number of layers: 1 -2024-02-15 11:20:24, INFO: Similarity_func: concatenation -2024-02-15 11:20:24, INFO: Layerwise_graph: False -2024-02-15 11:20:24, INFO: Skip_connection: True -2024-02-15 11:20:24, INFO: Number of layers: 1 -2024-02-15 11:20:24, INFO: Planning depth: 1 -2024-02-15 11:20:24, INFO: Planning width: 10 -2024-02-15 11:20:24, INFO: Sparse search: None -2024-02-15 11:20:27, INFO: human number: 10 -2024-02-15 11:20:27, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:27, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:27, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:31, INFO: Using device: cpu -2024-02-15 11:20:31, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:31, INFO: Similarity_func: concatenation -2024-02-15 11:20:31, INFO: Layerwise_graph: False -2024-02-15 11:20:31, INFO: Skip_connection: True -2024-02-15 11:20:31, INFO: Number of layers: 1 -2024-02-15 11:20:31, INFO: Similarity_func: concatenation -2024-02-15 11:20:31, INFO: Layerwise_graph: False -2024-02-15 11:20:31, INFO: Skip_connection: True -2024-02-15 11:20:31, INFO: Number of layers: 1 -2024-02-15 11:20:31, INFO: Planning depth: 1 -2024-02-15 11:20:31, INFO: Planning width: 10 -2024-02-15 11:20:31, INFO: Sparse search: None -2024-02-15 11:20:34, INFO: human number: 10 -2024-02-15 11:20:34, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:34, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:34, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:38, INFO: Using device: cpu -2024-02-15 11:20:38, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:38, INFO: Similarity_func: concatenation -2024-02-15 11:20:38, INFO: Layerwise_graph: False -2024-02-15 11:20:38, INFO: Skip_connection: True -2024-02-15 11:20:38, INFO: Number of layers: 1 -2024-02-15 11:20:38, INFO: Similarity_func: concatenation -2024-02-15 11:20:38, INFO: Layerwise_graph: False -2024-02-15 11:20:38, INFO: Skip_connection: True -2024-02-15 11:20:38, INFO: Number of layers: 1 -2024-02-15 11:20:38, INFO: Planning depth: 1 -2024-02-15 11:20:38, INFO: Planning width: 10 -2024-02-15 11:20:38, INFO: Sparse search: None -2024-02-15 11:20:41, INFO: human number: 10 -2024-02-15 11:20:41, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:41, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:41, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:45, INFO: Using device: cpu -2024-02-15 11:20:45, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:45, INFO: Similarity_func: concatenation -2024-02-15 11:20:45, INFO: Layerwise_graph: False -2024-02-15 11:20:45, INFO: Skip_connection: True -2024-02-15 11:20:45, INFO: Number of layers: 1 -2024-02-15 11:20:45, INFO: Similarity_func: concatenation -2024-02-15 11:20:45, INFO: Layerwise_graph: False -2024-02-15 11:20:45, INFO: Skip_connection: True -2024-02-15 11:20:45, INFO: Number of layers: 1 -2024-02-15 11:20:45, INFO: Planning depth: 1 -2024-02-15 11:20:45, INFO: Planning width: 10 -2024-02-15 11:20:45, INFO: Sparse search: None -2024-02-15 11:20:48, INFO: human number: 10 -2024-02-15 11:20:48, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:48, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:48, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:52, INFO: Using device: cpu -2024-02-15 11:20:52, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:52, INFO: Similarity_func: concatenation -2024-02-15 11:20:52, INFO: Layerwise_graph: False -2024-02-15 11:20:52, INFO: Skip_connection: True -2024-02-15 11:20:52, INFO: Number of layers: 1 -2024-02-15 11:20:52, INFO: Similarity_func: concatenation -2024-02-15 11:20:52, INFO: Layerwise_graph: False -2024-02-15 11:20:52, INFO: Skip_connection: True -2024-02-15 11:20:52, INFO: Number of layers: 1 -2024-02-15 11:20:52, INFO: Planning depth: 1 -2024-02-15 11:20:52, INFO: Planning width: 10 -2024-02-15 11:20:52, INFO: Sparse search: None -2024-02-15 11:20:55, INFO: human number: 10 -2024-02-15 11:20:55, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:20:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:20:55, INFO: Square width: 10, circle width: 4 -2024-02-15 11:20:55, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:20:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:20:59, INFO: Using device: cpu -2024-02-15 11:20:59, INFO: Loaded RL weights with best VAL -2024-02-15 11:20:59, INFO: Similarity_func: concatenation -2024-02-15 11:20:59, INFO: Layerwise_graph: False -2024-02-15 11:20:59, INFO: Skip_connection: True -2024-02-15 11:20:59, INFO: Number of layers: 1 -2024-02-15 11:20:59, INFO: Similarity_func: concatenation -2024-02-15 11:20:59, INFO: Layerwise_graph: False -2024-02-15 11:20:59, INFO: Skip_connection: True -2024-02-15 11:20:59, INFO: Number of layers: 1 -2024-02-15 11:20:59, INFO: Planning depth: 1 -2024-02-15 11:20:59, INFO: Planning width: 10 -2024-02-15 11:20:59, INFO: Sparse search: None -2024-02-15 11:21:02, INFO: human number: 10 -2024-02-15 11:21:02, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:02, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:02, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:06, INFO: Using device: cpu -2024-02-15 11:21:06, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:06, INFO: Similarity_func: concatenation -2024-02-15 11:21:06, INFO: Layerwise_graph: False -2024-02-15 11:21:06, INFO: Skip_connection: True -2024-02-15 11:21:06, INFO: Number of layers: 1 -2024-02-15 11:21:06, INFO: Similarity_func: concatenation -2024-02-15 11:21:06, INFO: Layerwise_graph: False -2024-02-15 11:21:06, INFO: Skip_connection: True -2024-02-15 11:21:06, INFO: Number of layers: 1 -2024-02-15 11:21:06, INFO: Planning depth: 1 -2024-02-15 11:21:06, INFO: Planning width: 10 -2024-02-15 11:21:06, INFO: Sparse search: None -2024-02-15 11:21:09, INFO: human number: 10 -2024-02-15 11:21:09, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:09, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:09, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:13, INFO: Using device: cpu -2024-02-15 11:21:13, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:13, INFO: Similarity_func: concatenation -2024-02-15 11:21:13, INFO: Layerwise_graph: False -2024-02-15 11:21:13, INFO: Skip_connection: True -2024-02-15 11:21:13, INFO: Number of layers: 1 -2024-02-15 11:21:13, INFO: Similarity_func: concatenation -2024-02-15 11:21:13, INFO: Layerwise_graph: False -2024-02-15 11:21:13, INFO: Skip_connection: True -2024-02-15 11:21:13, INFO: Number of layers: 1 -2024-02-15 11:21:13, INFO: Planning depth: 1 -2024-02-15 11:21:13, INFO: Planning width: 10 -2024-02-15 11:21:13, INFO: Sparse search: None -2024-02-15 11:21:16, INFO: human number: 10 -2024-02-15 11:21:16, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:16, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:16, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:20, INFO: Using device: cpu -2024-02-15 11:21:20, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:20, INFO: Similarity_func: concatenation -2024-02-15 11:21:20, INFO: Layerwise_graph: False -2024-02-15 11:21:20, INFO: Skip_connection: True -2024-02-15 11:21:20, INFO: Number of layers: 1 -2024-02-15 11:21:20, INFO: Similarity_func: concatenation -2024-02-15 11:21:20, INFO: Layerwise_graph: False -2024-02-15 11:21:20, INFO: Skip_connection: True -2024-02-15 11:21:20, INFO: Number of layers: 1 -2024-02-15 11:21:20, INFO: Planning depth: 1 -2024-02-15 11:21:20, INFO: Planning width: 10 -2024-02-15 11:21:20, INFO: Sparse search: None -2024-02-15 11:21:23, INFO: human number: 10 -2024-02-15 11:21:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:23, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:27, INFO: Using device: cpu -2024-02-15 11:21:27, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:27, INFO: Similarity_func: concatenation -2024-02-15 11:21:27, INFO: Layerwise_graph: False -2024-02-15 11:21:27, INFO: Skip_connection: True -2024-02-15 11:21:27, INFO: Number of layers: 1 -2024-02-15 11:21:27, INFO: Similarity_func: concatenation -2024-02-15 11:21:27, INFO: Layerwise_graph: False -2024-02-15 11:21:27, INFO: Skip_connection: True -2024-02-15 11:21:27, INFO: Number of layers: 1 -2024-02-15 11:21:27, INFO: Planning depth: 1 -2024-02-15 11:21:27, INFO: Planning width: 10 -2024-02-15 11:21:27, INFO: Sparse search: None -2024-02-15 11:21:30, INFO: human number: 10 -2024-02-15 11:21:30, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:30, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:30, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:35, INFO: Using device: cpu -2024-02-15 11:21:35, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:35, INFO: Similarity_func: concatenation -2024-02-15 11:21:35, INFO: Layerwise_graph: False -2024-02-15 11:21:35, INFO: Skip_connection: True -2024-02-15 11:21:35, INFO: Number of layers: 1 -2024-02-15 11:21:35, INFO: Similarity_func: concatenation -2024-02-15 11:21:35, INFO: Layerwise_graph: False -2024-02-15 11:21:35, INFO: Skip_connection: True -2024-02-15 11:21:35, INFO: Number of layers: 1 -2024-02-15 11:21:35, INFO: Planning depth: 1 -2024-02-15 11:21:35, INFO: Planning width: 10 -2024-02-15 11:21:35, INFO: Sparse search: None -2024-02-15 11:21:37, INFO: human number: 10 -2024-02-15 11:21:37, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:37, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:37, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:42, INFO: Using device: cpu -2024-02-15 11:21:42, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:42, INFO: Similarity_func: concatenation -2024-02-15 11:21:42, INFO: Layerwise_graph: False -2024-02-15 11:21:42, INFO: Skip_connection: True -2024-02-15 11:21:42, INFO: Number of layers: 1 -2024-02-15 11:21:42, INFO: Similarity_func: concatenation -2024-02-15 11:21:42, INFO: Layerwise_graph: False -2024-02-15 11:21:42, INFO: Skip_connection: True -2024-02-15 11:21:42, INFO: Number of layers: 1 -2024-02-15 11:21:42, INFO: Planning depth: 1 -2024-02-15 11:21:42, INFO: Planning width: 10 -2024-02-15 11:21:42, INFO: Sparse search: None -2024-02-15 11:21:44, INFO: human number: 10 -2024-02-15 11:21:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:44, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:49, INFO: Using device: cpu -2024-02-15 11:21:49, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:49, INFO: Similarity_func: concatenation -2024-02-15 11:21:49, INFO: Layerwise_graph: False -2024-02-15 11:21:49, INFO: Skip_connection: True -2024-02-15 11:21:49, INFO: Number of layers: 1 -2024-02-15 11:21:49, INFO: Similarity_func: concatenation -2024-02-15 11:21:49, INFO: Layerwise_graph: False -2024-02-15 11:21:49, INFO: Skip_connection: True -2024-02-15 11:21:49, INFO: Number of layers: 1 -2024-02-15 11:21:49, INFO: Planning depth: 1 -2024-02-15 11:21:49, INFO: Planning width: 10 -2024-02-15 11:21:49, INFO: Sparse search: None -2024-02-15 11:21:51, INFO: human number: 10 -2024-02-15 11:21:51, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:51, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:51, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:21:55, INFO: Using device: cpu -2024-02-15 11:21:55, INFO: Loaded RL weights with best VAL -2024-02-15 11:21:55, INFO: Similarity_func: concatenation -2024-02-15 11:21:55, INFO: Layerwise_graph: False -2024-02-15 11:21:55, INFO: Skip_connection: True -2024-02-15 11:21:55, INFO: Number of layers: 1 -2024-02-15 11:21:55, INFO: Similarity_func: concatenation -2024-02-15 11:21:55, INFO: Layerwise_graph: False -2024-02-15 11:21:55, INFO: Skip_connection: True -2024-02-15 11:21:55, INFO: Number of layers: 1 -2024-02-15 11:21:55, INFO: Planning depth: 1 -2024-02-15 11:21:55, INFO: Planning width: 10 -2024-02-15 11:21:55, INFO: Sparse search: None -2024-02-15 11:21:58, INFO: human number: 10 -2024-02-15 11:21:58, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:21:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:21:58, INFO: Square width: 10, circle width: 4 -2024-02-15 11:21:58, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:21:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:02, INFO: Using device: cpu -2024-02-15 11:22:02, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:02, INFO: Similarity_func: concatenation -2024-02-15 11:22:02, INFO: Layerwise_graph: False -2024-02-15 11:22:02, INFO: Skip_connection: True -2024-02-15 11:22:02, INFO: Number of layers: 1 -2024-02-15 11:22:02, INFO: Similarity_func: concatenation -2024-02-15 11:22:02, INFO: Layerwise_graph: False -2024-02-15 11:22:02, INFO: Skip_connection: True -2024-02-15 11:22:02, INFO: Number of layers: 1 -2024-02-15 11:22:02, INFO: Planning depth: 1 -2024-02-15 11:22:02, INFO: Planning width: 10 -2024-02-15 11:22:02, INFO: Sparse search: None -2024-02-15 11:22:05, INFO: human number: 10 -2024-02-15 11:22:05, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:05, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:05, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:09, INFO: Using device: cpu -2024-02-15 11:22:09, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:09, INFO: Similarity_func: concatenation -2024-02-15 11:22:09, INFO: Layerwise_graph: False -2024-02-15 11:22:09, INFO: Skip_connection: True -2024-02-15 11:22:09, INFO: Number of layers: 1 -2024-02-15 11:22:09, INFO: Similarity_func: concatenation -2024-02-15 11:22:09, INFO: Layerwise_graph: False -2024-02-15 11:22:09, INFO: Skip_connection: True -2024-02-15 11:22:09, INFO: Number of layers: 1 -2024-02-15 11:22:09, INFO: Planning depth: 1 -2024-02-15 11:22:09, INFO: Planning width: 10 -2024-02-15 11:22:09, INFO: Sparse search: None -2024-02-15 11:22:12, INFO: human number: 10 -2024-02-15 11:22:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:12, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:16, INFO: Using device: cpu -2024-02-15 11:22:16, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:16, INFO: Similarity_func: concatenation -2024-02-15 11:22:16, INFO: Layerwise_graph: False -2024-02-15 11:22:16, INFO: Skip_connection: True -2024-02-15 11:22:16, INFO: Number of layers: 1 -2024-02-15 11:22:16, INFO: Similarity_func: concatenation -2024-02-15 11:22:16, INFO: Layerwise_graph: False -2024-02-15 11:22:16, INFO: Skip_connection: True -2024-02-15 11:22:16, INFO: Number of layers: 1 -2024-02-15 11:22:16, INFO: Planning depth: 1 -2024-02-15 11:22:16, INFO: Planning width: 10 -2024-02-15 11:22:16, INFO: Sparse search: None -2024-02-15 11:22:19, INFO: human number: 10 -2024-02-15 11:22:19, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:19, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:19, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:23, INFO: Using device: cpu -2024-02-15 11:22:23, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:23, INFO: Similarity_func: concatenation -2024-02-15 11:22:23, INFO: Layerwise_graph: False -2024-02-15 11:22:23, INFO: Skip_connection: True -2024-02-15 11:22:23, INFO: Number of layers: 1 -2024-02-15 11:22:23, INFO: Similarity_func: concatenation -2024-02-15 11:22:23, INFO: Layerwise_graph: False -2024-02-15 11:22:23, INFO: Skip_connection: True -2024-02-15 11:22:23, INFO: Number of layers: 1 -2024-02-15 11:22:23, INFO: Planning depth: 1 -2024-02-15 11:22:23, INFO: Planning width: 10 -2024-02-15 11:22:23, INFO: Sparse search: None -2024-02-15 11:22:26, INFO: human number: 10 -2024-02-15 11:22:26, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:26, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:26, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:30, INFO: Using device: cpu -2024-02-15 11:22:30, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:30, INFO: Similarity_func: concatenation -2024-02-15 11:22:30, INFO: Layerwise_graph: False -2024-02-15 11:22:30, INFO: Skip_connection: True -2024-02-15 11:22:30, INFO: Number of layers: 1 -2024-02-15 11:22:30, INFO: Similarity_func: concatenation -2024-02-15 11:22:30, INFO: Layerwise_graph: False -2024-02-15 11:22:30, INFO: Skip_connection: True -2024-02-15 11:22:30, INFO: Number of layers: 1 -2024-02-15 11:22:30, INFO: Planning depth: 1 -2024-02-15 11:22:30, INFO: Planning width: 10 -2024-02-15 11:22:30, INFO: Sparse search: None -2024-02-15 11:22:32, INFO: human number: 10 -2024-02-15 11:22:32, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:32, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:32, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:37, INFO: Using device: cpu -2024-02-15 11:22:37, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:37, INFO: Similarity_func: concatenation -2024-02-15 11:22:37, INFO: Layerwise_graph: False -2024-02-15 11:22:37, INFO: Skip_connection: True -2024-02-15 11:22:37, INFO: Number of layers: 1 -2024-02-15 11:22:37, INFO: Similarity_func: concatenation -2024-02-15 11:22:37, INFO: Layerwise_graph: False -2024-02-15 11:22:37, INFO: Skip_connection: True -2024-02-15 11:22:37, INFO: Number of layers: 1 -2024-02-15 11:22:37, INFO: Planning depth: 1 -2024-02-15 11:22:37, INFO: Planning width: 10 -2024-02-15 11:22:37, INFO: Sparse search: None -2024-02-15 11:22:40, INFO: human number: 10 -2024-02-15 11:22:40, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:22:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:22:40, INFO: Square width: 10, circle width: 4 -2024-02-15 11:22:40, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:22:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:22:44, INFO: Using device: cpu -2024-02-15 11:22:44, INFO: Loaded RL weights with best VAL -2024-02-15 11:22:44, INFO: Similarity_func: concatenation -2024-02-15 11:22:44, INFO: Layerwise_graph: False -2024-02-15 11:22:44, INFO: Skip_connection: True -2024-02-15 11:22:44, INFO: Number of layers: 1 -2024-02-15 11:22:44, INFO: Similarity_func: concatenation -2024-02-15 11:22:44, INFO: Layerwise_graph: False -2024-02-15 11:22:44, INFO: Skip_connection: True -2024-02-15 11:22:44, INFO: Number of layers: 1 -2024-02-15 11:22:44, INFO: Planning depth: 1 -2024-02-15 11:22:44, INFO: Planning width: 10 -2024-02-15 11:22:44, INFO: Sparse search: None -2024-02-15 11:23:00, INFO: Using device: cpu -2024-02-15 11:23:00, INFO: Loaded RL weights with best VAL -2024-02-15 11:23:00, INFO: Similarity_func: concatenation -2024-02-15 11:23:00, INFO: Layerwise_graph: False -2024-02-15 11:23:00, INFO: Skip_connection: True -2024-02-15 11:23:00, INFO: Number of layers: 1 -2024-02-15 11:23:00, INFO: Similarity_func: concatenation -2024-02-15 11:23:00, INFO: Layerwise_graph: False -2024-02-15 11:23:00, INFO: Skip_connection: True -2024-02-15 11:23:00, INFO: Number of layers: 1 -2024-02-15 11:23:00, INFO: Planning depth: 1 -2024-02-15 11:23:00, INFO: Planning width: 10 -2024-02-15 11:23:00, INFO: Sparse search: None -2024-02-15 11:23:03, INFO: human number: 10 -2024-02-15 11:23:03, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:23:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:23:03, INFO: Square width: 10, circle width: 4 -2024-02-15 11:23:03, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:23:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 11:23:20, INFO: Using device: cpu -2024-02-15 11:23:20, INFO: Loaded RL weights with best VAL -2024-02-15 11:23:20, INFO: Similarity_func: concatenation -2024-02-15 11:23:20, INFO: Layerwise_graph: False -2024-02-15 11:23:20, INFO: Skip_connection: True -2024-02-15 11:23:20, INFO: Number of layers: 1 -2024-02-15 11:23:20, INFO: Similarity_func: concatenation -2024-02-15 11:23:20, INFO: Layerwise_graph: False -2024-02-15 11:23:20, INFO: Skip_connection: True -2024-02-15 11:23:20, INFO: Number of layers: 1 -2024-02-15 11:23:20, INFO: Planning depth: 1 -2024-02-15 11:23:20, INFO: Planning width: 10 -2024-02-15 11:23:20, INFO: Sparse search: None -2024-02-15 11:23:23, INFO: human number: 10 -2024-02-15 11:23:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 11:23:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 11:23:23, INFO: Square width: 10, circle width: 4 -2024-02-15 11:23:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 11:23:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 12:05:17, INFO: Using device: cpu -2024-02-15 12:05:17, INFO: Loaded RL weights with best VAL -2024-02-15 12:05:17, INFO: Similarity_func: concatenation -2024-02-15 12:05:17, INFO: Layerwise_graph: False -2024-02-15 12:05:17, INFO: Skip_connection: True -2024-02-15 12:05:17, INFO: Number of layers: 1 -2024-02-15 12:05:17, INFO: Similarity_func: concatenation -2024-02-15 12:05:17, INFO: Layerwise_graph: False -2024-02-15 12:05:17, INFO: Skip_connection: True -2024-02-15 12:05:17, INFO: Number of layers: 1 -2024-02-15 12:05:17, INFO: Planning depth: 1 -2024-02-15 12:05:17, INFO: Planning width: 10 -2024-02-15 12:05:17, INFO: Sparse search: None -2024-02-15 12:05:20, INFO: human number: 10 -2024-02-15 12:05:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 12:05:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 12:05:20, INFO: Square width: 10, circle width: 4 -2024-02-15 12:05:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 12:05:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:15:09, INFO: Using device: cpu -2024-02-15 14:15:09, INFO: Loaded RL weights with best VAL -2024-02-15 14:15:09, INFO: Similarity_func: concatenation -2024-02-15 14:15:09, INFO: Layerwise_graph: False -2024-02-15 14:15:09, INFO: Skip_connection: True -2024-02-15 14:15:09, INFO: Number of layers: 1 -2024-02-15 14:15:09, INFO: Similarity_func: concatenation -2024-02-15 14:15:09, INFO: Layerwise_graph: False -2024-02-15 14:15:09, INFO: Skip_connection: True -2024-02-15 14:15:09, INFO: Number of layers: 1 -2024-02-15 14:15:09, INFO: Planning depth: 1 -2024-02-15 14:15:09, INFO: Planning width: 10 -2024-02-15 14:15:09, INFO: Sparse search: None -2024-02-15 14:15:12, INFO: human number: 10 -2024-02-15 14:15:12, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:15:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:15:12, INFO: Square width: 10, circle width: 4 -2024-02-15 14:15:12, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:15:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:17:35, INFO: Using device: cpu -2024-02-15 14:17:35, INFO: Loaded RL weights with best VAL -2024-02-15 14:17:35, INFO: Similarity_func: concatenation -2024-02-15 14:17:35, INFO: Layerwise_graph: False -2024-02-15 14:17:35, INFO: Skip_connection: True -2024-02-15 14:17:35, INFO: Number of layers: 1 -2024-02-15 14:17:35, INFO: Similarity_func: concatenation -2024-02-15 14:17:35, INFO: Layerwise_graph: False -2024-02-15 14:17:35, INFO: Skip_connection: True -2024-02-15 14:17:35, INFO: Number of layers: 1 -2024-02-15 14:17:35, INFO: Planning depth: 1 -2024-02-15 14:17:35, INFO: Planning width: 10 -2024-02-15 14:17:35, INFO: Sparse search: None -2024-02-15 14:17:38, INFO: human number: 10 -2024-02-15 14:17:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:17:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:17:38, INFO: Square width: 10, circle width: 4 -2024-02-15 14:17:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:17:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:18:41, INFO: Using device: cpu -2024-02-15 14:18:41, INFO: Loaded RL weights with best VAL -2024-02-15 14:18:41, INFO: Similarity_func: concatenation -2024-02-15 14:18:41, INFO: Layerwise_graph: False -2024-02-15 14:18:41, INFO: Skip_connection: True -2024-02-15 14:18:41, INFO: Number of layers: 1 -2024-02-15 14:18:41, INFO: Similarity_func: concatenation -2024-02-15 14:18:41, INFO: Layerwise_graph: False -2024-02-15 14:18:41, INFO: Skip_connection: True -2024-02-15 14:18:41, INFO: Number of layers: 1 -2024-02-15 14:18:41, INFO: Planning depth: 1 -2024-02-15 14:18:41, INFO: Planning width: 10 -2024-02-15 14:18:41, INFO: Sparse search: None -2024-02-15 14:18:44, INFO: human number: 10 -2024-02-15 14:18:44, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:18:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:18:44, INFO: Square width: 10, circle width: 4 -2024-02-15 14:18:44, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:18:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:20:17, INFO: Using device: cpu -2024-02-15 14:20:17, INFO: Loaded RL weights with best VAL -2024-02-15 14:20:17, INFO: Similarity_func: concatenation -2024-02-15 14:20:17, INFO: Layerwise_graph: False -2024-02-15 14:20:17, INFO: Skip_connection: True -2024-02-15 14:20:17, INFO: Number of layers: 1 -2024-02-15 14:20:17, INFO: Similarity_func: concatenation -2024-02-15 14:20:17, INFO: Layerwise_graph: False -2024-02-15 14:20:17, INFO: Skip_connection: True -2024-02-15 14:20:17, INFO: Number of layers: 1 -2024-02-15 14:20:17, INFO: Planning depth: 1 -2024-02-15 14:20:17, INFO: Planning width: 10 -2024-02-15 14:20:17, INFO: Sparse search: None -2024-02-15 14:20:20, INFO: human number: 10 -2024-02-15 14:20:20, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:20:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:20:20, INFO: Square width: 10, circle width: 4 -2024-02-15 14:20:20, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:20:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:20:53, INFO: Using device: cpu -2024-02-15 14:20:53, INFO: Loaded RL weights with best VAL -2024-02-15 14:20:53, INFO: Similarity_func: concatenation -2024-02-15 14:20:53, INFO: Layerwise_graph: False -2024-02-15 14:20:53, INFO: Skip_connection: True -2024-02-15 14:20:53, INFO: Number of layers: 1 -2024-02-15 14:20:53, INFO: Similarity_func: concatenation -2024-02-15 14:20:53, INFO: Layerwise_graph: False -2024-02-15 14:20:53, INFO: Skip_connection: True -2024-02-15 14:20:53, INFO: Number of layers: 1 -2024-02-15 14:20:53, INFO: Planning depth: 1 -2024-02-15 14:20:53, INFO: Planning width: 10 -2024-02-15 14:20:53, INFO: Sparse search: None -2024-02-15 14:20:56, INFO: human number: 10 -2024-02-15 14:20:56, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:20:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:20:56, INFO: Square width: 10, circle width: 4 -2024-02-15 14:20:56, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:20:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:22:05, INFO: Using device: cpu -2024-02-15 14:22:05, INFO: Loaded RL weights with best VAL -2024-02-15 14:22:05, INFO: Similarity_func: concatenation -2024-02-15 14:22:05, INFO: Layerwise_graph: False -2024-02-15 14:22:05, INFO: Skip_connection: True -2024-02-15 14:22:05, INFO: Number of layers: 1 -2024-02-15 14:22:05, INFO: Similarity_func: concatenation -2024-02-15 14:22:05, INFO: Layerwise_graph: False -2024-02-15 14:22:05, INFO: Skip_connection: True -2024-02-15 14:22:05, INFO: Number of layers: 1 -2024-02-15 14:22:05, INFO: Planning depth: 1 -2024-02-15 14:22:05, INFO: Planning width: 10 -2024-02-15 14:22:05, INFO: Sparse search: None -2024-02-15 14:22:08, INFO: human number: 10 -2024-02-15 14:22:08, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:22:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:22:08, INFO: Square width: 10, circle width: 4 -2024-02-15 14:22:08, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:22:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:22:20, INFO: Using device: cpu -2024-02-15 14:22:20, INFO: Loaded RL weights with best VAL -2024-02-15 14:22:20, INFO: Similarity_func: concatenation -2024-02-15 14:22:20, INFO: Layerwise_graph: False -2024-02-15 14:22:20, INFO: Skip_connection: True -2024-02-15 14:22:20, INFO: Number of layers: 1 -2024-02-15 14:22:20, INFO: Similarity_func: concatenation -2024-02-15 14:22:20, INFO: Layerwise_graph: False -2024-02-15 14:22:20, INFO: Skip_connection: True -2024-02-15 14:22:20, INFO: Number of layers: 1 -2024-02-15 14:22:20, INFO: Planning depth: 1 -2024-02-15 14:22:20, INFO: Planning width: 10 -2024-02-15 14:22:20, INFO: Sparse search: None -2024-02-15 14:22:23, INFO: human number: 10 -2024-02-15 14:22:23, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:22:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:22:23, INFO: Square width: 10, circle width: 4 -2024-02-15 14:22:23, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:22:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:22:33, INFO: Using device: cpu -2024-02-15 14:22:33, INFO: Loaded RL weights with best VAL -2024-02-15 14:22:33, INFO: Similarity_func: concatenation -2024-02-15 14:22:33, INFO: Layerwise_graph: False -2024-02-15 14:22:33, INFO: Skip_connection: True -2024-02-15 14:22:33, INFO: Number of layers: 1 -2024-02-15 14:22:33, INFO: Similarity_func: concatenation -2024-02-15 14:22:33, INFO: Layerwise_graph: False -2024-02-15 14:22:33, INFO: Skip_connection: True -2024-02-15 14:22:33, INFO: Number of layers: 1 -2024-02-15 14:22:33, INFO: Planning depth: 1 -2024-02-15 14:22:33, INFO: Planning width: 10 -2024-02-15 14:22:33, INFO: Sparse search: None -2024-02-15 14:22:36, INFO: human number: 10 -2024-02-15 14:22:36, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:22:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:22:36, INFO: Square width: 10, circle width: 4 -2024-02-15 14:22:36, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:22:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:22:56, INFO: Using device: cpu -2024-02-15 14:22:56, INFO: Loaded RL weights with best VAL -2024-02-15 14:22:56, INFO: Similarity_func: concatenation -2024-02-15 14:22:56, INFO: Layerwise_graph: False -2024-02-15 14:22:56, INFO: Skip_connection: True -2024-02-15 14:22:56, INFO: Number of layers: 1 -2024-02-15 14:22:56, INFO: Similarity_func: concatenation -2024-02-15 14:22:56, INFO: Layerwise_graph: False -2024-02-15 14:22:56, INFO: Skip_connection: True -2024-02-15 14:22:56, INFO: Number of layers: 1 -2024-02-15 14:22:56, INFO: Planning depth: 1 -2024-02-15 14:22:56, INFO: Planning width: 10 -2024-02-15 14:22:56, INFO: Sparse search: None -2024-02-15 14:22:59, INFO: human number: 10 -2024-02-15 14:22:59, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:22:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:22:59, INFO: Square width: 10, circle width: 4 -2024-02-15 14:22:59, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:22:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:26:48, INFO: Using device: cpu -2024-02-15 14:26:48, INFO: Loaded RL weights with best VAL -2024-02-15 14:26:48, INFO: Similarity_func: concatenation -2024-02-15 14:26:48, INFO: Layerwise_graph: False -2024-02-15 14:26:48, INFO: Skip_connection: True -2024-02-15 14:26:48, INFO: Number of layers: 1 -2024-02-15 14:26:48, INFO: Similarity_func: concatenation -2024-02-15 14:26:48, INFO: Layerwise_graph: False -2024-02-15 14:26:48, INFO: Skip_connection: True -2024-02-15 14:26:48, INFO: Number of layers: 1 -2024-02-15 14:26:48, INFO: Planning depth: 1 -2024-02-15 14:26:48, INFO: Planning width: 10 -2024-02-15 14:26:48, INFO: Sparse search: None -2024-02-15 14:26:50, INFO: human number: 10 -2024-02-15 14:26:50, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:26:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:26:50, INFO: Square width: 10, circle width: 4 -2024-02-15 14:26:50, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:26:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:27:30, INFO: Using device: cpu -2024-02-15 14:27:30, INFO: Loaded RL weights with best VAL -2024-02-15 14:27:30, INFO: Similarity_func: concatenation -2024-02-15 14:27:30, INFO: Layerwise_graph: False -2024-02-15 14:27:30, INFO: Skip_connection: True -2024-02-15 14:27:30, INFO: Number of layers: 1 -2024-02-15 14:27:30, INFO: Similarity_func: concatenation -2024-02-15 14:27:30, INFO: Layerwise_graph: False -2024-02-15 14:27:30, INFO: Skip_connection: True -2024-02-15 14:27:30, INFO: Number of layers: 1 -2024-02-15 14:27:30, INFO: Planning depth: 1 -2024-02-15 14:27:30, INFO: Planning width: 10 -2024-02-15 14:27:30, INFO: Sparse search: None -2024-02-15 14:27:33, INFO: human number: 10 -2024-02-15 14:27:33, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:27:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:27:33, INFO: Square width: 10, circle width: 4 -2024-02-15 14:27:33, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:27:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:28:36, INFO: Using device: cpu -2024-02-15 14:28:36, INFO: Loaded RL weights with best VAL -2024-02-15 14:28:36, INFO: Similarity_func: concatenation -2024-02-15 14:28:36, INFO: Layerwise_graph: False -2024-02-15 14:28:36, INFO: Skip_connection: True -2024-02-15 14:28:36, INFO: Number of layers: 1 -2024-02-15 14:28:36, INFO: Similarity_func: concatenation -2024-02-15 14:28:36, INFO: Layerwise_graph: False -2024-02-15 14:28:36, INFO: Skip_connection: True -2024-02-15 14:28:36, INFO: Number of layers: 1 -2024-02-15 14:28:36, INFO: Planning depth: 1 -2024-02-15 14:28:36, INFO: Planning width: 10 -2024-02-15 14:28:36, INFO: Sparse search: None -2024-02-15 14:28:38, INFO: human number: 10 -2024-02-15 14:28:38, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:28:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:28:38, INFO: Square width: 10, circle width: 4 -2024-02-15 14:28:38, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:28:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:28:58, INFO: Using device: cpu -2024-02-15 14:28:58, INFO: Loaded RL weights with best VAL -2024-02-15 14:28:58, INFO: Similarity_func: concatenation -2024-02-15 14:28:58, INFO: Layerwise_graph: False -2024-02-15 14:28:58, INFO: Skip_connection: True -2024-02-15 14:28:58, INFO: Number of layers: 1 -2024-02-15 14:28:58, INFO: Similarity_func: concatenation -2024-02-15 14:28:58, INFO: Layerwise_graph: False -2024-02-15 14:28:58, INFO: Skip_connection: True -2024-02-15 14:28:58, INFO: Number of layers: 1 -2024-02-15 14:28:58, INFO: Planning depth: 1 -2024-02-15 14:28:58, INFO: Planning width: 10 -2024-02-15 14:28:58, INFO: Sparse search: None -2024-02-15 14:29:01, INFO: human number: 10 -2024-02-15 14:29:01, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:29:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:29:01, INFO: Square width: 10, circle width: 4 -2024-02-15 14:29:01, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:29:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:29:32, INFO: Using device: cpu -2024-02-15 14:29:32, INFO: Loaded RL weights with best VAL -2024-02-15 14:29:32, INFO: Similarity_func: concatenation -2024-02-15 14:29:32, INFO: Layerwise_graph: False -2024-02-15 14:29:32, INFO: Skip_connection: True -2024-02-15 14:29:32, INFO: Number of layers: 1 -2024-02-15 14:29:32, INFO: Similarity_func: concatenation -2024-02-15 14:29:32, INFO: Layerwise_graph: False -2024-02-15 14:29:32, INFO: Skip_connection: True -2024-02-15 14:29:32, INFO: Number of layers: 1 -2024-02-15 14:29:32, INFO: Planning depth: 1 -2024-02-15 14:29:32, INFO: Planning width: 10 -2024-02-15 14:29:32, INFO: Sparse search: None -2024-02-15 14:29:35, INFO: human number: 10 -2024-02-15 14:29:35, INFO: Not randomize human's radius and preferred speed -2024-02-15 14:29:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-15 14:29:35, INFO: Square width: 10, circle width: 4 -2024-02-15 14:29:35, INFO: rotation constraint: 3.141592653589793 -2024-02-15 14:29:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-15 14:53:15, INFO: TEST has success rate: 0.990, collision rate: 0.010, nav time: 12.834, total reward: 1728.5688, average return: 0.6568 -2024-02-15 14:53:15, INFO: Frequency of being in danger: 0.031 and average min separate distance in danger: 0.16 -2024-02-15 14:53:15, INFO: discomfor nums is 1651 and return is 0.6468 and length is 51073 -2024-02-15 14:53:15, INFO: Collision cases: 89 140 162 515 650 706 741 785 904 960 -2024-02-15 14:53:15, INFO: Timeout cases: -2024-02-17 11:04:51, INFO: Using device: cpu -2024-02-17 11:04:51, INFO: Loaded RL weights with best VAL -2024-02-17 11:04:51, INFO: Similarity_func: concatenation -2024-02-17 11:04:51, INFO: Layerwise_graph: False -2024-02-17 11:04:51, INFO: Skip_connection: True -2024-02-17 11:04:51, INFO: Number of layers: 1 -2024-02-17 11:04:51, INFO: Similarity_func: concatenation -2024-02-17 11:04:51, INFO: Layerwise_graph: False -2024-02-17 11:04:51, INFO: Skip_connection: True -2024-02-17 11:04:51, INFO: Number of layers: 1 -2024-02-17 11:04:51, INFO: Planning depth: 1 -2024-02-17 11:04:51, INFO: Planning width: 10 -2024-02-17 11:04:51, INFO: Sparse search: None -2024-02-17 11:04:54, INFO: human number: 10 -2024-02-17 11:04:54, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:04:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:04:54, INFO: Square width: 10, circle width: 4 -2024-02-17 11:04:54, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:04:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:06:26, INFO: human number: 10 -2024-02-17 11:06:26, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:06:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:06:26, INFO: Square width: 10, circle width: 4 -2024-02-17 11:06:26, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:06:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:10:26, INFO: Using device: cpu -2024-02-17 11:10:26, INFO: Loaded RL weights with best VAL -2024-02-17 11:10:26, INFO: Similarity_func: concatenation -2024-02-17 11:10:26, INFO: Layerwise_graph: False -2024-02-17 11:10:26, INFO: Skip_connection: True -2024-02-17 11:10:26, INFO: Number of layers: 1 -2024-02-17 11:10:26, INFO: Similarity_func: concatenation -2024-02-17 11:10:26, INFO: Layerwise_graph: False -2024-02-17 11:10:26, INFO: Skip_connection: True -2024-02-17 11:10:26, INFO: Number of layers: 1 -2024-02-17 11:10:26, INFO: Planning depth: 1 -2024-02-17 11:10:26, INFO: Planning width: 10 -2024-02-17 11:10:26, INFO: Sparse search: None -2024-02-17 11:10:29, INFO: human number: 10 -2024-02-17 11:10:29, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:10:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:10:29, INFO: Square width: 10, circle width: 4 -2024-02-17 11:10:29, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:10:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:11:26, INFO: Using device: cpu -2024-02-17 11:11:26, INFO: Loaded RL weights with best VAL -2024-02-17 11:11:26, INFO: Similarity_func: concatenation -2024-02-17 11:11:26, INFO: Layerwise_graph: False -2024-02-17 11:11:26, INFO: Skip_connection: True -2024-02-17 11:11:26, INFO: Number of layers: 1 -2024-02-17 11:11:26, INFO: Similarity_func: concatenation -2024-02-17 11:11:26, INFO: Layerwise_graph: False -2024-02-17 11:11:26, INFO: Skip_connection: True -2024-02-17 11:11:26, INFO: Number of layers: 1 -2024-02-17 11:11:26, INFO: Planning depth: 1 -2024-02-17 11:11:26, INFO: Planning width: 10 -2024-02-17 11:11:26, INFO: Sparse search: None -2024-02-17 11:11:28, INFO: human number: 10 -2024-02-17 11:11:28, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:11:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:11:28, INFO: Square width: 10, circle width: 4 -2024-02-17 11:11:28, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:11:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:11:50, INFO: Using device: cpu -2024-02-17 11:11:50, INFO: Loaded RL weights with best VAL -2024-02-17 11:11:50, INFO: Similarity_func: concatenation -2024-02-17 11:11:50, INFO: Layerwise_graph: False -2024-02-17 11:11:50, INFO: Skip_connection: True -2024-02-17 11:11:50, INFO: Number of layers: 1 -2024-02-17 11:11:51, INFO: Similarity_func: concatenation -2024-02-17 11:11:51, INFO: Layerwise_graph: False -2024-02-17 11:11:51, INFO: Skip_connection: True -2024-02-17 11:11:51, INFO: Number of layers: 1 -2024-02-17 11:11:51, INFO: Planning depth: 1 -2024-02-17 11:11:51, INFO: Planning width: 10 -2024-02-17 11:11:51, INFO: Sparse search: None -2024-02-17 11:11:53, INFO: human number: 5 -2024-02-17 11:11:53, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:11:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:11:53, INFO: Square width: 10, circle width: 4 -2024-02-17 11:11:53, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:11:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:12:12, INFO: Using device: cpu -2024-02-17 11:12:12, INFO: Loaded RL weights with best VAL -2024-02-17 11:12:12, INFO: Similarity_func: concatenation -2024-02-17 11:12:12, INFO: Layerwise_graph: False -2024-02-17 11:12:12, INFO: Skip_connection: True -2024-02-17 11:12:12, INFO: Number of layers: 1 -2024-02-17 11:12:12, INFO: Similarity_func: concatenation -2024-02-17 11:12:12, INFO: Layerwise_graph: False -2024-02-17 11:12:12, INFO: Skip_connection: True -2024-02-17 11:12:12, INFO: Number of layers: 1 -2024-02-17 11:12:12, INFO: Planning depth: 1 -2024-02-17 11:12:12, INFO: Planning width: 10 -2024-02-17 11:12:12, INFO: Sparse search: None -2024-02-17 11:12:15, INFO: human number: 10 -2024-02-17 11:12:15, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:12:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:12:15, INFO: Square width: 10, circle width: 4 -2024-02-17 11:12:15, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:12:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:13:04, INFO: Using device: cpu -2024-02-17 11:13:04, INFO: Loaded RL weights with best VAL -2024-02-17 11:13:04, INFO: Similarity_func: concatenation -2024-02-17 11:13:04, INFO: Layerwise_graph: False -2024-02-17 11:13:04, INFO: Skip_connection: True -2024-02-17 11:13:04, INFO: Number of layers: 1 -2024-02-17 11:13:04, INFO: Similarity_func: concatenation -2024-02-17 11:13:04, INFO: Layerwise_graph: False -2024-02-17 11:13:04, INFO: Skip_connection: True -2024-02-17 11:13:04, INFO: Number of layers: 1 -2024-02-17 11:13:04, INFO: Planning depth: 1 -2024-02-17 11:13:04, INFO: Planning width: 10 -2024-02-17 11:13:04, INFO: Sparse search: None -2024-02-17 11:13:28, INFO: Using device: cpu -2024-02-17 11:13:28, INFO: Loaded RL weights with best VAL -2024-02-17 11:13:28, INFO: Similarity_func: concatenation -2024-02-17 11:13:28, INFO: Layerwise_graph: False -2024-02-17 11:13:28, INFO: Skip_connection: True -2024-02-17 11:13:28, INFO: Number of layers: 1 -2024-02-17 11:13:28, INFO: Similarity_func: concatenation -2024-02-17 11:13:28, INFO: Layerwise_graph: False -2024-02-17 11:13:28, INFO: Skip_connection: True -2024-02-17 11:13:28, INFO: Number of layers: 1 -2024-02-17 11:13:28, INFO: Planning depth: 1 -2024-02-17 11:13:28, INFO: Planning width: 10 -2024-02-17 11:13:28, INFO: Sparse search: None -2024-02-17 11:14:39, INFO: Using device: cpu -2024-02-17 11:14:39, INFO: Loaded RL weights with best VAL -2024-02-17 11:14:39, INFO: Similarity_func: concatenation -2024-02-17 11:14:39, INFO: Layerwise_graph: False -2024-02-17 11:14:39, INFO: Skip_connection: True -2024-02-17 11:14:39, INFO: Number of layers: 1 -2024-02-17 11:14:39, INFO: Similarity_func: concatenation -2024-02-17 11:14:39, INFO: Layerwise_graph: False -2024-02-17 11:14:39, INFO: Skip_connection: True -2024-02-17 11:14:39, INFO: Number of layers: 1 -2024-02-17 11:14:39, INFO: Planning depth: 1 -2024-02-17 11:14:39, INFO: Planning width: 10 -2024-02-17 11:14:39, INFO: Sparse search: None -2024-02-17 11:14:42, INFO: human number: 10 -2024-02-17 11:14:42, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:14:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:14:42, INFO: Square width: 10, circle width: 4 -2024-02-17 11:14:42, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:14:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:25:52, INFO: TEST has success rate: 0.993, collision rate: 0.007, nav time: 10.650, total reward: 1740.8793, average return: 0.7160 -2024-02-17 11:25:52, INFO: Frequency of being in danger: 0.031 and average min separate distance in danger: 0.16 -2024-02-17 11:25:52, INFO: discomfor nums is 1400 and return is 0.7119 and length is 42436 -2024-02-17 11:25:52, INFO: Collision cases: 62 502 522 739 776 889 901 -2024-02-17 11:25:52, INFO: Timeout cases: -2024-02-17 11:50:35, INFO: Using device: cpu -2024-02-17 11:50:35, INFO: Loaded RL weights with best VAL -2024-02-17 11:50:35, INFO: Similarity_func: concatenation -2024-02-17 11:50:35, INFO: Layerwise_graph: False -2024-02-17 11:50:35, INFO: Skip_connection: True -2024-02-17 11:50:35, INFO: Number of layers: 1 -2024-02-17 11:50:35, INFO: Similarity_func: concatenation -2024-02-17 11:50:35, INFO: Layerwise_graph: False -2024-02-17 11:50:35, INFO: Skip_connection: True -2024-02-17 11:50:35, INFO: Number of layers: 1 -2024-02-17 11:50:35, INFO: Planning depth: 1 -2024-02-17 11:50:35, INFO: Planning width: 10 -2024-02-17 11:50:35, INFO: Sparse search: None -2024-02-17 11:50:38, INFO: human number: 5 -2024-02-17 11:50:38, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:50:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:50:38, INFO: Square width: 10, circle width: 4 -2024-02-17 11:50:38, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:50:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 11:55:54, INFO: Using device: cpu -2024-02-17 11:55:54, INFO: Loaded RL weights with best VAL -2024-02-17 11:55:54, INFO: Similarity_func: concatenation -2024-02-17 11:55:54, INFO: Layerwise_graph: False -2024-02-17 11:55:54, INFO: Skip_connection: True -2024-02-17 11:55:54, INFO: Number of layers: 1 -2024-02-17 11:55:54, INFO: Similarity_func: concatenation -2024-02-17 11:55:54, INFO: Layerwise_graph: False -2024-02-17 11:55:54, INFO: Skip_connection: True -2024-02-17 11:55:54, INFO: Number of layers: 1 -2024-02-17 11:55:54, INFO: Planning depth: 1 -2024-02-17 11:55:54, INFO: Planning width: 10 -2024-02-17 11:55:54, INFO: Sparse search: None -2024-02-17 11:55:57, INFO: human number: 10 -2024-02-17 11:55:57, INFO: Not randomize human's radius and preferred speed -2024-02-17 11:55:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 11:55:57, INFO: Square width: 10, circle width: 4 -2024-02-17 11:55:57, INFO: rotation constraint: 3.141592653589793 -2024-02-17 11:55:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 13:17:57, INFO: Using device: cpu -2024-02-17 13:17:57, INFO: Loaded RL weights with best VAL -2024-02-17 13:17:57, INFO: Similarity_func: concatenation -2024-02-17 13:17:57, INFO: Layerwise_graph: False -2024-02-17 13:17:57, INFO: Skip_connection: True -2024-02-17 13:17:57, INFO: Number of layers: 1 -2024-02-17 13:17:57, INFO: Similarity_func: concatenation -2024-02-17 13:17:57, INFO: Layerwise_graph: False -2024-02-17 13:17:57, INFO: Skip_connection: True -2024-02-17 13:17:57, INFO: Number of layers: 1 -2024-02-17 13:17:57, INFO: Planning depth: 1 -2024-02-17 13:17:57, INFO: Planning width: 10 -2024-02-17 13:17:57, INFO: Sparse search: None -2024-02-17 13:17:59, INFO: human number: 20 -2024-02-17 13:17:59, INFO: Not randomize human's radius and preferred speed -2024-02-17 13:17:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 13:17:59, INFO: Square width: 10, circle width: 4 -2024-02-17 13:17:59, INFO: rotation constraint: 3.141592653589793 -2024-02-17 13:17:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 13:19:28, INFO: Using device: cpu -2024-02-17 13:19:28, INFO: Loaded RL weights with best VAL -2024-02-17 13:19:28, INFO: Similarity_func: concatenation -2024-02-17 13:19:28, INFO: Layerwise_graph: False -2024-02-17 13:19:28, INFO: Skip_connection: True -2024-02-17 13:19:28, INFO: Number of layers: 1 -2024-02-17 13:19:28, INFO: Similarity_func: concatenation -2024-02-17 13:19:28, INFO: Layerwise_graph: False -2024-02-17 13:19:28, INFO: Skip_connection: True -2024-02-17 13:19:28, INFO: Number of layers: 1 -2024-02-17 13:19:28, INFO: Planning depth: 1 -2024-02-17 13:19:28, INFO: Planning width: 10 -2024-02-17 13:19:28, INFO: Sparse search: None -2024-02-17 13:19:31, INFO: human number: 20 -2024-02-17 13:19:31, INFO: Not randomize human's radius and preferred speed -2024-02-17 13:19:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-17 13:19:31, INFO: Square width: 10, circle width: 4 -2024-02-17 13:19:31, INFO: rotation constraint: 3.141592653589793 -2024-02-17 13:19:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-17 13:52:00, INFO: TEST has success rate: 0.946, collision rate: 0.048, nav time: 14.784, total reward: 1518.9268, average return: 0.5598 -2024-02-17 13:52:00, INFO: Frequency of being in danger: 0.062 and average min separate distance in danger: 0.15 -2024-02-17 13:52:00, INFO: discomfor nums is 3993 and return is 0.5686 and length is 57919 -2024-02-17 13:52:00, INFO: Collision cases: 3 17 20 37 43 84 123 137 153 154 157 163 168 233 287 290 303 304 371 393 423 463 539 548 564 565 579 590 593 595 620 629 686 773 783 825 827 838 845 866 877 880 899 945 956 957 964 977 -2024-02-17 13:52:00, INFO: Timeout cases: 145 206 509 622 623 711 -2024-02-17 13:52:13, INFO: TEST has success rate: 0.945, collision rate: 0.055, nav time: 14.552, total reward: 1521.1318, average return: 0.5713 -2024-02-17 13:52:13, INFO: Frequency of being in danger: 0.059 and average min separate distance in danger: 0.15 -2024-02-17 13:52:13, INFO: discomfor nums is 3820 and return is 0.5899 and length is 56453 -2024-02-17 13:52:13, INFO: Collision cases: 14 39 123 141 163 168 173 196 202 218 287 303 321 356 363 370 371 379 385 400 401 403 414 423 465 488 495 503 521 528 547 569 608 677 689 712 730 732 738 748 753 777 779 783 799 825 880 928 950 951 964 977 978 987 988 -2024-02-17 13:52:13, INFO: Timeout cases: -2024-02-18 13:02:31, INFO: Using device: cpu -2024-02-18 13:02:31, INFO: Loaded RL weights with best VAL -2024-02-18 13:02:31, INFO: Similarity_func: concatenation -2024-02-18 13:02:31, INFO: Layerwise_graph: False -2024-02-18 13:02:31, INFO: Skip_connection: True -2024-02-18 13:02:31, INFO: Number of layers: 1 -2024-02-18 13:02:31, INFO: Similarity_func: concatenation -2024-02-18 13:02:31, INFO: Layerwise_graph: False -2024-02-18 13:02:31, INFO: Skip_connection: True -2024-02-18 13:02:31, INFO: Number of layers: 1 -2024-02-18 13:02:31, INFO: Planning depth: 1 -2024-02-18 13:02:31, INFO: Planning width: 10 -2024-02-18 13:02:31, INFO: Sparse search: None -2024-02-18 13:02:34, INFO: human number: 10 -2024-02-18 13:02:34, INFO: Not randomize human's radius and preferred speed -2024-02-18 13:02:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-18 13:02:34, INFO: Square width: 10, circle width: 4 -2024-02-18 13:02:34, INFO: rotation constraint: 3.141592653589793 -2024-02-18 13:02:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-18 13:03:50, INFO: Using device: cpu -2024-02-18 13:03:50, INFO: Loaded RL weights with best VAL -2024-02-18 13:03:50, INFO: Similarity_func: concatenation -2024-02-18 13:03:50, INFO: Layerwise_graph: False -2024-02-18 13:03:50, INFO: Skip_connection: True -2024-02-18 13:03:50, INFO: Number of layers: 1 -2024-02-18 13:03:50, INFO: Similarity_func: concatenation -2024-02-18 13:03:50, INFO: Layerwise_graph: False -2024-02-18 13:03:50, INFO: Skip_connection: True -2024-02-18 13:03:50, INFO: Number of layers: 1 -2024-02-18 13:03:50, INFO: Planning depth: 1 -2024-02-18 13:03:50, INFO: Planning width: 10 -2024-02-18 13:03:50, INFO: Sparse search: None -2024-02-18 13:03:53, INFO: human number: 10 -2024-02-18 13:03:53, INFO: Not randomize human's radius and preferred speed -2024-02-18 13:03:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-18 13:03:53, INFO: Square width: 10, circle width: 4 -2024-02-18 13:03:53, INFO: rotation constraint: 3.141592653589793 -2024-02-18 13:03:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-18 13:04:08, INFO: Using device: cpu -2024-02-18 13:04:08, INFO: Loaded RL weights with best VAL -2024-02-18 13:04:08, INFO: Similarity_func: concatenation -2024-02-18 13:04:08, INFO: Layerwise_graph: False -2024-02-18 13:04:08, INFO: Skip_connection: True -2024-02-18 13:04:08, INFO: Number of layers: 1 -2024-02-18 13:04:08, INFO: Similarity_func: concatenation -2024-02-18 13:04:08, INFO: Layerwise_graph: False -2024-02-18 13:04:08, INFO: Skip_connection: True -2024-02-18 13:04:08, INFO: Number of layers: 1 -2024-02-18 13:04:08, INFO: Planning depth: 1 -2024-02-18 13:04:08, INFO: Planning width: 10 -2024-02-18 13:04:08, INFO: Sparse search: None -2024-02-18 13:04:11, INFO: human number: 10 -2024-02-18 13:04:11, INFO: Not randomize human's radius and preferred speed -2024-02-18 13:04:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-18 13:04:11, INFO: Square width: 10, circle width: 4 -2024-02-18 13:04:11, INFO: rotation constraint: 3.141592653589793 -2024-02-18 13:04:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-18 13:04:22, INFO: Using device: cpu -2024-02-18 13:04:22, INFO: Loaded RL weights with best VAL -2024-02-18 13:04:22, INFO: Similarity_func: concatenation -2024-02-18 13:04:22, INFO: Layerwise_graph: False -2024-02-18 13:04:22, INFO: Skip_connection: True -2024-02-18 13:04:22, INFO: Number of layers: 1 -2024-02-18 13:04:22, INFO: Similarity_func: concatenation -2024-02-18 13:04:22, INFO: Layerwise_graph: False -2024-02-18 13:04:22, INFO: Skip_connection: True -2024-02-18 13:04:22, INFO: Number of layers: 1 -2024-02-18 13:04:22, INFO: Planning depth: 1 -2024-02-18 13:04:22, INFO: Planning width: 10 -2024-02-18 13:04:22, INFO: Sparse search: None -2024-02-18 13:04:25, INFO: human number: 10 -2024-02-18 13:04:25, INFO: Not randomize human's radius and preferred speed -2024-02-18 13:04:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-18 13:04:25, INFO: Square width: 10, circle width: 4 -2024-02-18 13:04:25, INFO: rotation constraint: 3.141592653589793 -2024-02-18 13:04:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-18 13:04:37, INFO: Using device: cpu -2024-02-18 13:04:37, INFO: Loaded RL weights with best VAL -2024-02-18 13:04:37, INFO: Similarity_func: concatenation -2024-02-18 13:04:37, INFO: Layerwise_graph: False -2024-02-18 13:04:37, INFO: Skip_connection: True -2024-02-18 13:04:37, INFO: Number of layers: 1 -2024-02-18 13:04:37, INFO: Similarity_func: concatenation -2024-02-18 13:04:37, INFO: Layerwise_graph: False -2024-02-18 13:04:37, INFO: Skip_connection: True -2024-02-18 13:04:37, INFO: Number of layers: 1 -2024-02-18 13:04:37, INFO: Planning depth: 1 -2024-02-18 13:04:37, INFO: Planning width: 10 -2024-02-18 13:04:37, INFO: Sparse search: None -2024-02-18 13:04:39, INFO: human number: 10 -2024-02-18 13:04:39, INFO: Not randomize human's radius and preferred speed -2024-02-18 13:04:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-18 13:04:39, INFO: Square width: 10, circle width: 4 -2024-02-18 13:04:39, INFO: rotation constraint: 3.141592653589793 -2024-02-18 13:04:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-19 10:13:29, INFO: Using device: cpu -2024-02-19 10:13:29, INFO: Loaded RL weights with best VAL -2024-02-20 09:49:45, INFO: Using device: cpu -2024-02-20 09:49:45, INFO: Loaded RL weights with best VAL -2024-02-20 09:49:45, INFO: Similarity_func: concatenation -2024-02-20 09:49:45, INFO: Layerwise_graph: False -2024-02-20 09:49:45, INFO: Skip_connection: True -2024-02-20 09:49:45, INFO: Number of layers: 1 -2024-02-20 09:49:45, INFO: Similarity_func: concatenation -2024-02-20 09:49:45, INFO: Layerwise_graph: False -2024-02-20 09:49:45, INFO: Skip_connection: True -2024-02-20 09:49:45, INFO: Number of layers: 1 -2024-02-20 09:49:45, INFO: Planning depth: 1 -2024-02-20 09:49:45, INFO: Planning width: 10 -2024-02-20 09:49:45, INFO: Sparse search: None -2024-02-20 09:49:47, INFO: human number: 10 -2024-02-20 09:49:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:49:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:49:47, INFO: Square width: 10, circle width: 4 -2024-02-20 09:49:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:49:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:49:51, INFO: Using device: cpu -2024-02-20 09:49:51, INFO: Loaded RL weights with best VAL -2024-02-20 09:49:51, INFO: Similarity_func: concatenation -2024-02-20 09:49:51, INFO: Layerwise_graph: False -2024-02-20 09:49:51, INFO: Skip_connection: True -2024-02-20 09:49:51, INFO: Number of layers: 1 -2024-02-20 09:49:51, INFO: Similarity_func: concatenation -2024-02-20 09:49:51, INFO: Layerwise_graph: False -2024-02-20 09:49:51, INFO: Skip_connection: True -2024-02-20 09:49:51, INFO: Number of layers: 1 -2024-02-20 09:49:51, INFO: Planning depth: 1 -2024-02-20 09:49:51, INFO: Planning width: 10 -2024-02-20 09:49:51, INFO: Sparse search: None -2024-02-20 09:51:19, INFO: Using device: cpu -2024-02-20 09:51:19, INFO: Loaded RL weights with best VAL -2024-02-20 09:51:19, INFO: Similarity_func: concatenation -2024-02-20 09:51:19, INFO: Layerwise_graph: False -2024-02-20 09:51:19, INFO: Skip_connection: True -2024-02-20 09:51:19, INFO: Number of layers: 1 -2024-02-20 09:51:19, INFO: Similarity_func: concatenation -2024-02-20 09:51:19, INFO: Layerwise_graph: False -2024-02-20 09:51:19, INFO: Skip_connection: True -2024-02-20 09:51:19, INFO: Number of layers: 1 -2024-02-20 09:51:19, INFO: Planning depth: 1 -2024-02-20 09:51:19, INFO: Planning width: 10 -2024-02-20 09:51:19, INFO: Sparse search: None -2024-02-20 09:51:21, INFO: human number: 10 -2024-02-20 09:51:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:51:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:51:21, INFO: Square width: 10, circle width: 4 -2024-02-20 09:51:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:51:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:54:18, INFO: Using device: cpu -2024-02-20 09:54:18, INFO: Loaded RL weights with best VAL -2024-02-20 09:54:18, INFO: Similarity_func: concatenation -2024-02-20 09:54:18, INFO: Layerwise_graph: False -2024-02-20 09:54:18, INFO: Skip_connection: True -2024-02-20 09:54:18, INFO: Number of layers: 1 -2024-02-20 09:54:18, INFO: Similarity_func: concatenation -2024-02-20 09:54:18, INFO: Layerwise_graph: False -2024-02-20 09:54:18, INFO: Skip_connection: True -2024-02-20 09:54:18, INFO: Number of layers: 1 -2024-02-20 09:54:18, INFO: Planning depth: 1 -2024-02-20 09:54:18, INFO: Planning width: 10 -2024-02-20 09:54:18, INFO: Sparse search: None -2024-02-20 09:54:21, INFO: human number: 10 -2024-02-20 09:54:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:54:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:54:21, INFO: Square width: 10, circle width: 4 -2024-02-20 09:54:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:54:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:55:53, INFO: Using device: cpu -2024-02-20 09:55:53, INFO: Loaded RL weights with best VAL -2024-02-20 09:55:53, INFO: Similarity_func: concatenation -2024-02-20 09:55:53, INFO: Layerwise_graph: False -2024-02-20 09:55:53, INFO: Skip_connection: True -2024-02-20 09:55:53, INFO: Number of layers: 1 -2024-02-20 09:55:53, INFO: Similarity_func: concatenation -2024-02-20 09:55:53, INFO: Layerwise_graph: False -2024-02-20 09:55:53, INFO: Skip_connection: True -2024-02-20 09:55:53, INFO: Number of layers: 1 -2024-02-20 09:55:53, INFO: Planning depth: 1 -2024-02-20 09:55:53, INFO: Planning width: 10 -2024-02-20 09:55:53, INFO: Sparse search: None -2024-02-20 09:55:56, INFO: human number: 10 -2024-02-20 09:55:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:55:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:55:56, INFO: Square width: 10, circle width: 4 -2024-02-20 09:55:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:55:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:05, INFO: Using device: cpu -2024-02-20 09:56:05, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:05, INFO: Similarity_func: concatenation -2024-02-20 09:56:05, INFO: Layerwise_graph: False -2024-02-20 09:56:05, INFO: Skip_connection: True -2024-02-20 09:56:05, INFO: Number of layers: 1 -2024-02-20 09:56:05, INFO: Similarity_func: concatenation -2024-02-20 09:56:05, INFO: Layerwise_graph: False -2024-02-20 09:56:05, INFO: Skip_connection: True -2024-02-20 09:56:05, INFO: Number of layers: 1 -2024-02-20 09:56:05, INFO: Planning depth: 1 -2024-02-20 09:56:05, INFO: Planning width: 10 -2024-02-20 09:56:05, INFO: Sparse search: None -2024-02-20 09:56:08, INFO: human number: 10 -2024-02-20 09:56:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:08, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:12, INFO: Using device: cpu -2024-02-20 09:56:12, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:12, INFO: Similarity_func: concatenation -2024-02-20 09:56:12, INFO: Layerwise_graph: False -2024-02-20 09:56:12, INFO: Skip_connection: True -2024-02-20 09:56:12, INFO: Number of layers: 1 -2024-02-20 09:56:12, INFO: Similarity_func: concatenation -2024-02-20 09:56:12, INFO: Layerwise_graph: False -2024-02-20 09:56:12, INFO: Skip_connection: True -2024-02-20 09:56:12, INFO: Number of layers: 1 -2024-02-20 09:56:12, INFO: Planning depth: 1 -2024-02-20 09:56:12, INFO: Planning width: 10 -2024-02-20 09:56:12, INFO: Sparse search: None -2024-02-20 09:56:15, INFO: human number: 10 -2024-02-20 09:56:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:15, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:27, INFO: Using device: cpu -2024-02-20 09:56:27, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:27, INFO: Similarity_func: concatenation -2024-02-20 09:56:27, INFO: Layerwise_graph: False -2024-02-20 09:56:27, INFO: Skip_connection: True -2024-02-20 09:56:27, INFO: Number of layers: 1 -2024-02-20 09:56:27, INFO: Similarity_func: concatenation -2024-02-20 09:56:27, INFO: Layerwise_graph: False -2024-02-20 09:56:27, INFO: Skip_connection: True -2024-02-20 09:56:27, INFO: Number of layers: 1 -2024-02-20 09:56:27, INFO: Planning depth: 1 -2024-02-20 09:56:27, INFO: Planning width: 10 -2024-02-20 09:56:27, INFO: Sparse search: None -2024-02-20 09:56:30, INFO: human number: 10 -2024-02-20 09:56:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:30, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:34, INFO: Using device: cpu -2024-02-20 09:56:34, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:34, INFO: Similarity_func: concatenation -2024-02-20 09:56:34, INFO: Layerwise_graph: False -2024-02-20 09:56:34, INFO: Skip_connection: True -2024-02-20 09:56:34, INFO: Number of layers: 1 -2024-02-20 09:56:34, INFO: Similarity_func: concatenation -2024-02-20 09:56:34, INFO: Layerwise_graph: False -2024-02-20 09:56:34, INFO: Skip_connection: True -2024-02-20 09:56:34, INFO: Number of layers: 1 -2024-02-20 09:56:34, INFO: Planning depth: 1 -2024-02-20 09:56:34, INFO: Planning width: 10 -2024-02-20 09:56:34, INFO: Sparse search: None -2024-02-20 09:56:37, INFO: human number: 10 -2024-02-20 09:56:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:37, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:41, INFO: Using device: cpu -2024-02-20 09:56:41, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:41, INFO: Similarity_func: concatenation -2024-02-20 09:56:41, INFO: Layerwise_graph: False -2024-02-20 09:56:41, INFO: Skip_connection: True -2024-02-20 09:56:41, INFO: Number of layers: 1 -2024-02-20 09:56:41, INFO: Similarity_func: concatenation -2024-02-20 09:56:41, INFO: Layerwise_graph: False -2024-02-20 09:56:41, INFO: Skip_connection: True -2024-02-20 09:56:41, INFO: Number of layers: 1 -2024-02-20 09:56:41, INFO: Planning depth: 1 -2024-02-20 09:56:41, INFO: Planning width: 10 -2024-02-20 09:56:41, INFO: Sparse search: None -2024-02-20 09:56:44, INFO: human number: 10 -2024-02-20 09:56:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:44, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:48, INFO: Using device: cpu -2024-02-20 09:56:48, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:48, INFO: Similarity_func: concatenation -2024-02-20 09:56:48, INFO: Layerwise_graph: False -2024-02-20 09:56:48, INFO: Skip_connection: True -2024-02-20 09:56:48, INFO: Number of layers: 1 -2024-02-20 09:56:48, INFO: Similarity_func: concatenation -2024-02-20 09:56:48, INFO: Layerwise_graph: False -2024-02-20 09:56:48, INFO: Skip_connection: True -2024-02-20 09:56:48, INFO: Number of layers: 1 -2024-02-20 09:56:48, INFO: Planning depth: 1 -2024-02-20 09:56:48, INFO: Planning width: 10 -2024-02-20 09:56:48, INFO: Sparse search: None -2024-02-20 09:56:51, INFO: human number: 10 -2024-02-20 09:56:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:51, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:56:56, INFO: Using device: cpu -2024-02-20 09:56:56, INFO: Loaded RL weights with best VAL -2024-02-20 09:56:56, INFO: Similarity_func: concatenation -2024-02-20 09:56:56, INFO: Layerwise_graph: False -2024-02-20 09:56:56, INFO: Skip_connection: True -2024-02-20 09:56:56, INFO: Number of layers: 1 -2024-02-20 09:56:56, INFO: Similarity_func: concatenation -2024-02-20 09:56:56, INFO: Layerwise_graph: False -2024-02-20 09:56:56, INFO: Skip_connection: True -2024-02-20 09:56:56, INFO: Number of layers: 1 -2024-02-20 09:56:56, INFO: Planning depth: 1 -2024-02-20 09:56:56, INFO: Planning width: 10 -2024-02-20 09:56:56, INFO: Sparse search: None -2024-02-20 09:56:59, INFO: human number: 10 -2024-02-20 09:56:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:56:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:56:59, INFO: Square width: 10, circle width: 4 -2024-02-20 09:56:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:56:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:57:03, INFO: Using device: cpu -2024-02-20 09:57:03, INFO: Loaded RL weights with best VAL -2024-02-20 09:57:03, INFO: Similarity_func: concatenation -2024-02-20 09:57:03, INFO: Layerwise_graph: False -2024-02-20 09:57:03, INFO: Skip_connection: True -2024-02-20 09:57:03, INFO: Number of layers: 1 -2024-02-20 09:57:03, INFO: Similarity_func: concatenation -2024-02-20 09:57:03, INFO: Layerwise_graph: False -2024-02-20 09:57:03, INFO: Skip_connection: True -2024-02-20 09:57:03, INFO: Number of layers: 1 -2024-02-20 09:57:03, INFO: Planning depth: 1 -2024-02-20 09:57:03, INFO: Planning width: 10 -2024-02-20 09:57:03, INFO: Sparse search: None -2024-02-20 09:57:05, INFO: human number: 10 -2024-02-20 09:57:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:57:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:57:05, INFO: Square width: 10, circle width: 4 -2024-02-20 09:57:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:57:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 09:57:09, INFO: Using device: cpu -2024-02-20 09:57:09, INFO: Loaded RL weights with best VAL -2024-02-20 09:57:09, INFO: Similarity_func: concatenation -2024-02-20 09:57:09, INFO: Layerwise_graph: False -2024-02-20 09:57:09, INFO: Skip_connection: True -2024-02-20 09:57:09, INFO: Number of layers: 1 -2024-02-20 09:57:09, INFO: Similarity_func: concatenation -2024-02-20 09:57:09, INFO: Layerwise_graph: False -2024-02-20 09:57:09, INFO: Skip_connection: True -2024-02-20 09:57:09, INFO: Number of layers: 1 -2024-02-20 09:57:09, INFO: Planning depth: 1 -2024-02-20 09:57:09, INFO: Planning width: 10 -2024-02-20 09:57:09, INFO: Sparse search: None -2024-02-20 09:57:12, INFO: human number: 10 -2024-02-20 09:57:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 09:57:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 09:57:12, INFO: Square width: 10, circle width: 4 -2024-02-20 09:57:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 09:57:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:01:20, INFO: Using device: cpu -2024-02-20 10:01:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:01:20, INFO: Similarity_func: concatenation -2024-02-20 10:01:20, INFO: Layerwise_graph: False -2024-02-20 10:01:20, INFO: Skip_connection: True -2024-02-20 10:01:20, INFO: Number of layers: 1 -2024-02-20 10:01:20, INFO: Similarity_func: concatenation -2024-02-20 10:01:20, INFO: Layerwise_graph: False -2024-02-20 10:01:20, INFO: Skip_connection: True -2024-02-20 10:01:20, INFO: Number of layers: 1 -2024-02-20 10:01:20, INFO: Planning depth: 1 -2024-02-20 10:01:20, INFO: Planning width: 10 -2024-02-20 10:01:20, INFO: Sparse search: None -2024-02-20 10:08:30, INFO: Using device: cpu -2024-02-20 10:08:30, INFO: Loaded RL weights with best VAL -2024-02-20 10:08:30, INFO: Similarity_func: concatenation -2024-02-20 10:08:30, INFO: Layerwise_graph: False -2024-02-20 10:08:30, INFO: Skip_connection: True -2024-02-20 10:08:30, INFO: Number of layers: 1 -2024-02-20 10:08:30, INFO: Similarity_func: concatenation -2024-02-20 10:08:30, INFO: Layerwise_graph: False -2024-02-20 10:08:30, INFO: Skip_connection: True -2024-02-20 10:08:30, INFO: Number of layers: 1 -2024-02-20 10:08:30, INFO: Planning depth: 1 -2024-02-20 10:08:30, INFO: Planning width: 10 -2024-02-20 10:08:30, INFO: Sparse search: None -2024-02-20 10:08:33, INFO: human number: 10 -2024-02-20 10:08:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:08:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:08:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:08:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:08:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:09:16, INFO: Using device: cpu -2024-02-20 10:09:16, INFO: Loaded RL weights with best VAL -2024-02-20 10:09:16, INFO: Similarity_func: concatenation -2024-02-20 10:09:16, INFO: Layerwise_graph: False -2024-02-20 10:09:16, INFO: Skip_connection: True -2024-02-20 10:09:16, INFO: Number of layers: 1 -2024-02-20 10:09:16, INFO: Similarity_func: concatenation -2024-02-20 10:09:16, INFO: Layerwise_graph: False -2024-02-20 10:09:16, INFO: Skip_connection: True -2024-02-20 10:09:16, INFO: Number of layers: 1 -2024-02-20 10:09:16, INFO: Planning depth: 1 -2024-02-20 10:09:16, INFO: Planning width: 10 -2024-02-20 10:09:16, INFO: Sparse search: None -2024-02-20 10:09:18, INFO: human number: 10 -2024-02-20 10:09:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:09:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:09:18, INFO: Square width: 10, circle width: 4 -2024-02-20 10:09:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:09:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:09:26, INFO: Using device: cpu -2024-02-20 10:09:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:09:26, INFO: Similarity_func: concatenation -2024-02-20 10:09:26, INFO: Layerwise_graph: False -2024-02-20 10:09:26, INFO: Skip_connection: True -2024-02-20 10:09:26, INFO: Number of layers: 1 -2024-02-20 10:09:26, INFO: Similarity_func: concatenation -2024-02-20 10:09:26, INFO: Layerwise_graph: False -2024-02-20 10:09:26, INFO: Skip_connection: True -2024-02-20 10:09:26, INFO: Number of layers: 1 -2024-02-20 10:09:26, INFO: Planning depth: 1 -2024-02-20 10:09:26, INFO: Planning width: 10 -2024-02-20 10:09:26, INFO: Sparse search: None -2024-02-20 10:09:29, INFO: Using device: cpu -2024-02-20 10:09:29, INFO: Loaded RL weights with best VAL -2024-02-20 10:09:29, INFO: Similarity_func: concatenation -2024-02-20 10:09:29, INFO: Layerwise_graph: False -2024-02-20 10:09:29, INFO: Skip_connection: True -2024-02-20 10:09:29, INFO: Number of layers: 1 -2024-02-20 10:09:29, INFO: Similarity_func: concatenation -2024-02-20 10:09:29, INFO: Layerwise_graph: False -2024-02-20 10:09:29, INFO: Skip_connection: True -2024-02-20 10:09:29, INFO: Number of layers: 1 -2024-02-20 10:09:29, INFO: Planning depth: 1 -2024-02-20 10:09:29, INFO: Planning width: 10 -2024-02-20 10:09:29, INFO: Sparse search: None -2024-02-20 10:09:57, INFO: Using device: cpu -2024-02-20 10:09:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:09:57, INFO: Similarity_func: concatenation -2024-02-20 10:09:57, INFO: Layerwise_graph: False -2024-02-20 10:09:57, INFO: Skip_connection: True -2024-02-20 10:09:57, INFO: Number of layers: 1 -2024-02-20 10:09:57, INFO: Similarity_func: concatenation -2024-02-20 10:09:57, INFO: Layerwise_graph: False -2024-02-20 10:09:57, INFO: Skip_connection: True -2024-02-20 10:09:57, INFO: Number of layers: 1 -2024-02-20 10:09:57, INFO: Planning depth: 1 -2024-02-20 10:09:57, INFO: Planning width: 10 -2024-02-20 10:09:57, INFO: Sparse search: None -2024-02-20 10:09:59, INFO: human number: 10 -2024-02-20 10:09:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:09:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:09:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:09:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:09:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:10:41, INFO: Using device: cpu -2024-02-20 10:10:41, INFO: Loaded RL weights with best VAL -2024-02-20 10:10:41, INFO: Similarity_func: concatenation -2024-02-20 10:10:41, INFO: Layerwise_graph: False -2024-02-20 10:10:41, INFO: Skip_connection: True -2024-02-20 10:10:41, INFO: Number of layers: 1 -2024-02-20 10:10:41, INFO: Similarity_func: concatenation -2024-02-20 10:10:41, INFO: Layerwise_graph: False -2024-02-20 10:10:41, INFO: Skip_connection: True -2024-02-20 10:10:41, INFO: Number of layers: 1 -2024-02-20 10:10:41, INFO: Planning depth: 1 -2024-02-20 10:10:41, INFO: Planning width: 10 -2024-02-20 10:10:41, INFO: Sparse search: None -2024-02-20 10:10:44, INFO: human number: 10 -2024-02-20 10:10:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:10:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:10:44, INFO: Square width: 10, circle width: 4 -2024-02-20 10:10:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:10:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:11:07, INFO: Using device: cpu -2024-02-20 10:11:07, INFO: Loaded RL weights with best VAL -2024-02-20 10:11:07, INFO: Similarity_func: concatenation -2024-02-20 10:11:07, INFO: Layerwise_graph: False -2024-02-20 10:11:07, INFO: Skip_connection: True -2024-02-20 10:11:07, INFO: Number of layers: 1 -2024-02-20 10:11:07, INFO: Similarity_func: concatenation -2024-02-20 10:11:07, INFO: Layerwise_graph: False -2024-02-20 10:11:07, INFO: Skip_connection: True -2024-02-20 10:11:07, INFO: Number of layers: 1 -2024-02-20 10:11:07, INFO: Planning depth: 1 -2024-02-20 10:11:07, INFO: Planning width: 10 -2024-02-20 10:11:07, INFO: Sparse search: None -2024-02-20 10:11:09, INFO: human number: 10 -2024-02-20 10:11:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:11:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:11:09, INFO: Square width: 10, circle width: 4 -2024-02-20 10:11:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:11:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:11:13, INFO: Using device: cpu -2024-02-20 10:11:13, INFO: Loaded RL weights with best VAL -2024-02-20 10:11:13, INFO: Similarity_func: concatenation -2024-02-20 10:11:13, INFO: Layerwise_graph: False -2024-02-20 10:11:13, INFO: Skip_connection: True -2024-02-20 10:11:13, INFO: Number of layers: 1 -2024-02-20 10:11:13, INFO: Similarity_func: concatenation -2024-02-20 10:11:13, INFO: Layerwise_graph: False -2024-02-20 10:11:13, INFO: Skip_connection: True -2024-02-20 10:11:13, INFO: Number of layers: 1 -2024-02-20 10:11:13, INFO: Planning depth: 1 -2024-02-20 10:11:13, INFO: Planning width: 10 -2024-02-20 10:11:13, INFO: Sparse search: None -2024-02-20 10:11:16, INFO: human number: 10 -2024-02-20 10:11:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:11:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:11:16, INFO: Square width: 10, circle width: 4 -2024-02-20 10:11:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:11:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:11:20, INFO: Using device: cpu -2024-02-20 10:11:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:11:20, INFO: Similarity_func: concatenation -2024-02-20 10:11:20, INFO: Layerwise_graph: False -2024-02-20 10:11:20, INFO: Skip_connection: True -2024-02-20 10:11:20, INFO: Number of layers: 1 -2024-02-20 10:11:20, INFO: Similarity_func: concatenation -2024-02-20 10:11:20, INFO: Layerwise_graph: False -2024-02-20 10:11:20, INFO: Skip_connection: True -2024-02-20 10:11:20, INFO: Number of layers: 1 -2024-02-20 10:11:20, INFO: Planning depth: 1 -2024-02-20 10:11:20, INFO: Planning width: 10 -2024-02-20 10:11:20, INFO: Sparse search: None -2024-02-20 10:11:51, INFO: Using device: cpu -2024-02-20 10:11:51, INFO: Loaded RL weights with best VAL -2024-02-20 10:11:51, INFO: Similarity_func: concatenation -2024-02-20 10:11:51, INFO: Layerwise_graph: False -2024-02-20 10:11:51, INFO: Skip_connection: True -2024-02-20 10:11:51, INFO: Number of layers: 1 -2024-02-20 10:11:51, INFO: Similarity_func: concatenation -2024-02-20 10:11:51, INFO: Layerwise_graph: False -2024-02-20 10:11:51, INFO: Skip_connection: True -2024-02-20 10:11:51, INFO: Number of layers: 1 -2024-02-20 10:11:51, INFO: Planning depth: 1 -2024-02-20 10:11:51, INFO: Planning width: 10 -2024-02-20 10:11:51, INFO: Sparse search: None -2024-02-20 10:11:54, INFO: human number: 10 -2024-02-20 10:11:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:11:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:11:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:11:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:11:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:11:57, INFO: Using device: cpu -2024-02-20 10:11:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:11:57, INFO: Similarity_func: concatenation -2024-02-20 10:11:57, INFO: Layerwise_graph: False -2024-02-20 10:11:57, INFO: Skip_connection: True -2024-02-20 10:11:57, INFO: Number of layers: 1 -2024-02-20 10:11:57, INFO: Similarity_func: concatenation -2024-02-20 10:11:57, INFO: Layerwise_graph: False -2024-02-20 10:11:57, INFO: Skip_connection: True -2024-02-20 10:11:57, INFO: Number of layers: 1 -2024-02-20 10:11:57, INFO: Planning depth: 1 -2024-02-20 10:11:57, INFO: Planning width: 10 -2024-02-20 10:11:57, INFO: Sparse search: None -2024-02-20 10:12:00, INFO: human number: 10 -2024-02-20 10:12:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:00, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:12:04, INFO: Using device: cpu -2024-02-20 10:12:04, INFO: Loaded RL weights with best VAL -2024-02-20 10:12:04, INFO: Similarity_func: concatenation -2024-02-20 10:12:04, INFO: Layerwise_graph: False -2024-02-20 10:12:04, INFO: Skip_connection: True -2024-02-20 10:12:04, INFO: Number of layers: 1 -2024-02-20 10:12:04, INFO: Similarity_func: concatenation -2024-02-20 10:12:04, INFO: Layerwise_graph: False -2024-02-20 10:12:04, INFO: Skip_connection: True -2024-02-20 10:12:04, INFO: Number of layers: 1 -2024-02-20 10:12:04, INFO: Planning depth: 1 -2024-02-20 10:12:04, INFO: Planning width: 10 -2024-02-20 10:12:04, INFO: Sparse search: None -2024-02-20 10:12:07, INFO: human number: 10 -2024-02-20 10:12:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:12:11, INFO: Using device: cpu -2024-02-20 10:12:11, INFO: Loaded RL weights with best VAL -2024-02-20 10:12:11, INFO: Similarity_func: concatenation -2024-02-20 10:12:11, INFO: Layerwise_graph: False -2024-02-20 10:12:11, INFO: Skip_connection: True -2024-02-20 10:12:11, INFO: Number of layers: 1 -2024-02-20 10:12:11, INFO: Similarity_func: concatenation -2024-02-20 10:12:11, INFO: Layerwise_graph: False -2024-02-20 10:12:11, INFO: Skip_connection: True -2024-02-20 10:12:11, INFO: Number of layers: 1 -2024-02-20 10:12:11, INFO: Planning depth: 1 -2024-02-20 10:12:11, INFO: Planning width: 10 -2024-02-20 10:12:11, INFO: Sparse search: None -2024-02-20 10:12:14, INFO: human number: 10 -2024-02-20 10:12:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:14, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:12:18, INFO: Using device: cpu -2024-02-20 10:12:18, INFO: Loaded RL weights with best VAL -2024-02-20 10:12:18, INFO: Similarity_func: concatenation -2024-02-20 10:12:18, INFO: Layerwise_graph: False -2024-02-20 10:12:18, INFO: Skip_connection: True -2024-02-20 10:12:18, INFO: Number of layers: 1 -2024-02-20 10:12:18, INFO: Similarity_func: concatenation -2024-02-20 10:12:18, INFO: Layerwise_graph: False -2024-02-20 10:12:18, INFO: Skip_connection: True -2024-02-20 10:12:18, INFO: Number of layers: 1 -2024-02-20 10:12:18, INFO: Planning depth: 1 -2024-02-20 10:12:18, INFO: Planning width: 10 -2024-02-20 10:12:18, INFO: Sparse search: None -2024-02-20 10:12:20, INFO: human number: 10 -2024-02-20 10:12:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:20, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:12:24, INFO: Using device: cpu -2024-02-20 10:12:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:12:24, INFO: Similarity_func: concatenation -2024-02-20 10:12:24, INFO: Layerwise_graph: False -2024-02-20 10:12:24, INFO: Skip_connection: True -2024-02-20 10:12:24, INFO: Number of layers: 1 -2024-02-20 10:12:24, INFO: Similarity_func: concatenation -2024-02-20 10:12:24, INFO: Layerwise_graph: False -2024-02-20 10:12:24, INFO: Skip_connection: True -2024-02-20 10:12:24, INFO: Number of layers: 1 -2024-02-20 10:12:24, INFO: Planning depth: 1 -2024-02-20 10:12:24, INFO: Planning width: 10 -2024-02-20 10:12:24, INFO: Sparse search: None -2024-02-20 10:12:27, INFO: human number: 10 -2024-02-20 10:12:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:12:31, INFO: Using device: cpu -2024-02-20 10:12:31, INFO: Loaded RL weights with best VAL -2024-02-20 10:12:31, INFO: Similarity_func: concatenation -2024-02-20 10:12:31, INFO: Layerwise_graph: False -2024-02-20 10:12:31, INFO: Skip_connection: True -2024-02-20 10:12:31, INFO: Number of layers: 1 -2024-02-20 10:12:31, INFO: Similarity_func: concatenation -2024-02-20 10:12:31, INFO: Layerwise_graph: False -2024-02-20 10:12:31, INFO: Skip_connection: True -2024-02-20 10:12:31, INFO: Number of layers: 1 -2024-02-20 10:12:31, INFO: Planning depth: 1 -2024-02-20 10:12:31, INFO: Planning width: 10 -2024-02-20 10:12:31, INFO: Sparse search: None -2024-02-20 10:12:33, INFO: human number: 10 -2024-02-20 10:12:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:12:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:12:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:12:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:12:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:03, INFO: Using device: cpu -2024-02-20 10:13:03, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:03, INFO: Similarity_func: concatenation -2024-02-20 10:13:03, INFO: Layerwise_graph: False -2024-02-20 10:13:03, INFO: Skip_connection: True -2024-02-20 10:13:03, INFO: Number of layers: 1 -2024-02-20 10:13:03, INFO: Similarity_func: concatenation -2024-02-20 10:13:03, INFO: Layerwise_graph: False -2024-02-20 10:13:03, INFO: Skip_connection: True -2024-02-20 10:13:03, INFO: Number of layers: 1 -2024-02-20 10:13:03, INFO: Planning depth: 1 -2024-02-20 10:13:03, INFO: Planning width: 10 -2024-02-20 10:13:03, INFO: Sparse search: None -2024-02-20 10:13:05, INFO: human number: 10 -2024-02-20 10:13:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:05, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:09, INFO: Using device: cpu -2024-02-20 10:13:09, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:09, INFO: Similarity_func: concatenation -2024-02-20 10:13:09, INFO: Layerwise_graph: False -2024-02-20 10:13:09, INFO: Skip_connection: True -2024-02-20 10:13:09, INFO: Number of layers: 1 -2024-02-20 10:13:09, INFO: Similarity_func: concatenation -2024-02-20 10:13:09, INFO: Layerwise_graph: False -2024-02-20 10:13:09, INFO: Skip_connection: True -2024-02-20 10:13:09, INFO: Number of layers: 1 -2024-02-20 10:13:09, INFO: Planning depth: 1 -2024-02-20 10:13:09, INFO: Planning width: 10 -2024-02-20 10:13:09, INFO: Sparse search: None -2024-02-20 10:13:12, INFO: human number: 10 -2024-02-20 10:13:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:12, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:17, INFO: Using device: cpu -2024-02-20 10:13:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:17, INFO: Similarity_func: concatenation -2024-02-20 10:13:17, INFO: Layerwise_graph: False -2024-02-20 10:13:17, INFO: Skip_connection: True -2024-02-20 10:13:17, INFO: Number of layers: 1 -2024-02-20 10:13:17, INFO: Similarity_func: concatenation -2024-02-20 10:13:17, INFO: Layerwise_graph: False -2024-02-20 10:13:17, INFO: Skip_connection: True -2024-02-20 10:13:17, INFO: Number of layers: 1 -2024-02-20 10:13:17, INFO: Planning depth: 1 -2024-02-20 10:13:17, INFO: Planning width: 10 -2024-02-20 10:13:17, INFO: Sparse search: None -2024-02-20 10:13:20, INFO: human number: 10 -2024-02-20 10:13:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:20, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:24, INFO: Using device: cpu -2024-02-20 10:13:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:24, INFO: Similarity_func: concatenation -2024-02-20 10:13:24, INFO: Layerwise_graph: False -2024-02-20 10:13:24, INFO: Skip_connection: True -2024-02-20 10:13:24, INFO: Number of layers: 1 -2024-02-20 10:13:24, INFO: Similarity_func: concatenation -2024-02-20 10:13:24, INFO: Layerwise_graph: False -2024-02-20 10:13:24, INFO: Skip_connection: True -2024-02-20 10:13:24, INFO: Number of layers: 1 -2024-02-20 10:13:24, INFO: Planning depth: 1 -2024-02-20 10:13:24, INFO: Planning width: 10 -2024-02-20 10:13:24, INFO: Sparse search: None -2024-02-20 10:13:26, INFO: human number: 10 -2024-02-20 10:13:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:26, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:30, INFO: Using device: cpu -2024-02-20 10:13:30, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:30, INFO: Similarity_func: concatenation -2024-02-20 10:13:30, INFO: Layerwise_graph: False -2024-02-20 10:13:30, INFO: Skip_connection: True -2024-02-20 10:13:30, INFO: Number of layers: 1 -2024-02-20 10:13:30, INFO: Similarity_func: concatenation -2024-02-20 10:13:30, INFO: Layerwise_graph: False -2024-02-20 10:13:30, INFO: Skip_connection: True -2024-02-20 10:13:30, INFO: Number of layers: 1 -2024-02-20 10:13:30, INFO: Planning depth: 1 -2024-02-20 10:13:30, INFO: Planning width: 10 -2024-02-20 10:13:30, INFO: Sparse search: None -2024-02-20 10:13:33, INFO: human number: 10 -2024-02-20 10:13:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:37, INFO: Using device: cpu -2024-02-20 10:13:37, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:37, INFO: Similarity_func: concatenation -2024-02-20 10:13:37, INFO: Layerwise_graph: False -2024-02-20 10:13:37, INFO: Skip_connection: True -2024-02-20 10:13:37, INFO: Number of layers: 1 -2024-02-20 10:13:37, INFO: Similarity_func: concatenation -2024-02-20 10:13:37, INFO: Layerwise_graph: False -2024-02-20 10:13:37, INFO: Skip_connection: True -2024-02-20 10:13:37, INFO: Number of layers: 1 -2024-02-20 10:13:37, INFO: Planning depth: 1 -2024-02-20 10:13:37, INFO: Planning width: 10 -2024-02-20 10:13:37, INFO: Sparse search: None -2024-02-20 10:13:40, INFO: human number: 10 -2024-02-20 10:13:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:40, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:44, INFO: Using device: cpu -2024-02-20 10:13:44, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:44, INFO: Similarity_func: concatenation -2024-02-20 10:13:44, INFO: Layerwise_graph: False -2024-02-20 10:13:44, INFO: Skip_connection: True -2024-02-20 10:13:44, INFO: Number of layers: 1 -2024-02-20 10:13:44, INFO: Similarity_func: concatenation -2024-02-20 10:13:44, INFO: Layerwise_graph: False -2024-02-20 10:13:44, INFO: Skip_connection: True -2024-02-20 10:13:44, INFO: Number of layers: 1 -2024-02-20 10:13:44, INFO: Planning depth: 1 -2024-02-20 10:13:44, INFO: Planning width: 10 -2024-02-20 10:13:44, INFO: Sparse search: None -2024-02-20 10:13:46, INFO: human number: 10 -2024-02-20 10:13:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:46, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:51, INFO: Using device: cpu -2024-02-20 10:13:51, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:51, INFO: Similarity_func: concatenation -2024-02-20 10:13:51, INFO: Layerwise_graph: False -2024-02-20 10:13:51, INFO: Skip_connection: True -2024-02-20 10:13:51, INFO: Number of layers: 1 -2024-02-20 10:13:51, INFO: Similarity_func: concatenation -2024-02-20 10:13:51, INFO: Layerwise_graph: False -2024-02-20 10:13:51, INFO: Skip_connection: True -2024-02-20 10:13:51, INFO: Number of layers: 1 -2024-02-20 10:13:51, INFO: Planning depth: 1 -2024-02-20 10:13:51, INFO: Planning width: 10 -2024-02-20 10:13:51, INFO: Sparse search: None -2024-02-20 10:13:54, INFO: human number: 10 -2024-02-20 10:13:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:13:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:13:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:13:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:13:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:13:58, INFO: Using device: cpu -2024-02-20 10:13:58, INFO: Loaded RL weights with best VAL -2024-02-20 10:13:58, INFO: Similarity_func: concatenation -2024-02-20 10:13:58, INFO: Layerwise_graph: False -2024-02-20 10:13:58, INFO: Skip_connection: True -2024-02-20 10:13:58, INFO: Number of layers: 1 -2024-02-20 10:13:58, INFO: Similarity_func: concatenation -2024-02-20 10:13:58, INFO: Layerwise_graph: False -2024-02-20 10:13:58, INFO: Skip_connection: True -2024-02-20 10:13:58, INFO: Number of layers: 1 -2024-02-20 10:13:58, INFO: Planning depth: 1 -2024-02-20 10:13:58, INFO: Planning width: 10 -2024-02-20 10:13:58, INFO: Sparse search: None -2024-02-20 10:14:01, INFO: human number: 10 -2024-02-20 10:14:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:01, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:05, INFO: Using device: cpu -2024-02-20 10:14:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:05, INFO: Similarity_func: concatenation -2024-02-20 10:14:05, INFO: Layerwise_graph: False -2024-02-20 10:14:05, INFO: Skip_connection: True -2024-02-20 10:14:05, INFO: Number of layers: 1 -2024-02-20 10:14:05, INFO: Similarity_func: concatenation -2024-02-20 10:14:05, INFO: Layerwise_graph: False -2024-02-20 10:14:05, INFO: Skip_connection: True -2024-02-20 10:14:05, INFO: Number of layers: 1 -2024-02-20 10:14:05, INFO: Planning depth: 1 -2024-02-20 10:14:05, INFO: Planning width: 10 -2024-02-20 10:14:05, INFO: Sparse search: None -2024-02-20 10:14:08, INFO: human number: 10 -2024-02-20 10:14:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:08, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:12, INFO: Using device: cpu -2024-02-20 10:14:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:12, INFO: Similarity_func: concatenation -2024-02-20 10:14:12, INFO: Layerwise_graph: False -2024-02-20 10:14:12, INFO: Skip_connection: True -2024-02-20 10:14:12, INFO: Number of layers: 1 -2024-02-20 10:14:12, INFO: Similarity_func: concatenation -2024-02-20 10:14:12, INFO: Layerwise_graph: False -2024-02-20 10:14:12, INFO: Skip_connection: True -2024-02-20 10:14:12, INFO: Number of layers: 1 -2024-02-20 10:14:12, INFO: Planning depth: 1 -2024-02-20 10:14:12, INFO: Planning width: 10 -2024-02-20 10:14:12, INFO: Sparse search: None -2024-02-20 10:14:14, INFO: human number: 10 -2024-02-20 10:14:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:14, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:19, INFO: Using device: cpu -2024-02-20 10:14:19, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:19, INFO: Similarity_func: concatenation -2024-02-20 10:14:19, INFO: Layerwise_graph: False -2024-02-20 10:14:19, INFO: Skip_connection: True -2024-02-20 10:14:19, INFO: Number of layers: 1 -2024-02-20 10:14:19, INFO: Similarity_func: concatenation -2024-02-20 10:14:19, INFO: Layerwise_graph: False -2024-02-20 10:14:19, INFO: Skip_connection: True -2024-02-20 10:14:19, INFO: Number of layers: 1 -2024-02-20 10:14:19, INFO: Planning depth: 1 -2024-02-20 10:14:19, INFO: Planning width: 10 -2024-02-20 10:14:19, INFO: Sparse search: None -2024-02-20 10:14:21, INFO: human number: 10 -2024-02-20 10:14:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:21, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:26, INFO: Using device: cpu -2024-02-20 10:14:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:26, INFO: Similarity_func: concatenation -2024-02-20 10:14:26, INFO: Layerwise_graph: False -2024-02-20 10:14:26, INFO: Skip_connection: True -2024-02-20 10:14:26, INFO: Number of layers: 1 -2024-02-20 10:14:26, INFO: Similarity_func: concatenation -2024-02-20 10:14:26, INFO: Layerwise_graph: False -2024-02-20 10:14:26, INFO: Skip_connection: True -2024-02-20 10:14:26, INFO: Number of layers: 1 -2024-02-20 10:14:26, INFO: Planning depth: 1 -2024-02-20 10:14:26, INFO: Planning width: 10 -2024-02-20 10:14:26, INFO: Sparse search: None -2024-02-20 10:14:29, INFO: human number: 10 -2024-02-20 10:14:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:33, INFO: Using device: cpu -2024-02-20 10:14:33, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:33, INFO: Similarity_func: concatenation -2024-02-20 10:14:33, INFO: Layerwise_graph: False -2024-02-20 10:14:33, INFO: Skip_connection: True -2024-02-20 10:14:33, INFO: Number of layers: 1 -2024-02-20 10:14:33, INFO: Similarity_func: concatenation -2024-02-20 10:14:33, INFO: Layerwise_graph: False -2024-02-20 10:14:33, INFO: Skip_connection: True -2024-02-20 10:14:33, INFO: Number of layers: 1 -2024-02-20 10:14:33, INFO: Planning depth: 1 -2024-02-20 10:14:33, INFO: Planning width: 10 -2024-02-20 10:14:33, INFO: Sparse search: None -2024-02-20 10:14:36, INFO: human number: 10 -2024-02-20 10:14:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:36, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:41, INFO: Using device: cpu -2024-02-20 10:14:41, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:41, INFO: Similarity_func: concatenation -2024-02-20 10:14:41, INFO: Layerwise_graph: False -2024-02-20 10:14:41, INFO: Skip_connection: True -2024-02-20 10:14:41, INFO: Number of layers: 1 -2024-02-20 10:14:41, INFO: Similarity_func: concatenation -2024-02-20 10:14:41, INFO: Layerwise_graph: False -2024-02-20 10:14:41, INFO: Skip_connection: True -2024-02-20 10:14:41, INFO: Number of layers: 1 -2024-02-20 10:14:41, INFO: Planning depth: 1 -2024-02-20 10:14:41, INFO: Planning width: 10 -2024-02-20 10:14:41, INFO: Sparse search: None -2024-02-20 10:14:43, INFO: human number: 10 -2024-02-20 10:14:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:43, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:48, INFO: Using device: cpu -2024-02-20 10:14:48, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:48, INFO: Similarity_func: concatenation -2024-02-20 10:14:48, INFO: Layerwise_graph: False -2024-02-20 10:14:48, INFO: Skip_connection: True -2024-02-20 10:14:48, INFO: Number of layers: 1 -2024-02-20 10:14:48, INFO: Similarity_func: concatenation -2024-02-20 10:14:48, INFO: Layerwise_graph: False -2024-02-20 10:14:48, INFO: Skip_connection: True -2024-02-20 10:14:48, INFO: Number of layers: 1 -2024-02-20 10:14:48, INFO: Planning depth: 1 -2024-02-20 10:14:48, INFO: Planning width: 10 -2024-02-20 10:14:48, INFO: Sparse search: None -2024-02-20 10:14:51, INFO: human number: 10 -2024-02-20 10:14:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:51, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:14:55, INFO: Using device: cpu -2024-02-20 10:14:55, INFO: Loaded RL weights with best VAL -2024-02-20 10:14:55, INFO: Similarity_func: concatenation -2024-02-20 10:14:55, INFO: Layerwise_graph: False -2024-02-20 10:14:55, INFO: Skip_connection: True -2024-02-20 10:14:55, INFO: Number of layers: 1 -2024-02-20 10:14:55, INFO: Similarity_func: concatenation -2024-02-20 10:14:55, INFO: Layerwise_graph: False -2024-02-20 10:14:55, INFO: Skip_connection: True -2024-02-20 10:14:55, INFO: Number of layers: 1 -2024-02-20 10:14:55, INFO: Planning depth: 1 -2024-02-20 10:14:55, INFO: Planning width: 10 -2024-02-20 10:14:55, INFO: Sparse search: None -2024-02-20 10:14:57, INFO: human number: 10 -2024-02-20 10:14:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:14:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:14:57, INFO: Square width: 10, circle width: 4 -2024-02-20 10:14:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:14:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:01, INFO: Using device: cpu -2024-02-20 10:15:01, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:01, INFO: Similarity_func: concatenation -2024-02-20 10:15:01, INFO: Layerwise_graph: False -2024-02-20 10:15:01, INFO: Skip_connection: True -2024-02-20 10:15:01, INFO: Number of layers: 1 -2024-02-20 10:15:01, INFO: Similarity_func: concatenation -2024-02-20 10:15:01, INFO: Layerwise_graph: False -2024-02-20 10:15:01, INFO: Skip_connection: True -2024-02-20 10:15:01, INFO: Number of layers: 1 -2024-02-20 10:15:01, INFO: Planning depth: 1 -2024-02-20 10:15:01, INFO: Planning width: 10 -2024-02-20 10:15:01, INFO: Sparse search: None -2024-02-20 10:15:04, INFO: human number: 10 -2024-02-20 10:15:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:04, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:08, INFO: Using device: cpu -2024-02-20 10:15:08, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:08, INFO: Similarity_func: concatenation -2024-02-20 10:15:08, INFO: Layerwise_graph: False -2024-02-20 10:15:08, INFO: Skip_connection: True -2024-02-20 10:15:08, INFO: Number of layers: 1 -2024-02-20 10:15:08, INFO: Similarity_func: concatenation -2024-02-20 10:15:08, INFO: Layerwise_graph: False -2024-02-20 10:15:08, INFO: Skip_connection: True -2024-02-20 10:15:08, INFO: Number of layers: 1 -2024-02-20 10:15:08, INFO: Planning depth: 1 -2024-02-20 10:15:08, INFO: Planning width: 10 -2024-02-20 10:15:08, INFO: Sparse search: None -2024-02-20 10:15:11, INFO: human number: 10 -2024-02-20 10:15:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:11, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:17, INFO: Using device: cpu -2024-02-20 10:15:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:17, INFO: Similarity_func: concatenation -2024-02-20 10:15:17, INFO: Layerwise_graph: False -2024-02-20 10:15:17, INFO: Skip_connection: True -2024-02-20 10:15:17, INFO: Number of layers: 1 -2024-02-20 10:15:17, INFO: Similarity_func: concatenation -2024-02-20 10:15:17, INFO: Layerwise_graph: False -2024-02-20 10:15:17, INFO: Skip_connection: True -2024-02-20 10:15:17, INFO: Number of layers: 1 -2024-02-20 10:15:17, INFO: Planning depth: 1 -2024-02-20 10:15:17, INFO: Planning width: 10 -2024-02-20 10:15:17, INFO: Sparse search: None -2024-02-20 10:15:20, INFO: human number: 10 -2024-02-20 10:15:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:20, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:24, INFO: Using device: cpu -2024-02-20 10:15:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:24, INFO: Similarity_func: concatenation -2024-02-20 10:15:24, INFO: Layerwise_graph: False -2024-02-20 10:15:24, INFO: Skip_connection: True -2024-02-20 10:15:24, INFO: Number of layers: 1 -2024-02-20 10:15:24, INFO: Similarity_func: concatenation -2024-02-20 10:15:24, INFO: Layerwise_graph: False -2024-02-20 10:15:24, INFO: Skip_connection: True -2024-02-20 10:15:24, INFO: Number of layers: 1 -2024-02-20 10:15:24, INFO: Planning depth: 1 -2024-02-20 10:15:24, INFO: Planning width: 10 -2024-02-20 10:15:24, INFO: Sparse search: None -2024-02-20 10:15:27, INFO: human number: 10 -2024-02-20 10:15:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:31, INFO: Using device: cpu -2024-02-20 10:15:31, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:31, INFO: Similarity_func: concatenation -2024-02-20 10:15:31, INFO: Layerwise_graph: False -2024-02-20 10:15:31, INFO: Skip_connection: True -2024-02-20 10:15:31, INFO: Number of layers: 1 -2024-02-20 10:15:31, INFO: Similarity_func: concatenation -2024-02-20 10:15:31, INFO: Layerwise_graph: False -2024-02-20 10:15:31, INFO: Skip_connection: True -2024-02-20 10:15:31, INFO: Number of layers: 1 -2024-02-20 10:15:31, INFO: Planning depth: 1 -2024-02-20 10:15:31, INFO: Planning width: 10 -2024-02-20 10:15:31, INFO: Sparse search: None -2024-02-20 10:15:33, INFO: human number: 10 -2024-02-20 10:15:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:38, INFO: Using device: cpu -2024-02-20 10:15:38, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:38, INFO: Similarity_func: concatenation -2024-02-20 10:15:38, INFO: Layerwise_graph: False -2024-02-20 10:15:38, INFO: Skip_connection: True -2024-02-20 10:15:38, INFO: Number of layers: 1 -2024-02-20 10:15:38, INFO: Similarity_func: concatenation -2024-02-20 10:15:38, INFO: Layerwise_graph: False -2024-02-20 10:15:38, INFO: Skip_connection: True -2024-02-20 10:15:38, INFO: Number of layers: 1 -2024-02-20 10:15:38, INFO: Planning depth: 1 -2024-02-20 10:15:38, INFO: Planning width: 10 -2024-02-20 10:15:38, INFO: Sparse search: None -2024-02-20 10:15:40, INFO: human number: 10 -2024-02-20 10:15:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:40, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:44, INFO: Using device: cpu -2024-02-20 10:15:44, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:44, INFO: Similarity_func: concatenation -2024-02-20 10:15:44, INFO: Layerwise_graph: False -2024-02-20 10:15:44, INFO: Skip_connection: True -2024-02-20 10:15:44, INFO: Number of layers: 1 -2024-02-20 10:15:44, INFO: Similarity_func: concatenation -2024-02-20 10:15:44, INFO: Layerwise_graph: False -2024-02-20 10:15:44, INFO: Skip_connection: True -2024-02-20 10:15:44, INFO: Number of layers: 1 -2024-02-20 10:15:44, INFO: Planning depth: 1 -2024-02-20 10:15:44, INFO: Planning width: 10 -2024-02-20 10:15:44, INFO: Sparse search: None -2024-02-20 10:15:47, INFO: human number: 10 -2024-02-20 10:15:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:47, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:51, INFO: Using device: cpu -2024-02-20 10:15:51, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:51, INFO: Similarity_func: concatenation -2024-02-20 10:15:51, INFO: Layerwise_graph: False -2024-02-20 10:15:51, INFO: Skip_connection: True -2024-02-20 10:15:51, INFO: Number of layers: 1 -2024-02-20 10:15:51, INFO: Similarity_func: concatenation -2024-02-20 10:15:51, INFO: Layerwise_graph: False -2024-02-20 10:15:51, INFO: Skip_connection: True -2024-02-20 10:15:51, INFO: Number of layers: 1 -2024-02-20 10:15:51, INFO: Planning depth: 1 -2024-02-20 10:15:51, INFO: Planning width: 10 -2024-02-20 10:15:51, INFO: Sparse search: None -2024-02-20 10:15:54, INFO: human number: 10 -2024-02-20 10:15:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:15:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:15:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:15:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:15:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:15:58, INFO: Using device: cpu -2024-02-20 10:15:58, INFO: Loaded RL weights with best VAL -2024-02-20 10:15:58, INFO: Similarity_func: concatenation -2024-02-20 10:15:58, INFO: Layerwise_graph: False -2024-02-20 10:15:58, INFO: Skip_connection: True -2024-02-20 10:15:58, INFO: Number of layers: 1 -2024-02-20 10:15:58, INFO: Similarity_func: concatenation -2024-02-20 10:15:58, INFO: Layerwise_graph: False -2024-02-20 10:15:58, INFO: Skip_connection: True -2024-02-20 10:15:58, INFO: Number of layers: 1 -2024-02-20 10:15:58, INFO: Planning depth: 1 -2024-02-20 10:15:58, INFO: Planning width: 10 -2024-02-20 10:15:58, INFO: Sparse search: None -2024-02-20 10:16:01, INFO: human number: 10 -2024-02-20 10:16:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:01, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:05, INFO: Using device: cpu -2024-02-20 10:16:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:05, INFO: Similarity_func: concatenation -2024-02-20 10:16:05, INFO: Layerwise_graph: False -2024-02-20 10:16:05, INFO: Skip_connection: True -2024-02-20 10:16:05, INFO: Number of layers: 1 -2024-02-20 10:16:05, INFO: Similarity_func: concatenation -2024-02-20 10:16:05, INFO: Layerwise_graph: False -2024-02-20 10:16:05, INFO: Skip_connection: True -2024-02-20 10:16:05, INFO: Number of layers: 1 -2024-02-20 10:16:05, INFO: Planning depth: 1 -2024-02-20 10:16:05, INFO: Planning width: 10 -2024-02-20 10:16:05, INFO: Sparse search: None -2024-02-20 10:16:07, INFO: human number: 10 -2024-02-20 10:16:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:12, INFO: Using device: cpu -2024-02-20 10:16:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:12, INFO: Similarity_func: concatenation -2024-02-20 10:16:12, INFO: Layerwise_graph: False -2024-02-20 10:16:12, INFO: Skip_connection: True -2024-02-20 10:16:12, INFO: Number of layers: 1 -2024-02-20 10:16:12, INFO: Similarity_func: concatenation -2024-02-20 10:16:12, INFO: Layerwise_graph: False -2024-02-20 10:16:12, INFO: Skip_connection: True -2024-02-20 10:16:12, INFO: Number of layers: 1 -2024-02-20 10:16:12, INFO: Planning depth: 1 -2024-02-20 10:16:12, INFO: Planning width: 10 -2024-02-20 10:16:12, INFO: Sparse search: None -2024-02-20 10:16:15, INFO: human number: 10 -2024-02-20 10:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:15, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:19, INFO: Using device: cpu -2024-02-20 10:16:19, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:19, INFO: Similarity_func: concatenation -2024-02-20 10:16:19, INFO: Layerwise_graph: False -2024-02-20 10:16:19, INFO: Skip_connection: True -2024-02-20 10:16:19, INFO: Number of layers: 1 -2024-02-20 10:16:19, INFO: Similarity_func: concatenation -2024-02-20 10:16:19, INFO: Layerwise_graph: False -2024-02-20 10:16:19, INFO: Skip_connection: True -2024-02-20 10:16:19, INFO: Number of layers: 1 -2024-02-20 10:16:19, INFO: Planning depth: 1 -2024-02-20 10:16:19, INFO: Planning width: 10 -2024-02-20 10:16:19, INFO: Sparse search: None -2024-02-20 10:16:21, INFO: human number: 10 -2024-02-20 10:16:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:21, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:26, INFO: Using device: cpu -2024-02-20 10:16:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:26, INFO: Similarity_func: concatenation -2024-02-20 10:16:26, INFO: Layerwise_graph: False -2024-02-20 10:16:26, INFO: Skip_connection: True -2024-02-20 10:16:26, INFO: Number of layers: 1 -2024-02-20 10:16:26, INFO: Similarity_func: concatenation -2024-02-20 10:16:26, INFO: Layerwise_graph: False -2024-02-20 10:16:26, INFO: Skip_connection: True -2024-02-20 10:16:26, INFO: Number of layers: 1 -2024-02-20 10:16:26, INFO: Planning depth: 1 -2024-02-20 10:16:26, INFO: Planning width: 10 -2024-02-20 10:16:26, INFO: Sparse search: None -2024-02-20 10:16:29, INFO: human number: 10 -2024-02-20 10:16:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:34, INFO: Using device: cpu -2024-02-20 10:16:34, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:34, INFO: Similarity_func: concatenation -2024-02-20 10:16:34, INFO: Layerwise_graph: False -2024-02-20 10:16:34, INFO: Skip_connection: True -2024-02-20 10:16:34, INFO: Number of layers: 1 -2024-02-20 10:16:34, INFO: Similarity_func: concatenation -2024-02-20 10:16:34, INFO: Layerwise_graph: False -2024-02-20 10:16:34, INFO: Skip_connection: True -2024-02-20 10:16:34, INFO: Number of layers: 1 -2024-02-20 10:16:34, INFO: Planning depth: 1 -2024-02-20 10:16:34, INFO: Planning width: 10 -2024-02-20 10:16:34, INFO: Sparse search: None -2024-02-20 10:16:36, INFO: human number: 10 -2024-02-20 10:16:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:36, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:40, INFO: Using device: cpu -2024-02-20 10:16:40, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:40, INFO: Similarity_func: concatenation -2024-02-20 10:16:40, INFO: Layerwise_graph: False -2024-02-20 10:16:40, INFO: Skip_connection: True -2024-02-20 10:16:40, INFO: Number of layers: 1 -2024-02-20 10:16:40, INFO: Similarity_func: concatenation -2024-02-20 10:16:40, INFO: Layerwise_graph: False -2024-02-20 10:16:40, INFO: Skip_connection: True -2024-02-20 10:16:40, INFO: Number of layers: 1 -2024-02-20 10:16:40, INFO: Planning depth: 1 -2024-02-20 10:16:40, INFO: Planning width: 10 -2024-02-20 10:16:40, INFO: Sparse search: None -2024-02-20 10:16:43, INFO: human number: 10 -2024-02-20 10:16:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:43, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:47, INFO: Using device: cpu -2024-02-20 10:16:47, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:47, INFO: Similarity_func: concatenation -2024-02-20 10:16:47, INFO: Layerwise_graph: False -2024-02-20 10:16:47, INFO: Skip_connection: True -2024-02-20 10:16:47, INFO: Number of layers: 1 -2024-02-20 10:16:47, INFO: Similarity_func: concatenation -2024-02-20 10:16:47, INFO: Layerwise_graph: False -2024-02-20 10:16:47, INFO: Skip_connection: True -2024-02-20 10:16:47, INFO: Number of layers: 1 -2024-02-20 10:16:47, INFO: Planning depth: 1 -2024-02-20 10:16:47, INFO: Planning width: 10 -2024-02-20 10:16:47, INFO: Sparse search: None -2024-02-20 10:16:49, INFO: human number: 10 -2024-02-20 10:16:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:49, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:16:54, INFO: Using device: cpu -2024-02-20 10:16:54, INFO: Loaded RL weights with best VAL -2024-02-20 10:16:54, INFO: Similarity_func: concatenation -2024-02-20 10:16:54, INFO: Layerwise_graph: False -2024-02-20 10:16:54, INFO: Skip_connection: True -2024-02-20 10:16:54, INFO: Number of layers: 1 -2024-02-20 10:16:54, INFO: Similarity_func: concatenation -2024-02-20 10:16:54, INFO: Layerwise_graph: False -2024-02-20 10:16:54, INFO: Skip_connection: True -2024-02-20 10:16:54, INFO: Number of layers: 1 -2024-02-20 10:16:54, INFO: Planning depth: 1 -2024-02-20 10:16:54, INFO: Planning width: 10 -2024-02-20 10:16:54, INFO: Sparse search: None -2024-02-20 10:16:56, INFO: human number: 10 -2024-02-20 10:16:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:16:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:16:56, INFO: Square width: 10, circle width: 4 -2024-02-20 10:16:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:16:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:01, INFO: Using device: cpu -2024-02-20 10:17:01, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:01, INFO: Similarity_func: concatenation -2024-02-20 10:17:01, INFO: Layerwise_graph: False -2024-02-20 10:17:01, INFO: Skip_connection: True -2024-02-20 10:17:01, INFO: Number of layers: 1 -2024-02-20 10:17:01, INFO: Similarity_func: concatenation -2024-02-20 10:17:01, INFO: Layerwise_graph: False -2024-02-20 10:17:01, INFO: Skip_connection: True -2024-02-20 10:17:01, INFO: Number of layers: 1 -2024-02-20 10:17:01, INFO: Planning depth: 1 -2024-02-20 10:17:01, INFO: Planning width: 10 -2024-02-20 10:17:01, INFO: Sparse search: None -2024-02-20 10:17:03, INFO: human number: 10 -2024-02-20 10:17:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:03, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:08, INFO: Using device: cpu -2024-02-20 10:17:08, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:08, INFO: Similarity_func: concatenation -2024-02-20 10:17:08, INFO: Layerwise_graph: False -2024-02-20 10:17:08, INFO: Skip_connection: True -2024-02-20 10:17:08, INFO: Number of layers: 1 -2024-02-20 10:17:08, INFO: Similarity_func: concatenation -2024-02-20 10:17:08, INFO: Layerwise_graph: False -2024-02-20 10:17:08, INFO: Skip_connection: True -2024-02-20 10:17:08, INFO: Number of layers: 1 -2024-02-20 10:17:08, INFO: Planning depth: 1 -2024-02-20 10:17:08, INFO: Planning width: 10 -2024-02-20 10:17:08, INFO: Sparse search: None -2024-02-20 10:17:11, INFO: human number: 10 -2024-02-20 10:17:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:11, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:16, INFO: Using device: cpu -2024-02-20 10:17:16, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:16, INFO: Similarity_func: concatenation -2024-02-20 10:17:16, INFO: Layerwise_graph: False -2024-02-20 10:17:16, INFO: Skip_connection: True -2024-02-20 10:17:16, INFO: Number of layers: 1 -2024-02-20 10:17:16, INFO: Similarity_func: concatenation -2024-02-20 10:17:16, INFO: Layerwise_graph: False -2024-02-20 10:17:16, INFO: Skip_connection: True -2024-02-20 10:17:16, INFO: Number of layers: 1 -2024-02-20 10:17:16, INFO: Planning depth: 1 -2024-02-20 10:17:16, INFO: Planning width: 10 -2024-02-20 10:17:16, INFO: Sparse search: None -2024-02-20 10:17:19, INFO: human number: 10 -2024-02-20 10:17:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:19, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:23, INFO: Using device: cpu -2024-02-20 10:17:23, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:23, INFO: Similarity_func: concatenation -2024-02-20 10:17:23, INFO: Layerwise_graph: False -2024-02-20 10:17:23, INFO: Skip_connection: True -2024-02-20 10:17:23, INFO: Number of layers: 1 -2024-02-20 10:17:23, INFO: Similarity_func: concatenation -2024-02-20 10:17:23, INFO: Layerwise_graph: False -2024-02-20 10:17:23, INFO: Skip_connection: True -2024-02-20 10:17:23, INFO: Number of layers: 1 -2024-02-20 10:17:23, INFO: Planning depth: 1 -2024-02-20 10:17:23, INFO: Planning width: 10 -2024-02-20 10:17:23, INFO: Sparse search: None -2024-02-20 10:17:26, INFO: human number: 10 -2024-02-20 10:17:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:26, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:30, INFO: Using device: cpu -2024-02-20 10:17:30, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:30, INFO: Similarity_func: concatenation -2024-02-20 10:17:30, INFO: Layerwise_graph: False -2024-02-20 10:17:30, INFO: Skip_connection: True -2024-02-20 10:17:30, INFO: Number of layers: 1 -2024-02-20 10:17:30, INFO: Similarity_func: concatenation -2024-02-20 10:17:30, INFO: Layerwise_graph: False -2024-02-20 10:17:30, INFO: Skip_connection: True -2024-02-20 10:17:30, INFO: Number of layers: 1 -2024-02-20 10:17:30, INFO: Planning depth: 1 -2024-02-20 10:17:30, INFO: Planning width: 10 -2024-02-20 10:17:30, INFO: Sparse search: None -2024-02-20 10:17:33, INFO: human number: 10 -2024-02-20 10:17:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:37, INFO: Using device: cpu -2024-02-20 10:17:37, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:37, INFO: Similarity_func: concatenation -2024-02-20 10:17:37, INFO: Layerwise_graph: False -2024-02-20 10:17:37, INFO: Skip_connection: True -2024-02-20 10:17:37, INFO: Number of layers: 1 -2024-02-20 10:17:37, INFO: Similarity_func: concatenation -2024-02-20 10:17:37, INFO: Layerwise_graph: False -2024-02-20 10:17:37, INFO: Skip_connection: True -2024-02-20 10:17:37, INFO: Number of layers: 1 -2024-02-20 10:17:37, INFO: Planning depth: 1 -2024-02-20 10:17:37, INFO: Planning width: 10 -2024-02-20 10:17:37, INFO: Sparse search: None -2024-02-20 10:17:39, INFO: human number: 10 -2024-02-20 10:17:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:39, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:43, INFO: Using device: cpu -2024-02-20 10:17:43, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:43, INFO: Similarity_func: concatenation -2024-02-20 10:17:43, INFO: Layerwise_graph: False -2024-02-20 10:17:43, INFO: Skip_connection: True -2024-02-20 10:17:43, INFO: Number of layers: 1 -2024-02-20 10:17:43, INFO: Similarity_func: concatenation -2024-02-20 10:17:43, INFO: Layerwise_graph: False -2024-02-20 10:17:43, INFO: Skip_connection: True -2024-02-20 10:17:43, INFO: Number of layers: 1 -2024-02-20 10:17:43, INFO: Planning depth: 1 -2024-02-20 10:17:43, INFO: Planning width: 10 -2024-02-20 10:17:43, INFO: Sparse search: None -2024-02-20 10:17:46, INFO: human number: 10 -2024-02-20 10:17:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:46, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:50, INFO: Using device: cpu -2024-02-20 10:17:50, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:50, INFO: Similarity_func: concatenation -2024-02-20 10:17:50, INFO: Layerwise_graph: False -2024-02-20 10:17:50, INFO: Skip_connection: True -2024-02-20 10:17:50, INFO: Number of layers: 1 -2024-02-20 10:17:50, INFO: Similarity_func: concatenation -2024-02-20 10:17:50, INFO: Layerwise_graph: False -2024-02-20 10:17:50, INFO: Skip_connection: True -2024-02-20 10:17:50, INFO: Number of layers: 1 -2024-02-20 10:17:50, INFO: Planning depth: 1 -2024-02-20 10:17:50, INFO: Planning width: 10 -2024-02-20 10:17:50, INFO: Sparse search: None -2024-02-20 10:17:53, INFO: human number: 10 -2024-02-20 10:17:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:17:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:17:53, INFO: Square width: 10, circle width: 4 -2024-02-20 10:17:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:17:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:17:57, INFO: Using device: cpu -2024-02-20 10:17:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:17:57, INFO: Similarity_func: concatenation -2024-02-20 10:17:57, INFO: Layerwise_graph: False -2024-02-20 10:17:57, INFO: Skip_connection: True -2024-02-20 10:17:57, INFO: Number of layers: 1 -2024-02-20 10:17:57, INFO: Similarity_func: concatenation -2024-02-20 10:17:57, INFO: Layerwise_graph: False -2024-02-20 10:17:57, INFO: Skip_connection: True -2024-02-20 10:17:57, INFO: Number of layers: 1 -2024-02-20 10:17:57, INFO: Planning depth: 1 -2024-02-20 10:17:57, INFO: Planning width: 10 -2024-02-20 10:17:57, INFO: Sparse search: None -2024-02-20 10:18:00, INFO: human number: 10 -2024-02-20 10:18:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:00, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:04, INFO: Using device: cpu -2024-02-20 10:18:04, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:04, INFO: Similarity_func: concatenation -2024-02-20 10:18:04, INFO: Layerwise_graph: False -2024-02-20 10:18:04, INFO: Skip_connection: True -2024-02-20 10:18:04, INFO: Number of layers: 1 -2024-02-20 10:18:04, INFO: Similarity_func: concatenation -2024-02-20 10:18:04, INFO: Layerwise_graph: False -2024-02-20 10:18:04, INFO: Skip_connection: True -2024-02-20 10:18:04, INFO: Number of layers: 1 -2024-02-20 10:18:04, INFO: Planning depth: 1 -2024-02-20 10:18:04, INFO: Planning width: 10 -2024-02-20 10:18:04, INFO: Sparse search: None -2024-02-20 10:18:06, INFO: human number: 10 -2024-02-20 10:18:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:06, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:10, INFO: Using device: cpu -2024-02-20 10:18:10, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:10, INFO: Similarity_func: concatenation -2024-02-20 10:18:10, INFO: Layerwise_graph: False -2024-02-20 10:18:10, INFO: Skip_connection: True -2024-02-20 10:18:10, INFO: Number of layers: 1 -2024-02-20 10:18:10, INFO: Similarity_func: concatenation -2024-02-20 10:18:10, INFO: Layerwise_graph: False -2024-02-20 10:18:10, INFO: Skip_connection: True -2024-02-20 10:18:10, INFO: Number of layers: 1 -2024-02-20 10:18:10, INFO: Planning depth: 1 -2024-02-20 10:18:10, INFO: Planning width: 10 -2024-02-20 10:18:10, INFO: Sparse search: None -2024-02-20 10:18:13, INFO: human number: 10 -2024-02-20 10:18:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:13, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:17, INFO: Using device: cpu -2024-02-20 10:18:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:17, INFO: Similarity_func: concatenation -2024-02-20 10:18:17, INFO: Layerwise_graph: False -2024-02-20 10:18:17, INFO: Skip_connection: True -2024-02-20 10:18:17, INFO: Number of layers: 1 -2024-02-20 10:18:17, INFO: Similarity_func: concatenation -2024-02-20 10:18:17, INFO: Layerwise_graph: False -2024-02-20 10:18:17, INFO: Skip_connection: True -2024-02-20 10:18:17, INFO: Number of layers: 1 -2024-02-20 10:18:17, INFO: Planning depth: 1 -2024-02-20 10:18:17, INFO: Planning width: 10 -2024-02-20 10:18:17, INFO: Sparse search: None -2024-02-20 10:18:20, INFO: human number: 10 -2024-02-20 10:18:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:20, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:24, INFO: Using device: cpu -2024-02-20 10:18:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:24, INFO: Similarity_func: concatenation -2024-02-20 10:18:24, INFO: Layerwise_graph: False -2024-02-20 10:18:24, INFO: Skip_connection: True -2024-02-20 10:18:24, INFO: Number of layers: 1 -2024-02-20 10:18:24, INFO: Similarity_func: concatenation -2024-02-20 10:18:24, INFO: Layerwise_graph: False -2024-02-20 10:18:24, INFO: Skip_connection: True -2024-02-20 10:18:24, INFO: Number of layers: 1 -2024-02-20 10:18:24, INFO: Planning depth: 1 -2024-02-20 10:18:24, INFO: Planning width: 10 -2024-02-20 10:18:24, INFO: Sparse search: None -2024-02-20 10:18:26, INFO: human number: 10 -2024-02-20 10:18:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:26, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:31, INFO: Using device: cpu -2024-02-20 10:18:31, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:31, INFO: Similarity_func: concatenation -2024-02-20 10:18:31, INFO: Layerwise_graph: False -2024-02-20 10:18:31, INFO: Skip_connection: True -2024-02-20 10:18:31, INFO: Number of layers: 1 -2024-02-20 10:18:31, INFO: Similarity_func: concatenation -2024-02-20 10:18:31, INFO: Layerwise_graph: False -2024-02-20 10:18:31, INFO: Skip_connection: True -2024-02-20 10:18:31, INFO: Number of layers: 1 -2024-02-20 10:18:31, INFO: Planning depth: 1 -2024-02-20 10:18:31, INFO: Planning width: 10 -2024-02-20 10:18:31, INFO: Sparse search: None -2024-02-20 10:18:33, INFO: human number: 10 -2024-02-20 10:18:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:33, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:38, INFO: Using device: cpu -2024-02-20 10:18:38, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:38, INFO: Similarity_func: concatenation -2024-02-20 10:18:38, INFO: Layerwise_graph: False -2024-02-20 10:18:38, INFO: Skip_connection: True -2024-02-20 10:18:38, INFO: Number of layers: 1 -2024-02-20 10:18:38, INFO: Similarity_func: concatenation -2024-02-20 10:18:38, INFO: Layerwise_graph: False -2024-02-20 10:18:38, INFO: Skip_connection: True -2024-02-20 10:18:38, INFO: Number of layers: 1 -2024-02-20 10:18:38, INFO: Planning depth: 1 -2024-02-20 10:18:38, INFO: Planning width: 10 -2024-02-20 10:18:38, INFO: Sparse search: None -2024-02-20 10:18:40, INFO: human number: 10 -2024-02-20 10:18:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:40, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:45, INFO: Using device: cpu -2024-02-20 10:18:45, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:45, INFO: Similarity_func: concatenation -2024-02-20 10:18:45, INFO: Layerwise_graph: False -2024-02-20 10:18:45, INFO: Skip_connection: True -2024-02-20 10:18:45, INFO: Number of layers: 1 -2024-02-20 10:18:45, INFO: Similarity_func: concatenation -2024-02-20 10:18:45, INFO: Layerwise_graph: False -2024-02-20 10:18:45, INFO: Skip_connection: True -2024-02-20 10:18:45, INFO: Number of layers: 1 -2024-02-20 10:18:45, INFO: Planning depth: 1 -2024-02-20 10:18:45, INFO: Planning width: 10 -2024-02-20 10:18:45, INFO: Sparse search: None -2024-02-20 10:18:47, INFO: human number: 10 -2024-02-20 10:18:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:47, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:52, INFO: Using device: cpu -2024-02-20 10:18:52, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:52, INFO: Similarity_func: concatenation -2024-02-20 10:18:52, INFO: Layerwise_graph: False -2024-02-20 10:18:52, INFO: Skip_connection: True -2024-02-20 10:18:52, INFO: Number of layers: 1 -2024-02-20 10:18:52, INFO: Similarity_func: concatenation -2024-02-20 10:18:52, INFO: Layerwise_graph: False -2024-02-20 10:18:52, INFO: Skip_connection: True -2024-02-20 10:18:52, INFO: Number of layers: 1 -2024-02-20 10:18:52, INFO: Planning depth: 1 -2024-02-20 10:18:52, INFO: Planning width: 10 -2024-02-20 10:18:52, INFO: Sparse search: None -2024-02-20 10:18:54, INFO: human number: 10 -2024-02-20 10:18:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:18:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:18:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:18:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:18:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:18:58, INFO: Using device: cpu -2024-02-20 10:18:58, INFO: Loaded RL weights with best VAL -2024-02-20 10:18:58, INFO: Similarity_func: concatenation -2024-02-20 10:18:58, INFO: Layerwise_graph: False -2024-02-20 10:18:58, INFO: Skip_connection: True -2024-02-20 10:18:58, INFO: Number of layers: 1 -2024-02-20 10:18:58, INFO: Similarity_func: concatenation -2024-02-20 10:18:58, INFO: Layerwise_graph: False -2024-02-20 10:18:58, INFO: Skip_connection: True -2024-02-20 10:18:58, INFO: Number of layers: 1 -2024-02-20 10:18:58, INFO: Planning depth: 1 -2024-02-20 10:18:58, INFO: Planning width: 10 -2024-02-20 10:18:58, INFO: Sparse search: None -2024-02-20 10:19:01, INFO: human number: 10 -2024-02-20 10:19:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:01, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:05, INFO: Using device: cpu -2024-02-20 10:19:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:05, INFO: Similarity_func: concatenation -2024-02-20 10:19:05, INFO: Layerwise_graph: False -2024-02-20 10:19:05, INFO: Skip_connection: True -2024-02-20 10:19:05, INFO: Number of layers: 1 -2024-02-20 10:19:05, INFO: Similarity_func: concatenation -2024-02-20 10:19:05, INFO: Layerwise_graph: False -2024-02-20 10:19:05, INFO: Skip_connection: True -2024-02-20 10:19:05, INFO: Number of layers: 1 -2024-02-20 10:19:05, INFO: Planning depth: 1 -2024-02-20 10:19:05, INFO: Planning width: 10 -2024-02-20 10:19:05, INFO: Sparse search: None -2024-02-20 10:19:07, INFO: human number: 10 -2024-02-20 10:19:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:12, INFO: Using device: cpu -2024-02-20 10:19:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:12, INFO: Similarity_func: concatenation -2024-02-20 10:19:12, INFO: Layerwise_graph: False -2024-02-20 10:19:12, INFO: Skip_connection: True -2024-02-20 10:19:12, INFO: Number of layers: 1 -2024-02-20 10:19:12, INFO: Similarity_func: concatenation -2024-02-20 10:19:12, INFO: Layerwise_graph: False -2024-02-20 10:19:12, INFO: Skip_connection: True -2024-02-20 10:19:12, INFO: Number of layers: 1 -2024-02-20 10:19:12, INFO: Planning depth: 1 -2024-02-20 10:19:12, INFO: Planning width: 10 -2024-02-20 10:19:12, INFO: Sparse search: None -2024-02-20 10:19:14, INFO: human number: 10 -2024-02-20 10:19:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:14, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:18, INFO: Using device: cpu -2024-02-20 10:19:18, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:18, INFO: Similarity_func: concatenation -2024-02-20 10:19:18, INFO: Layerwise_graph: False -2024-02-20 10:19:18, INFO: Skip_connection: True -2024-02-20 10:19:18, INFO: Number of layers: 1 -2024-02-20 10:19:18, INFO: Similarity_func: concatenation -2024-02-20 10:19:18, INFO: Layerwise_graph: False -2024-02-20 10:19:18, INFO: Skip_connection: True -2024-02-20 10:19:18, INFO: Number of layers: 1 -2024-02-20 10:19:18, INFO: Planning depth: 1 -2024-02-20 10:19:18, INFO: Planning width: 10 -2024-02-20 10:19:18, INFO: Sparse search: None -2024-02-20 10:19:21, INFO: human number: 10 -2024-02-20 10:19:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:21, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:25, INFO: Using device: cpu -2024-02-20 10:19:25, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:25, INFO: Similarity_func: concatenation -2024-02-20 10:19:25, INFO: Layerwise_graph: False -2024-02-20 10:19:25, INFO: Skip_connection: True -2024-02-20 10:19:25, INFO: Number of layers: 1 -2024-02-20 10:19:25, INFO: Similarity_func: concatenation -2024-02-20 10:19:25, INFO: Layerwise_graph: False -2024-02-20 10:19:25, INFO: Skip_connection: True -2024-02-20 10:19:25, INFO: Number of layers: 1 -2024-02-20 10:19:25, INFO: Planning depth: 1 -2024-02-20 10:19:25, INFO: Planning width: 10 -2024-02-20 10:19:25, INFO: Sparse search: None -2024-02-20 10:19:28, INFO: human number: 10 -2024-02-20 10:19:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:28, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:32, INFO: Using device: cpu -2024-02-20 10:19:32, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:32, INFO: Similarity_func: concatenation -2024-02-20 10:19:32, INFO: Layerwise_graph: False -2024-02-20 10:19:32, INFO: Skip_connection: True -2024-02-20 10:19:32, INFO: Number of layers: 1 -2024-02-20 10:19:32, INFO: Similarity_func: concatenation -2024-02-20 10:19:32, INFO: Layerwise_graph: False -2024-02-20 10:19:32, INFO: Skip_connection: True -2024-02-20 10:19:32, INFO: Number of layers: 1 -2024-02-20 10:19:32, INFO: Planning depth: 1 -2024-02-20 10:19:32, INFO: Planning width: 10 -2024-02-20 10:19:32, INFO: Sparse search: None -2024-02-20 10:19:35, INFO: human number: 10 -2024-02-20 10:19:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:35, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:42, INFO: Using device: cpu -2024-02-20 10:19:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:42, INFO: Similarity_func: concatenation -2024-02-20 10:19:42, INFO: Layerwise_graph: False -2024-02-20 10:19:42, INFO: Skip_connection: True -2024-02-20 10:19:42, INFO: Number of layers: 1 -2024-02-20 10:19:42, INFO: Similarity_func: concatenation -2024-02-20 10:19:42, INFO: Layerwise_graph: False -2024-02-20 10:19:42, INFO: Skip_connection: True -2024-02-20 10:19:42, INFO: Number of layers: 1 -2024-02-20 10:19:42, INFO: Planning depth: 1 -2024-02-20 10:19:42, INFO: Planning width: 10 -2024-02-20 10:19:42, INFO: Sparse search: None -2024-02-20 10:19:45, INFO: human number: 10 -2024-02-20 10:19:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:49, INFO: Using device: cpu -2024-02-20 10:19:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:49, INFO: Similarity_func: concatenation -2024-02-20 10:19:49, INFO: Layerwise_graph: False -2024-02-20 10:19:49, INFO: Skip_connection: True -2024-02-20 10:19:49, INFO: Number of layers: 1 -2024-02-20 10:19:49, INFO: Similarity_func: concatenation -2024-02-20 10:19:49, INFO: Layerwise_graph: False -2024-02-20 10:19:49, INFO: Skip_connection: True -2024-02-20 10:19:49, INFO: Number of layers: 1 -2024-02-20 10:19:49, INFO: Planning depth: 1 -2024-02-20 10:19:49, INFO: Planning width: 10 -2024-02-20 10:19:49, INFO: Sparse search: None -2024-02-20 10:19:52, INFO: human number: 10 -2024-02-20 10:19:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:19:56, INFO: Using device: cpu -2024-02-20 10:19:56, INFO: Loaded RL weights with best VAL -2024-02-20 10:19:56, INFO: Similarity_func: concatenation -2024-02-20 10:19:56, INFO: Layerwise_graph: False -2024-02-20 10:19:56, INFO: Skip_connection: True -2024-02-20 10:19:56, INFO: Number of layers: 1 -2024-02-20 10:19:56, INFO: Similarity_func: concatenation -2024-02-20 10:19:56, INFO: Layerwise_graph: False -2024-02-20 10:19:56, INFO: Skip_connection: True -2024-02-20 10:19:56, INFO: Number of layers: 1 -2024-02-20 10:19:56, INFO: Planning depth: 1 -2024-02-20 10:19:56, INFO: Planning width: 10 -2024-02-20 10:19:56, INFO: Sparse search: None -2024-02-20 10:19:59, INFO: human number: 10 -2024-02-20 10:19:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:19:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:19:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:19:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:19:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:03, INFO: Using device: cpu -2024-02-20 10:20:03, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:03, INFO: Similarity_func: concatenation -2024-02-20 10:20:03, INFO: Layerwise_graph: False -2024-02-20 10:20:03, INFO: Skip_connection: True -2024-02-20 10:20:03, INFO: Number of layers: 1 -2024-02-20 10:20:03, INFO: Similarity_func: concatenation -2024-02-20 10:20:03, INFO: Layerwise_graph: False -2024-02-20 10:20:03, INFO: Skip_connection: True -2024-02-20 10:20:03, INFO: Number of layers: 1 -2024-02-20 10:20:03, INFO: Planning depth: 1 -2024-02-20 10:20:03, INFO: Planning width: 10 -2024-02-20 10:20:03, INFO: Sparse search: None -2024-02-20 10:20:06, INFO: human number: 10 -2024-02-20 10:20:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:06, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:10, INFO: Using device: cpu -2024-02-20 10:20:10, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:10, INFO: Similarity_func: concatenation -2024-02-20 10:20:10, INFO: Layerwise_graph: False -2024-02-20 10:20:10, INFO: Skip_connection: True -2024-02-20 10:20:10, INFO: Number of layers: 1 -2024-02-20 10:20:10, INFO: Similarity_func: concatenation -2024-02-20 10:20:10, INFO: Layerwise_graph: False -2024-02-20 10:20:10, INFO: Skip_connection: True -2024-02-20 10:20:10, INFO: Number of layers: 1 -2024-02-20 10:20:10, INFO: Planning depth: 1 -2024-02-20 10:20:10, INFO: Planning width: 10 -2024-02-20 10:20:10, INFO: Sparse search: None -2024-02-20 10:20:13, INFO: human number: 10 -2024-02-20 10:20:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:13, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:17, INFO: Using device: cpu -2024-02-20 10:20:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:17, INFO: Similarity_func: concatenation -2024-02-20 10:20:17, INFO: Layerwise_graph: False -2024-02-20 10:20:17, INFO: Skip_connection: True -2024-02-20 10:20:17, INFO: Number of layers: 1 -2024-02-20 10:20:17, INFO: Similarity_func: concatenation -2024-02-20 10:20:17, INFO: Layerwise_graph: False -2024-02-20 10:20:17, INFO: Skip_connection: True -2024-02-20 10:20:17, INFO: Number of layers: 1 -2024-02-20 10:20:17, INFO: Planning depth: 1 -2024-02-20 10:20:17, INFO: Planning width: 10 -2024-02-20 10:20:17, INFO: Sparse search: None -2024-02-20 10:20:19, INFO: human number: 10 -2024-02-20 10:20:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:19, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:24, INFO: Using device: cpu -2024-02-20 10:20:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:24, INFO: Similarity_func: concatenation -2024-02-20 10:20:24, INFO: Layerwise_graph: False -2024-02-20 10:20:24, INFO: Skip_connection: True -2024-02-20 10:20:24, INFO: Number of layers: 1 -2024-02-20 10:20:24, INFO: Similarity_func: concatenation -2024-02-20 10:20:24, INFO: Layerwise_graph: False -2024-02-20 10:20:24, INFO: Skip_connection: True -2024-02-20 10:20:24, INFO: Number of layers: 1 -2024-02-20 10:20:24, INFO: Planning depth: 1 -2024-02-20 10:20:24, INFO: Planning width: 10 -2024-02-20 10:20:24, INFO: Sparse search: None -2024-02-20 10:20:27, INFO: human number: 10 -2024-02-20 10:20:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:32, INFO: Using device: cpu -2024-02-20 10:20:32, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:32, INFO: Similarity_func: concatenation -2024-02-20 10:20:32, INFO: Layerwise_graph: False -2024-02-20 10:20:32, INFO: Skip_connection: True -2024-02-20 10:20:32, INFO: Number of layers: 1 -2024-02-20 10:20:32, INFO: Similarity_func: concatenation -2024-02-20 10:20:32, INFO: Layerwise_graph: False -2024-02-20 10:20:32, INFO: Skip_connection: True -2024-02-20 10:20:32, INFO: Number of layers: 1 -2024-02-20 10:20:32, INFO: Planning depth: 1 -2024-02-20 10:20:32, INFO: Planning width: 10 -2024-02-20 10:20:32, INFO: Sparse search: None -2024-02-20 10:20:35, INFO: human number: 10 -2024-02-20 10:20:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:35, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:39, INFO: Using device: cpu -2024-02-20 10:20:39, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:39, INFO: Similarity_func: concatenation -2024-02-20 10:20:39, INFO: Layerwise_graph: False -2024-02-20 10:20:39, INFO: Skip_connection: True -2024-02-20 10:20:39, INFO: Number of layers: 1 -2024-02-20 10:20:39, INFO: Similarity_func: concatenation -2024-02-20 10:20:39, INFO: Layerwise_graph: False -2024-02-20 10:20:39, INFO: Skip_connection: True -2024-02-20 10:20:39, INFO: Number of layers: 1 -2024-02-20 10:20:39, INFO: Planning depth: 1 -2024-02-20 10:20:39, INFO: Planning width: 10 -2024-02-20 10:20:39, INFO: Sparse search: None -2024-02-20 10:20:42, INFO: human number: 10 -2024-02-20 10:20:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:42, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:46, INFO: Using device: cpu -2024-02-20 10:20:46, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:46, INFO: Similarity_func: concatenation -2024-02-20 10:20:46, INFO: Layerwise_graph: False -2024-02-20 10:20:46, INFO: Skip_connection: True -2024-02-20 10:20:46, INFO: Number of layers: 1 -2024-02-20 10:20:46, INFO: Similarity_func: concatenation -2024-02-20 10:20:46, INFO: Layerwise_graph: False -2024-02-20 10:20:46, INFO: Skip_connection: True -2024-02-20 10:20:46, INFO: Number of layers: 1 -2024-02-20 10:20:46, INFO: Planning depth: 1 -2024-02-20 10:20:46, INFO: Planning width: 10 -2024-02-20 10:20:46, INFO: Sparse search: None -2024-02-20 10:20:49, INFO: human number: 10 -2024-02-20 10:20:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:49, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:20:53, INFO: Using device: cpu -2024-02-20 10:20:53, INFO: Loaded RL weights with best VAL -2024-02-20 10:20:53, INFO: Similarity_func: concatenation -2024-02-20 10:20:53, INFO: Layerwise_graph: False -2024-02-20 10:20:53, INFO: Skip_connection: True -2024-02-20 10:20:53, INFO: Number of layers: 1 -2024-02-20 10:20:53, INFO: Similarity_func: concatenation -2024-02-20 10:20:53, INFO: Layerwise_graph: False -2024-02-20 10:20:53, INFO: Skip_connection: True -2024-02-20 10:20:53, INFO: Number of layers: 1 -2024-02-20 10:20:53, INFO: Planning depth: 1 -2024-02-20 10:20:53, INFO: Planning width: 10 -2024-02-20 10:20:53, INFO: Sparse search: None -2024-02-20 10:20:56, INFO: human number: 10 -2024-02-20 10:20:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:20:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:20:56, INFO: Square width: 10, circle width: 4 -2024-02-20 10:20:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:20:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:00, INFO: Using device: cpu -2024-02-20 10:21:00, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:00, INFO: Similarity_func: concatenation -2024-02-20 10:21:00, INFO: Layerwise_graph: False -2024-02-20 10:21:00, INFO: Skip_connection: True -2024-02-20 10:21:00, INFO: Number of layers: 1 -2024-02-20 10:21:00, INFO: Similarity_func: concatenation -2024-02-20 10:21:00, INFO: Layerwise_graph: False -2024-02-20 10:21:00, INFO: Skip_connection: True -2024-02-20 10:21:00, INFO: Number of layers: 1 -2024-02-20 10:21:00, INFO: Planning depth: 1 -2024-02-20 10:21:00, INFO: Planning width: 10 -2024-02-20 10:21:00, INFO: Sparse search: None -2024-02-20 10:21:02, INFO: human number: 10 -2024-02-20 10:21:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:02, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:06, INFO: Using device: cpu -2024-02-20 10:21:06, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:06, INFO: Similarity_func: concatenation -2024-02-20 10:21:06, INFO: Layerwise_graph: False -2024-02-20 10:21:06, INFO: Skip_connection: True -2024-02-20 10:21:06, INFO: Number of layers: 1 -2024-02-20 10:21:06, INFO: Similarity_func: concatenation -2024-02-20 10:21:06, INFO: Layerwise_graph: False -2024-02-20 10:21:06, INFO: Skip_connection: True -2024-02-20 10:21:06, INFO: Number of layers: 1 -2024-02-20 10:21:06, INFO: Planning depth: 1 -2024-02-20 10:21:06, INFO: Planning width: 10 -2024-02-20 10:21:06, INFO: Sparse search: None -2024-02-20 10:21:09, INFO: human number: 10 -2024-02-20 10:21:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:09, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:14, INFO: Using device: cpu -2024-02-20 10:21:14, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:14, INFO: Similarity_func: concatenation -2024-02-20 10:21:14, INFO: Layerwise_graph: False -2024-02-20 10:21:14, INFO: Skip_connection: True -2024-02-20 10:21:14, INFO: Number of layers: 1 -2024-02-20 10:21:14, INFO: Similarity_func: concatenation -2024-02-20 10:21:14, INFO: Layerwise_graph: False -2024-02-20 10:21:14, INFO: Skip_connection: True -2024-02-20 10:21:14, INFO: Number of layers: 1 -2024-02-20 10:21:14, INFO: Planning depth: 1 -2024-02-20 10:21:14, INFO: Planning width: 10 -2024-02-20 10:21:14, INFO: Sparse search: None -2024-02-20 10:21:16, INFO: human number: 10 -2024-02-20 10:21:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:16, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:21, INFO: Using device: cpu -2024-02-20 10:21:21, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:21, INFO: Similarity_func: concatenation -2024-02-20 10:21:21, INFO: Layerwise_graph: False -2024-02-20 10:21:21, INFO: Skip_connection: True -2024-02-20 10:21:21, INFO: Number of layers: 1 -2024-02-20 10:21:21, INFO: Similarity_func: concatenation -2024-02-20 10:21:21, INFO: Layerwise_graph: False -2024-02-20 10:21:21, INFO: Skip_connection: True -2024-02-20 10:21:21, INFO: Number of layers: 1 -2024-02-20 10:21:21, INFO: Planning depth: 1 -2024-02-20 10:21:21, INFO: Planning width: 10 -2024-02-20 10:21:21, INFO: Sparse search: None -2024-02-20 10:21:23, INFO: human number: 10 -2024-02-20 10:21:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:23, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:29, INFO: Using device: cpu -2024-02-20 10:21:29, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:29, INFO: Similarity_func: concatenation -2024-02-20 10:21:29, INFO: Layerwise_graph: False -2024-02-20 10:21:29, INFO: Skip_connection: True -2024-02-20 10:21:29, INFO: Number of layers: 1 -2024-02-20 10:21:29, INFO: Similarity_func: concatenation -2024-02-20 10:21:29, INFO: Layerwise_graph: False -2024-02-20 10:21:29, INFO: Skip_connection: True -2024-02-20 10:21:29, INFO: Number of layers: 1 -2024-02-20 10:21:29, INFO: Planning depth: 1 -2024-02-20 10:21:29, INFO: Planning width: 10 -2024-02-20 10:21:29, INFO: Sparse search: None -2024-02-20 10:21:32, INFO: human number: 10 -2024-02-20 10:21:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:32, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:36, INFO: Using device: cpu -2024-02-20 10:21:36, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:36, INFO: Similarity_func: concatenation -2024-02-20 10:21:36, INFO: Layerwise_graph: False -2024-02-20 10:21:36, INFO: Skip_connection: True -2024-02-20 10:21:36, INFO: Number of layers: 1 -2024-02-20 10:21:36, INFO: Similarity_func: concatenation -2024-02-20 10:21:36, INFO: Layerwise_graph: False -2024-02-20 10:21:36, INFO: Skip_connection: True -2024-02-20 10:21:36, INFO: Number of layers: 1 -2024-02-20 10:21:36, INFO: Planning depth: 1 -2024-02-20 10:21:36, INFO: Planning width: 10 -2024-02-20 10:21:36, INFO: Sparse search: None -2024-02-20 10:21:39, INFO: human number: 10 -2024-02-20 10:21:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:39, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:43, INFO: Using device: cpu -2024-02-20 10:21:43, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:43, INFO: Similarity_func: concatenation -2024-02-20 10:21:43, INFO: Layerwise_graph: False -2024-02-20 10:21:43, INFO: Skip_connection: True -2024-02-20 10:21:43, INFO: Number of layers: 1 -2024-02-20 10:21:43, INFO: Similarity_func: concatenation -2024-02-20 10:21:43, INFO: Layerwise_graph: False -2024-02-20 10:21:43, INFO: Skip_connection: True -2024-02-20 10:21:43, INFO: Number of layers: 1 -2024-02-20 10:21:43, INFO: Planning depth: 1 -2024-02-20 10:21:43, INFO: Planning width: 10 -2024-02-20 10:21:43, INFO: Sparse search: None -2024-02-20 10:21:46, INFO: human number: 10 -2024-02-20 10:21:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:46, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:50, INFO: Using device: cpu -2024-02-20 10:21:50, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:50, INFO: Similarity_func: concatenation -2024-02-20 10:21:50, INFO: Layerwise_graph: False -2024-02-20 10:21:50, INFO: Skip_connection: True -2024-02-20 10:21:50, INFO: Number of layers: 1 -2024-02-20 10:21:50, INFO: Similarity_func: concatenation -2024-02-20 10:21:50, INFO: Layerwise_graph: False -2024-02-20 10:21:50, INFO: Skip_connection: True -2024-02-20 10:21:50, INFO: Number of layers: 1 -2024-02-20 10:21:50, INFO: Planning depth: 1 -2024-02-20 10:21:50, INFO: Planning width: 10 -2024-02-20 10:21:50, INFO: Sparse search: None -2024-02-20 10:21:52, INFO: human number: 10 -2024-02-20 10:21:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:21:57, INFO: Using device: cpu -2024-02-20 10:21:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:21:57, INFO: Similarity_func: concatenation -2024-02-20 10:21:57, INFO: Layerwise_graph: False -2024-02-20 10:21:57, INFO: Skip_connection: True -2024-02-20 10:21:57, INFO: Number of layers: 1 -2024-02-20 10:21:57, INFO: Similarity_func: concatenation -2024-02-20 10:21:57, INFO: Layerwise_graph: False -2024-02-20 10:21:57, INFO: Skip_connection: True -2024-02-20 10:21:57, INFO: Number of layers: 1 -2024-02-20 10:21:57, INFO: Planning depth: 1 -2024-02-20 10:21:57, INFO: Planning width: 10 -2024-02-20 10:21:57, INFO: Sparse search: None -2024-02-20 10:21:59, INFO: human number: 10 -2024-02-20 10:21:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:21:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:21:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:21:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:21:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:05, INFO: Using device: cpu -2024-02-20 10:22:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:05, INFO: Similarity_func: concatenation -2024-02-20 10:22:05, INFO: Layerwise_graph: False -2024-02-20 10:22:05, INFO: Skip_connection: True -2024-02-20 10:22:05, INFO: Number of layers: 1 -2024-02-20 10:22:05, INFO: Similarity_func: concatenation -2024-02-20 10:22:05, INFO: Layerwise_graph: False -2024-02-20 10:22:05, INFO: Skip_connection: True -2024-02-20 10:22:05, INFO: Number of layers: 1 -2024-02-20 10:22:05, INFO: Planning depth: 1 -2024-02-20 10:22:05, INFO: Planning width: 10 -2024-02-20 10:22:05, INFO: Sparse search: None -2024-02-20 10:22:07, INFO: human number: 10 -2024-02-20 10:22:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:12, INFO: Using device: cpu -2024-02-20 10:22:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:12, INFO: Similarity_func: concatenation -2024-02-20 10:22:12, INFO: Layerwise_graph: False -2024-02-20 10:22:12, INFO: Skip_connection: True -2024-02-20 10:22:12, INFO: Number of layers: 1 -2024-02-20 10:22:12, INFO: Similarity_func: concatenation -2024-02-20 10:22:12, INFO: Layerwise_graph: False -2024-02-20 10:22:12, INFO: Skip_connection: True -2024-02-20 10:22:12, INFO: Number of layers: 1 -2024-02-20 10:22:12, INFO: Planning depth: 1 -2024-02-20 10:22:12, INFO: Planning width: 10 -2024-02-20 10:22:12, INFO: Sparse search: None -2024-02-20 10:22:15, INFO: human number: 10 -2024-02-20 10:22:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:15, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:21, INFO: Using device: cpu -2024-02-20 10:22:21, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:21, INFO: Similarity_func: concatenation -2024-02-20 10:22:21, INFO: Layerwise_graph: False -2024-02-20 10:22:21, INFO: Skip_connection: True -2024-02-20 10:22:21, INFO: Number of layers: 1 -2024-02-20 10:22:21, INFO: Similarity_func: concatenation -2024-02-20 10:22:21, INFO: Layerwise_graph: False -2024-02-20 10:22:21, INFO: Skip_connection: True -2024-02-20 10:22:21, INFO: Number of layers: 1 -2024-02-20 10:22:21, INFO: Planning depth: 1 -2024-02-20 10:22:21, INFO: Planning width: 10 -2024-02-20 10:22:21, INFO: Sparse search: None -2024-02-20 10:22:23, INFO: human number: 10 -2024-02-20 10:22:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:23, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:27, INFO: Using device: cpu -2024-02-20 10:22:27, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:27, INFO: Similarity_func: concatenation -2024-02-20 10:22:27, INFO: Layerwise_graph: False -2024-02-20 10:22:27, INFO: Skip_connection: True -2024-02-20 10:22:27, INFO: Number of layers: 1 -2024-02-20 10:22:27, INFO: Similarity_func: concatenation -2024-02-20 10:22:27, INFO: Layerwise_graph: False -2024-02-20 10:22:27, INFO: Skip_connection: True -2024-02-20 10:22:27, INFO: Number of layers: 1 -2024-02-20 10:22:27, INFO: Planning depth: 1 -2024-02-20 10:22:27, INFO: Planning width: 10 -2024-02-20 10:22:27, INFO: Sparse search: None -2024-02-20 10:22:30, INFO: human number: 10 -2024-02-20 10:22:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:30, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:34, INFO: Using device: cpu -2024-02-20 10:22:34, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:34, INFO: Similarity_func: concatenation -2024-02-20 10:22:34, INFO: Layerwise_graph: False -2024-02-20 10:22:34, INFO: Skip_connection: True -2024-02-20 10:22:34, INFO: Number of layers: 1 -2024-02-20 10:22:34, INFO: Similarity_func: concatenation -2024-02-20 10:22:34, INFO: Layerwise_graph: False -2024-02-20 10:22:34, INFO: Skip_connection: True -2024-02-20 10:22:34, INFO: Number of layers: 1 -2024-02-20 10:22:34, INFO: Planning depth: 1 -2024-02-20 10:22:34, INFO: Planning width: 10 -2024-02-20 10:22:34, INFO: Sparse search: None -2024-02-20 10:22:37, INFO: human number: 10 -2024-02-20 10:22:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:37, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:41, INFO: Using device: cpu -2024-02-20 10:22:41, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:41, INFO: Similarity_func: concatenation -2024-02-20 10:22:41, INFO: Layerwise_graph: False -2024-02-20 10:22:41, INFO: Skip_connection: True -2024-02-20 10:22:41, INFO: Number of layers: 1 -2024-02-20 10:22:41, INFO: Similarity_func: concatenation -2024-02-20 10:22:41, INFO: Layerwise_graph: False -2024-02-20 10:22:41, INFO: Skip_connection: True -2024-02-20 10:22:41, INFO: Number of layers: 1 -2024-02-20 10:22:41, INFO: Planning depth: 1 -2024-02-20 10:22:41, INFO: Planning width: 10 -2024-02-20 10:22:41, INFO: Sparse search: None -2024-02-20 10:22:44, INFO: human number: 10 -2024-02-20 10:22:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:44, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:49, INFO: Using device: cpu -2024-02-20 10:22:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:49, INFO: Similarity_func: concatenation -2024-02-20 10:22:49, INFO: Layerwise_graph: False -2024-02-20 10:22:49, INFO: Skip_connection: True -2024-02-20 10:22:49, INFO: Number of layers: 1 -2024-02-20 10:22:49, INFO: Similarity_func: concatenation -2024-02-20 10:22:49, INFO: Layerwise_graph: False -2024-02-20 10:22:49, INFO: Skip_connection: True -2024-02-20 10:22:49, INFO: Number of layers: 1 -2024-02-20 10:22:49, INFO: Planning depth: 1 -2024-02-20 10:22:49, INFO: Planning width: 10 -2024-02-20 10:22:49, INFO: Sparse search: None -2024-02-20 10:22:51, INFO: human number: 10 -2024-02-20 10:22:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:51, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:22:56, INFO: Using device: cpu -2024-02-20 10:22:56, INFO: Loaded RL weights with best VAL -2024-02-20 10:22:56, INFO: Similarity_func: concatenation -2024-02-20 10:22:56, INFO: Layerwise_graph: False -2024-02-20 10:22:56, INFO: Skip_connection: True -2024-02-20 10:22:56, INFO: Number of layers: 1 -2024-02-20 10:22:56, INFO: Similarity_func: concatenation -2024-02-20 10:22:56, INFO: Layerwise_graph: False -2024-02-20 10:22:56, INFO: Skip_connection: True -2024-02-20 10:22:56, INFO: Number of layers: 1 -2024-02-20 10:22:56, INFO: Planning depth: 1 -2024-02-20 10:22:56, INFO: Planning width: 10 -2024-02-20 10:22:56, INFO: Sparse search: None -2024-02-20 10:22:58, INFO: human number: 10 -2024-02-20 10:22:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:22:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:22:58, INFO: Square width: 10, circle width: 4 -2024-02-20 10:22:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:22:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:02, INFO: Using device: cpu -2024-02-20 10:23:02, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:02, INFO: Similarity_func: concatenation -2024-02-20 10:23:02, INFO: Layerwise_graph: False -2024-02-20 10:23:02, INFO: Skip_connection: True -2024-02-20 10:23:02, INFO: Number of layers: 1 -2024-02-20 10:23:02, INFO: Similarity_func: concatenation -2024-02-20 10:23:02, INFO: Layerwise_graph: False -2024-02-20 10:23:02, INFO: Skip_connection: True -2024-02-20 10:23:02, INFO: Number of layers: 1 -2024-02-20 10:23:02, INFO: Planning depth: 1 -2024-02-20 10:23:02, INFO: Planning width: 10 -2024-02-20 10:23:02, INFO: Sparse search: None -2024-02-20 10:23:05, INFO: human number: 10 -2024-02-20 10:23:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:05, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:10, INFO: Using device: cpu -2024-02-20 10:23:10, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:10, INFO: Similarity_func: concatenation -2024-02-20 10:23:10, INFO: Layerwise_graph: False -2024-02-20 10:23:10, INFO: Skip_connection: True -2024-02-20 10:23:10, INFO: Number of layers: 1 -2024-02-20 10:23:10, INFO: Similarity_func: concatenation -2024-02-20 10:23:10, INFO: Layerwise_graph: False -2024-02-20 10:23:10, INFO: Skip_connection: True -2024-02-20 10:23:10, INFO: Number of layers: 1 -2024-02-20 10:23:10, INFO: Planning depth: 1 -2024-02-20 10:23:10, INFO: Planning width: 10 -2024-02-20 10:23:10, INFO: Sparse search: None -2024-02-20 10:23:12, INFO: human number: 10 -2024-02-20 10:23:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:12, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:16, INFO: Using device: cpu -2024-02-20 10:23:16, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:16, INFO: Similarity_func: concatenation -2024-02-20 10:23:16, INFO: Layerwise_graph: False -2024-02-20 10:23:16, INFO: Skip_connection: True -2024-02-20 10:23:16, INFO: Number of layers: 1 -2024-02-20 10:23:16, INFO: Similarity_func: concatenation -2024-02-20 10:23:16, INFO: Layerwise_graph: False -2024-02-20 10:23:16, INFO: Skip_connection: True -2024-02-20 10:23:16, INFO: Number of layers: 1 -2024-02-20 10:23:16, INFO: Planning depth: 1 -2024-02-20 10:23:16, INFO: Planning width: 10 -2024-02-20 10:23:16, INFO: Sparse search: None -2024-02-20 10:23:19, INFO: human number: 10 -2024-02-20 10:23:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:19, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:24, INFO: Using device: cpu -2024-02-20 10:23:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:24, INFO: Similarity_func: concatenation -2024-02-20 10:23:24, INFO: Layerwise_graph: False -2024-02-20 10:23:24, INFO: Skip_connection: True -2024-02-20 10:23:24, INFO: Number of layers: 1 -2024-02-20 10:23:24, INFO: Similarity_func: concatenation -2024-02-20 10:23:24, INFO: Layerwise_graph: False -2024-02-20 10:23:24, INFO: Skip_connection: True -2024-02-20 10:23:24, INFO: Number of layers: 1 -2024-02-20 10:23:24, INFO: Planning depth: 1 -2024-02-20 10:23:24, INFO: Planning width: 10 -2024-02-20 10:23:24, INFO: Sparse search: None -2024-02-20 10:23:27, INFO: human number: 10 -2024-02-20 10:23:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:34, INFO: Using device: cpu -2024-02-20 10:23:34, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:34, INFO: Similarity_func: concatenation -2024-02-20 10:23:34, INFO: Layerwise_graph: False -2024-02-20 10:23:34, INFO: Skip_connection: True -2024-02-20 10:23:34, INFO: Number of layers: 1 -2024-02-20 10:23:34, INFO: Similarity_func: concatenation -2024-02-20 10:23:34, INFO: Layerwise_graph: False -2024-02-20 10:23:34, INFO: Skip_connection: True -2024-02-20 10:23:34, INFO: Number of layers: 1 -2024-02-20 10:23:34, INFO: Planning depth: 1 -2024-02-20 10:23:34, INFO: Planning width: 10 -2024-02-20 10:23:34, INFO: Sparse search: None -2024-02-20 10:23:36, INFO: human number: 10 -2024-02-20 10:23:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:36, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:47, INFO: Using device: cpu -2024-02-20 10:23:47, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:47, INFO: Similarity_func: concatenation -2024-02-20 10:23:47, INFO: Layerwise_graph: False -2024-02-20 10:23:47, INFO: Skip_connection: True -2024-02-20 10:23:47, INFO: Number of layers: 1 -2024-02-20 10:23:47, INFO: Similarity_func: concatenation -2024-02-20 10:23:47, INFO: Layerwise_graph: False -2024-02-20 10:23:47, INFO: Skip_connection: True -2024-02-20 10:23:47, INFO: Number of layers: 1 -2024-02-20 10:23:47, INFO: Planning depth: 1 -2024-02-20 10:23:47, INFO: Planning width: 10 -2024-02-20 10:23:47, INFO: Sparse search: None -2024-02-20 10:23:49, INFO: human number: 10 -2024-02-20 10:23:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:49, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:23:53, INFO: Using device: cpu -2024-02-20 10:23:53, INFO: Loaded RL weights with best VAL -2024-02-20 10:23:53, INFO: Similarity_func: concatenation -2024-02-20 10:23:53, INFO: Layerwise_graph: False -2024-02-20 10:23:53, INFO: Skip_connection: True -2024-02-20 10:23:53, INFO: Number of layers: 1 -2024-02-20 10:23:53, INFO: Similarity_func: concatenation -2024-02-20 10:23:53, INFO: Layerwise_graph: False -2024-02-20 10:23:53, INFO: Skip_connection: True -2024-02-20 10:23:53, INFO: Number of layers: 1 -2024-02-20 10:23:53, INFO: Planning depth: 1 -2024-02-20 10:23:53, INFO: Planning width: 10 -2024-02-20 10:23:53, INFO: Sparse search: None -2024-02-20 10:23:56, INFO: human number: 10 -2024-02-20 10:23:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:23:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:23:56, INFO: Square width: 10, circle width: 4 -2024-02-20 10:23:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:23:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:00, INFO: Using device: cpu -2024-02-20 10:24:00, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:00, INFO: Similarity_func: concatenation -2024-02-20 10:24:00, INFO: Layerwise_graph: False -2024-02-20 10:24:00, INFO: Skip_connection: True -2024-02-20 10:24:00, INFO: Number of layers: 1 -2024-02-20 10:24:00, INFO: Similarity_func: concatenation -2024-02-20 10:24:00, INFO: Layerwise_graph: False -2024-02-20 10:24:00, INFO: Skip_connection: True -2024-02-20 10:24:00, INFO: Number of layers: 1 -2024-02-20 10:24:00, INFO: Planning depth: 1 -2024-02-20 10:24:00, INFO: Planning width: 10 -2024-02-20 10:24:00, INFO: Sparse search: None -2024-02-20 10:24:03, INFO: human number: 10 -2024-02-20 10:24:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:03, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:07, INFO: Using device: cpu -2024-02-20 10:24:07, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:07, INFO: Similarity_func: concatenation -2024-02-20 10:24:07, INFO: Layerwise_graph: False -2024-02-20 10:24:07, INFO: Skip_connection: True -2024-02-20 10:24:07, INFO: Number of layers: 1 -2024-02-20 10:24:07, INFO: Similarity_func: concatenation -2024-02-20 10:24:07, INFO: Layerwise_graph: False -2024-02-20 10:24:07, INFO: Skip_connection: True -2024-02-20 10:24:07, INFO: Number of layers: 1 -2024-02-20 10:24:07, INFO: Planning depth: 1 -2024-02-20 10:24:07, INFO: Planning width: 10 -2024-02-20 10:24:07, INFO: Sparse search: None -2024-02-20 10:24:09, INFO: human number: 10 -2024-02-20 10:24:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:09, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:14, INFO: Using device: cpu -2024-02-20 10:24:14, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:14, INFO: Similarity_func: concatenation -2024-02-20 10:24:14, INFO: Layerwise_graph: False -2024-02-20 10:24:14, INFO: Skip_connection: True -2024-02-20 10:24:14, INFO: Number of layers: 1 -2024-02-20 10:24:14, INFO: Similarity_func: concatenation -2024-02-20 10:24:14, INFO: Layerwise_graph: False -2024-02-20 10:24:14, INFO: Skip_connection: True -2024-02-20 10:24:14, INFO: Number of layers: 1 -2024-02-20 10:24:14, INFO: Planning depth: 1 -2024-02-20 10:24:14, INFO: Planning width: 10 -2024-02-20 10:24:14, INFO: Sparse search: None -2024-02-20 10:24:16, INFO: human number: 10 -2024-02-20 10:24:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:16, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:20, INFO: Using device: cpu -2024-02-20 10:24:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:20, INFO: Similarity_func: concatenation -2024-02-20 10:24:20, INFO: Layerwise_graph: False -2024-02-20 10:24:20, INFO: Skip_connection: True -2024-02-20 10:24:20, INFO: Number of layers: 1 -2024-02-20 10:24:20, INFO: Similarity_func: concatenation -2024-02-20 10:24:20, INFO: Layerwise_graph: False -2024-02-20 10:24:20, INFO: Skip_connection: True -2024-02-20 10:24:20, INFO: Number of layers: 1 -2024-02-20 10:24:20, INFO: Planning depth: 1 -2024-02-20 10:24:20, INFO: Planning width: 10 -2024-02-20 10:24:20, INFO: Sparse search: None -2024-02-20 10:24:23, INFO: human number: 10 -2024-02-20 10:24:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:23, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:37, INFO: Using device: cpu -2024-02-20 10:24:37, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:37, INFO: Similarity_func: concatenation -2024-02-20 10:24:37, INFO: Layerwise_graph: False -2024-02-20 10:24:37, INFO: Skip_connection: True -2024-02-20 10:24:37, INFO: Number of layers: 1 -2024-02-20 10:24:37, INFO: Similarity_func: concatenation -2024-02-20 10:24:37, INFO: Layerwise_graph: False -2024-02-20 10:24:37, INFO: Skip_connection: True -2024-02-20 10:24:37, INFO: Number of layers: 1 -2024-02-20 10:24:37, INFO: Planning depth: 1 -2024-02-20 10:24:37, INFO: Planning width: 10 -2024-02-20 10:24:37, INFO: Sparse search: None -2024-02-20 10:24:40, INFO: human number: 10 -2024-02-20 10:24:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:40, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:45, INFO: Using device: cpu -2024-02-20 10:24:45, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:45, INFO: Similarity_func: concatenation -2024-02-20 10:24:45, INFO: Layerwise_graph: False -2024-02-20 10:24:45, INFO: Skip_connection: True -2024-02-20 10:24:45, INFO: Number of layers: 1 -2024-02-20 10:24:45, INFO: Similarity_func: concatenation -2024-02-20 10:24:45, INFO: Layerwise_graph: False -2024-02-20 10:24:45, INFO: Skip_connection: True -2024-02-20 10:24:45, INFO: Number of layers: 1 -2024-02-20 10:24:45, INFO: Planning depth: 1 -2024-02-20 10:24:45, INFO: Planning width: 10 -2024-02-20 10:24:45, INFO: Sparse search: None -2024-02-20 10:24:47, INFO: human number: 10 -2024-02-20 10:24:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:47, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:51, INFO: Using device: cpu -2024-02-20 10:24:51, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:51, INFO: Similarity_func: concatenation -2024-02-20 10:24:51, INFO: Layerwise_graph: False -2024-02-20 10:24:51, INFO: Skip_connection: True -2024-02-20 10:24:51, INFO: Number of layers: 1 -2024-02-20 10:24:51, INFO: Similarity_func: concatenation -2024-02-20 10:24:51, INFO: Layerwise_graph: False -2024-02-20 10:24:51, INFO: Skip_connection: True -2024-02-20 10:24:51, INFO: Number of layers: 1 -2024-02-20 10:24:51, INFO: Planning depth: 1 -2024-02-20 10:24:51, INFO: Planning width: 10 -2024-02-20 10:24:51, INFO: Sparse search: None -2024-02-20 10:24:54, INFO: human number: 10 -2024-02-20 10:24:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:24:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:24:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:24:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:24:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:24:58, INFO: Using device: cpu -2024-02-20 10:24:58, INFO: Loaded RL weights with best VAL -2024-02-20 10:24:58, INFO: Similarity_func: concatenation -2024-02-20 10:24:58, INFO: Layerwise_graph: False -2024-02-20 10:24:58, INFO: Skip_connection: True -2024-02-20 10:24:58, INFO: Number of layers: 1 -2024-02-20 10:24:58, INFO: Similarity_func: concatenation -2024-02-20 10:24:58, INFO: Layerwise_graph: False -2024-02-20 10:24:58, INFO: Skip_connection: True -2024-02-20 10:24:58, INFO: Number of layers: 1 -2024-02-20 10:24:58, INFO: Planning depth: 1 -2024-02-20 10:24:58, INFO: Planning width: 10 -2024-02-20 10:24:58, INFO: Sparse search: None -2024-02-20 10:25:01, INFO: human number: 10 -2024-02-20 10:25:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:01, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:05, INFO: Using device: cpu -2024-02-20 10:25:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:05, INFO: Similarity_func: concatenation -2024-02-20 10:25:05, INFO: Layerwise_graph: False -2024-02-20 10:25:05, INFO: Skip_connection: True -2024-02-20 10:25:05, INFO: Number of layers: 1 -2024-02-20 10:25:05, INFO: Similarity_func: concatenation -2024-02-20 10:25:05, INFO: Layerwise_graph: False -2024-02-20 10:25:05, INFO: Skip_connection: True -2024-02-20 10:25:05, INFO: Number of layers: 1 -2024-02-20 10:25:05, INFO: Planning depth: 1 -2024-02-20 10:25:05, INFO: Planning width: 10 -2024-02-20 10:25:05, INFO: Sparse search: None -2024-02-20 10:25:08, INFO: human number: 10 -2024-02-20 10:25:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:08, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:12, INFO: Using device: cpu -2024-02-20 10:25:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:12, INFO: Similarity_func: concatenation -2024-02-20 10:25:12, INFO: Layerwise_graph: False -2024-02-20 10:25:12, INFO: Skip_connection: True -2024-02-20 10:25:12, INFO: Number of layers: 1 -2024-02-20 10:25:12, INFO: Similarity_func: concatenation -2024-02-20 10:25:12, INFO: Layerwise_graph: False -2024-02-20 10:25:12, INFO: Skip_connection: True -2024-02-20 10:25:12, INFO: Number of layers: 1 -2024-02-20 10:25:12, INFO: Planning depth: 1 -2024-02-20 10:25:12, INFO: Planning width: 10 -2024-02-20 10:25:12, INFO: Sparse search: None -2024-02-20 10:25:15, INFO: human number: 10 -2024-02-20 10:25:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:15, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:20, INFO: Using device: cpu -2024-02-20 10:25:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:20, INFO: Similarity_func: concatenation -2024-02-20 10:25:20, INFO: Layerwise_graph: False -2024-02-20 10:25:20, INFO: Skip_connection: True -2024-02-20 10:25:20, INFO: Number of layers: 1 -2024-02-20 10:25:20, INFO: Similarity_func: concatenation -2024-02-20 10:25:20, INFO: Layerwise_graph: False -2024-02-20 10:25:20, INFO: Skip_connection: True -2024-02-20 10:25:20, INFO: Number of layers: 1 -2024-02-20 10:25:20, INFO: Planning depth: 1 -2024-02-20 10:25:20, INFO: Planning width: 10 -2024-02-20 10:25:20, INFO: Sparse search: None -2024-02-20 10:25:22, INFO: human number: 10 -2024-02-20 10:25:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:22, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:27, INFO: Using device: cpu -2024-02-20 10:25:27, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:27, INFO: Similarity_func: concatenation -2024-02-20 10:25:27, INFO: Layerwise_graph: False -2024-02-20 10:25:27, INFO: Skip_connection: True -2024-02-20 10:25:27, INFO: Number of layers: 1 -2024-02-20 10:25:27, INFO: Similarity_func: concatenation -2024-02-20 10:25:27, INFO: Layerwise_graph: False -2024-02-20 10:25:27, INFO: Skip_connection: True -2024-02-20 10:25:27, INFO: Number of layers: 1 -2024-02-20 10:25:27, INFO: Planning depth: 1 -2024-02-20 10:25:27, INFO: Planning width: 10 -2024-02-20 10:25:27, INFO: Sparse search: None -2024-02-20 10:25:29, INFO: human number: 10 -2024-02-20 10:25:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:33, INFO: Using device: cpu -2024-02-20 10:25:33, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:33, INFO: Similarity_func: concatenation -2024-02-20 10:25:33, INFO: Layerwise_graph: False -2024-02-20 10:25:33, INFO: Skip_connection: True -2024-02-20 10:25:33, INFO: Number of layers: 1 -2024-02-20 10:25:33, INFO: Similarity_func: concatenation -2024-02-20 10:25:33, INFO: Layerwise_graph: False -2024-02-20 10:25:33, INFO: Skip_connection: True -2024-02-20 10:25:33, INFO: Number of layers: 1 -2024-02-20 10:25:33, INFO: Planning depth: 1 -2024-02-20 10:25:33, INFO: Planning width: 10 -2024-02-20 10:25:33, INFO: Sparse search: None -2024-02-20 10:25:36, INFO: human number: 10 -2024-02-20 10:25:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:36, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:40, INFO: Using device: cpu -2024-02-20 10:25:40, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:40, INFO: Similarity_func: concatenation -2024-02-20 10:25:40, INFO: Layerwise_graph: False -2024-02-20 10:25:40, INFO: Skip_connection: True -2024-02-20 10:25:40, INFO: Number of layers: 1 -2024-02-20 10:25:40, INFO: Similarity_func: concatenation -2024-02-20 10:25:40, INFO: Layerwise_graph: False -2024-02-20 10:25:40, INFO: Skip_connection: True -2024-02-20 10:25:40, INFO: Number of layers: 1 -2024-02-20 10:25:40, INFO: Planning depth: 1 -2024-02-20 10:25:40, INFO: Planning width: 10 -2024-02-20 10:25:40, INFO: Sparse search: None -2024-02-20 10:25:42, INFO: human number: 10 -2024-02-20 10:25:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:42, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:47, INFO: Using device: cpu -2024-02-20 10:25:47, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:47, INFO: Similarity_func: concatenation -2024-02-20 10:25:47, INFO: Layerwise_graph: False -2024-02-20 10:25:47, INFO: Skip_connection: True -2024-02-20 10:25:47, INFO: Number of layers: 1 -2024-02-20 10:25:47, INFO: Similarity_func: concatenation -2024-02-20 10:25:47, INFO: Layerwise_graph: False -2024-02-20 10:25:47, INFO: Skip_connection: True -2024-02-20 10:25:47, INFO: Number of layers: 1 -2024-02-20 10:25:47, INFO: Planning depth: 1 -2024-02-20 10:25:47, INFO: Planning width: 10 -2024-02-20 10:25:47, INFO: Sparse search: None -2024-02-20 10:25:50, INFO: human number: 10 -2024-02-20 10:25:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:50, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:25:54, INFO: Using device: cpu -2024-02-20 10:25:54, INFO: Loaded RL weights with best VAL -2024-02-20 10:25:54, INFO: Similarity_func: concatenation -2024-02-20 10:25:54, INFO: Layerwise_graph: False -2024-02-20 10:25:54, INFO: Skip_connection: True -2024-02-20 10:25:54, INFO: Number of layers: 1 -2024-02-20 10:25:54, INFO: Similarity_func: concatenation -2024-02-20 10:25:54, INFO: Layerwise_graph: False -2024-02-20 10:25:54, INFO: Skip_connection: True -2024-02-20 10:25:54, INFO: Number of layers: 1 -2024-02-20 10:25:54, INFO: Planning depth: 1 -2024-02-20 10:25:54, INFO: Planning width: 10 -2024-02-20 10:25:54, INFO: Sparse search: None -2024-02-20 10:25:57, INFO: human number: 10 -2024-02-20 10:25:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:25:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:25:57, INFO: Square width: 10, circle width: 4 -2024-02-20 10:25:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:25:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:01, INFO: Using device: cpu -2024-02-20 10:26:01, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:01, INFO: Similarity_func: concatenation -2024-02-20 10:26:01, INFO: Layerwise_graph: False -2024-02-20 10:26:01, INFO: Skip_connection: True -2024-02-20 10:26:01, INFO: Number of layers: 1 -2024-02-20 10:26:01, INFO: Similarity_func: concatenation -2024-02-20 10:26:01, INFO: Layerwise_graph: False -2024-02-20 10:26:01, INFO: Skip_connection: True -2024-02-20 10:26:01, INFO: Number of layers: 1 -2024-02-20 10:26:01, INFO: Planning depth: 1 -2024-02-20 10:26:01, INFO: Planning width: 10 -2024-02-20 10:26:01, INFO: Sparse search: None -2024-02-20 10:26:03, INFO: human number: 10 -2024-02-20 10:26:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:03, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:07, INFO: Using device: cpu -2024-02-20 10:26:07, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:07, INFO: Similarity_func: concatenation -2024-02-20 10:26:07, INFO: Layerwise_graph: False -2024-02-20 10:26:07, INFO: Skip_connection: True -2024-02-20 10:26:07, INFO: Number of layers: 1 -2024-02-20 10:26:07, INFO: Similarity_func: concatenation -2024-02-20 10:26:07, INFO: Layerwise_graph: False -2024-02-20 10:26:07, INFO: Skip_connection: True -2024-02-20 10:26:07, INFO: Number of layers: 1 -2024-02-20 10:26:07, INFO: Planning depth: 1 -2024-02-20 10:26:07, INFO: Planning width: 10 -2024-02-20 10:26:07, INFO: Sparse search: None -2024-02-20 10:26:10, INFO: human number: 10 -2024-02-20 10:26:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:10, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:14, INFO: Using device: cpu -2024-02-20 10:26:14, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:14, INFO: Similarity_func: concatenation -2024-02-20 10:26:14, INFO: Layerwise_graph: False -2024-02-20 10:26:14, INFO: Skip_connection: True -2024-02-20 10:26:14, INFO: Number of layers: 1 -2024-02-20 10:26:14, INFO: Similarity_func: concatenation -2024-02-20 10:26:14, INFO: Layerwise_graph: False -2024-02-20 10:26:14, INFO: Skip_connection: True -2024-02-20 10:26:14, INFO: Number of layers: 1 -2024-02-20 10:26:14, INFO: Planning depth: 1 -2024-02-20 10:26:14, INFO: Planning width: 10 -2024-02-20 10:26:14, INFO: Sparse search: None -2024-02-20 10:26:17, INFO: human number: 10 -2024-02-20 10:26:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:17, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:21, INFO: Using device: cpu -2024-02-20 10:26:21, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:21, INFO: Similarity_func: concatenation -2024-02-20 10:26:21, INFO: Layerwise_graph: False -2024-02-20 10:26:21, INFO: Skip_connection: True -2024-02-20 10:26:21, INFO: Number of layers: 1 -2024-02-20 10:26:21, INFO: Similarity_func: concatenation -2024-02-20 10:26:21, INFO: Layerwise_graph: False -2024-02-20 10:26:21, INFO: Skip_connection: True -2024-02-20 10:26:21, INFO: Number of layers: 1 -2024-02-20 10:26:21, INFO: Planning depth: 1 -2024-02-20 10:26:21, INFO: Planning width: 10 -2024-02-20 10:26:21, INFO: Sparse search: None -2024-02-20 10:26:23, INFO: human number: 10 -2024-02-20 10:26:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:23, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:28, INFO: Using device: cpu -2024-02-20 10:26:28, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:28, INFO: Similarity_func: concatenation -2024-02-20 10:26:28, INFO: Layerwise_graph: False -2024-02-20 10:26:28, INFO: Skip_connection: True -2024-02-20 10:26:28, INFO: Number of layers: 1 -2024-02-20 10:26:28, INFO: Similarity_func: concatenation -2024-02-20 10:26:28, INFO: Layerwise_graph: False -2024-02-20 10:26:28, INFO: Skip_connection: True -2024-02-20 10:26:28, INFO: Number of layers: 1 -2024-02-20 10:26:28, INFO: Planning depth: 1 -2024-02-20 10:26:28, INFO: Planning width: 10 -2024-02-20 10:26:28, INFO: Sparse search: None -2024-02-20 10:26:31, INFO: human number: 10 -2024-02-20 10:26:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:31, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:35, INFO: Using device: cpu -2024-02-20 10:26:35, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:35, INFO: Similarity_func: concatenation -2024-02-20 10:26:35, INFO: Layerwise_graph: False -2024-02-20 10:26:35, INFO: Skip_connection: True -2024-02-20 10:26:35, INFO: Number of layers: 1 -2024-02-20 10:26:35, INFO: Similarity_func: concatenation -2024-02-20 10:26:35, INFO: Layerwise_graph: False -2024-02-20 10:26:35, INFO: Skip_connection: True -2024-02-20 10:26:35, INFO: Number of layers: 1 -2024-02-20 10:26:35, INFO: Planning depth: 1 -2024-02-20 10:26:35, INFO: Planning width: 10 -2024-02-20 10:26:35, INFO: Sparse search: None -2024-02-20 10:26:38, INFO: human number: 10 -2024-02-20 10:26:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:38, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:42, INFO: Using device: cpu -2024-02-20 10:26:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:42, INFO: Similarity_func: concatenation -2024-02-20 10:26:42, INFO: Layerwise_graph: False -2024-02-20 10:26:42, INFO: Skip_connection: True -2024-02-20 10:26:42, INFO: Number of layers: 1 -2024-02-20 10:26:42, INFO: Similarity_func: concatenation -2024-02-20 10:26:42, INFO: Layerwise_graph: False -2024-02-20 10:26:42, INFO: Skip_connection: True -2024-02-20 10:26:42, INFO: Number of layers: 1 -2024-02-20 10:26:42, INFO: Planning depth: 1 -2024-02-20 10:26:42, INFO: Planning width: 10 -2024-02-20 10:26:42, INFO: Sparse search: None -2024-02-20 10:26:45, INFO: human number: 10 -2024-02-20 10:26:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:49, INFO: Using device: cpu -2024-02-20 10:26:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:49, INFO: Similarity_func: concatenation -2024-02-20 10:26:49, INFO: Layerwise_graph: False -2024-02-20 10:26:49, INFO: Skip_connection: True -2024-02-20 10:26:49, INFO: Number of layers: 1 -2024-02-20 10:26:49, INFO: Similarity_func: concatenation -2024-02-20 10:26:49, INFO: Layerwise_graph: False -2024-02-20 10:26:49, INFO: Skip_connection: True -2024-02-20 10:26:49, INFO: Number of layers: 1 -2024-02-20 10:26:49, INFO: Planning depth: 1 -2024-02-20 10:26:49, INFO: Planning width: 10 -2024-02-20 10:26:49, INFO: Sparse search: None -2024-02-20 10:26:52, INFO: human number: 10 -2024-02-20 10:26:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:26:56, INFO: Using device: cpu -2024-02-20 10:26:56, INFO: Loaded RL weights with best VAL -2024-02-20 10:26:56, INFO: Similarity_func: concatenation -2024-02-20 10:26:56, INFO: Layerwise_graph: False -2024-02-20 10:26:56, INFO: Skip_connection: True -2024-02-20 10:26:56, INFO: Number of layers: 1 -2024-02-20 10:26:56, INFO: Similarity_func: concatenation -2024-02-20 10:26:56, INFO: Layerwise_graph: False -2024-02-20 10:26:56, INFO: Skip_connection: True -2024-02-20 10:26:56, INFO: Number of layers: 1 -2024-02-20 10:26:56, INFO: Planning depth: 1 -2024-02-20 10:26:56, INFO: Planning width: 10 -2024-02-20 10:26:56, INFO: Sparse search: None -2024-02-20 10:26:59, INFO: human number: 10 -2024-02-20 10:26:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:26:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:26:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:26:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:26:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:03, INFO: Using device: cpu -2024-02-20 10:27:03, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:03, INFO: Similarity_func: concatenation -2024-02-20 10:27:03, INFO: Layerwise_graph: False -2024-02-20 10:27:03, INFO: Skip_connection: True -2024-02-20 10:27:03, INFO: Number of layers: 1 -2024-02-20 10:27:03, INFO: Similarity_func: concatenation -2024-02-20 10:27:03, INFO: Layerwise_graph: False -2024-02-20 10:27:03, INFO: Skip_connection: True -2024-02-20 10:27:03, INFO: Number of layers: 1 -2024-02-20 10:27:03, INFO: Planning depth: 1 -2024-02-20 10:27:03, INFO: Planning width: 10 -2024-02-20 10:27:03, INFO: Sparse search: None -2024-02-20 10:27:06, INFO: human number: 10 -2024-02-20 10:27:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:06, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:10, INFO: Using device: cpu -2024-02-20 10:27:10, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:10, INFO: Similarity_func: concatenation -2024-02-20 10:27:10, INFO: Layerwise_graph: False -2024-02-20 10:27:10, INFO: Skip_connection: True -2024-02-20 10:27:10, INFO: Number of layers: 1 -2024-02-20 10:27:10, INFO: Similarity_func: concatenation -2024-02-20 10:27:10, INFO: Layerwise_graph: False -2024-02-20 10:27:10, INFO: Skip_connection: True -2024-02-20 10:27:10, INFO: Number of layers: 1 -2024-02-20 10:27:10, INFO: Planning depth: 1 -2024-02-20 10:27:10, INFO: Planning width: 10 -2024-02-20 10:27:10, INFO: Sparse search: None -2024-02-20 10:27:13, INFO: human number: 10 -2024-02-20 10:27:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:13, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:17, INFO: Using device: cpu -2024-02-20 10:27:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:17, INFO: Similarity_func: concatenation -2024-02-20 10:27:17, INFO: Layerwise_graph: False -2024-02-20 10:27:17, INFO: Skip_connection: True -2024-02-20 10:27:17, INFO: Number of layers: 1 -2024-02-20 10:27:17, INFO: Similarity_func: concatenation -2024-02-20 10:27:17, INFO: Layerwise_graph: False -2024-02-20 10:27:17, INFO: Skip_connection: True -2024-02-20 10:27:17, INFO: Number of layers: 1 -2024-02-20 10:27:17, INFO: Planning depth: 1 -2024-02-20 10:27:17, INFO: Planning width: 10 -2024-02-20 10:27:17, INFO: Sparse search: None -2024-02-20 10:27:20, INFO: human number: 10 -2024-02-20 10:27:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:20, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:24, INFO: Using device: cpu -2024-02-20 10:27:24, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:24, INFO: Similarity_func: concatenation -2024-02-20 10:27:24, INFO: Layerwise_graph: False -2024-02-20 10:27:24, INFO: Skip_connection: True -2024-02-20 10:27:24, INFO: Number of layers: 1 -2024-02-20 10:27:24, INFO: Similarity_func: concatenation -2024-02-20 10:27:24, INFO: Layerwise_graph: False -2024-02-20 10:27:24, INFO: Skip_connection: True -2024-02-20 10:27:24, INFO: Number of layers: 1 -2024-02-20 10:27:24, INFO: Planning depth: 1 -2024-02-20 10:27:24, INFO: Planning width: 10 -2024-02-20 10:27:24, INFO: Sparse search: None -2024-02-20 10:27:27, INFO: human number: 10 -2024-02-20 10:27:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:31, INFO: Using device: cpu -2024-02-20 10:27:31, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:31, INFO: Similarity_func: concatenation -2024-02-20 10:27:31, INFO: Layerwise_graph: False -2024-02-20 10:27:31, INFO: Skip_connection: True -2024-02-20 10:27:31, INFO: Number of layers: 1 -2024-02-20 10:27:31, INFO: Similarity_func: concatenation -2024-02-20 10:27:31, INFO: Layerwise_graph: False -2024-02-20 10:27:31, INFO: Skip_connection: True -2024-02-20 10:27:31, INFO: Number of layers: 1 -2024-02-20 10:27:31, INFO: Planning depth: 1 -2024-02-20 10:27:31, INFO: Planning width: 10 -2024-02-20 10:27:31, INFO: Sparse search: None -2024-02-20 10:27:34, INFO: human number: 10 -2024-02-20 10:27:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:34, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:40, INFO: Using device: cpu -2024-02-20 10:27:40, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:40, INFO: Similarity_func: concatenation -2024-02-20 10:27:40, INFO: Layerwise_graph: False -2024-02-20 10:27:40, INFO: Skip_connection: True -2024-02-20 10:27:40, INFO: Number of layers: 1 -2024-02-20 10:27:40, INFO: Similarity_func: concatenation -2024-02-20 10:27:40, INFO: Layerwise_graph: False -2024-02-20 10:27:40, INFO: Skip_connection: True -2024-02-20 10:27:40, INFO: Number of layers: 1 -2024-02-20 10:27:40, INFO: Planning depth: 1 -2024-02-20 10:27:40, INFO: Planning width: 10 -2024-02-20 10:27:40, INFO: Sparse search: None -2024-02-20 10:27:42, INFO: human number: 10 -2024-02-20 10:27:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:42, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:47, INFO: Using device: cpu -2024-02-20 10:27:47, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:47, INFO: Similarity_func: concatenation -2024-02-20 10:27:47, INFO: Layerwise_graph: False -2024-02-20 10:27:47, INFO: Skip_connection: True -2024-02-20 10:27:47, INFO: Number of layers: 1 -2024-02-20 10:27:47, INFO: Similarity_func: concatenation -2024-02-20 10:27:47, INFO: Layerwise_graph: False -2024-02-20 10:27:47, INFO: Skip_connection: True -2024-02-20 10:27:47, INFO: Number of layers: 1 -2024-02-20 10:27:47, INFO: Planning depth: 1 -2024-02-20 10:27:47, INFO: Planning width: 10 -2024-02-20 10:27:47, INFO: Sparse search: None -2024-02-20 10:27:50, INFO: human number: 10 -2024-02-20 10:27:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:50, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:27:54, INFO: Using device: cpu -2024-02-20 10:27:54, INFO: Loaded RL weights with best VAL -2024-02-20 10:27:54, INFO: Similarity_func: concatenation -2024-02-20 10:27:54, INFO: Layerwise_graph: False -2024-02-20 10:27:54, INFO: Skip_connection: True -2024-02-20 10:27:54, INFO: Number of layers: 1 -2024-02-20 10:27:54, INFO: Similarity_func: concatenation -2024-02-20 10:27:54, INFO: Layerwise_graph: False -2024-02-20 10:27:54, INFO: Skip_connection: True -2024-02-20 10:27:54, INFO: Number of layers: 1 -2024-02-20 10:27:54, INFO: Planning depth: 1 -2024-02-20 10:27:54, INFO: Planning width: 10 -2024-02-20 10:27:54, INFO: Sparse search: None -2024-02-20 10:27:56, INFO: human number: 10 -2024-02-20 10:27:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:27:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:27:56, INFO: Square width: 10, circle width: 4 -2024-02-20 10:27:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:27:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:02, INFO: Using device: cpu -2024-02-20 10:28:02, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:02, INFO: Similarity_func: concatenation -2024-02-20 10:28:02, INFO: Layerwise_graph: False -2024-02-20 10:28:02, INFO: Skip_connection: True -2024-02-20 10:28:02, INFO: Number of layers: 1 -2024-02-20 10:28:02, INFO: Similarity_func: concatenation -2024-02-20 10:28:02, INFO: Layerwise_graph: False -2024-02-20 10:28:02, INFO: Skip_connection: True -2024-02-20 10:28:02, INFO: Number of layers: 1 -2024-02-20 10:28:02, INFO: Planning depth: 1 -2024-02-20 10:28:02, INFO: Planning width: 10 -2024-02-20 10:28:02, INFO: Sparse search: None -2024-02-20 10:28:04, INFO: human number: 10 -2024-02-20 10:28:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:04, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:09, INFO: Using device: cpu -2024-02-20 10:28:09, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:09, INFO: Similarity_func: concatenation -2024-02-20 10:28:09, INFO: Layerwise_graph: False -2024-02-20 10:28:09, INFO: Skip_connection: True -2024-02-20 10:28:09, INFO: Number of layers: 1 -2024-02-20 10:28:09, INFO: Similarity_func: concatenation -2024-02-20 10:28:09, INFO: Layerwise_graph: False -2024-02-20 10:28:09, INFO: Skip_connection: True -2024-02-20 10:28:09, INFO: Number of layers: 1 -2024-02-20 10:28:09, INFO: Planning depth: 1 -2024-02-20 10:28:09, INFO: Planning width: 10 -2024-02-20 10:28:09, INFO: Sparse search: None -2024-02-20 10:28:11, INFO: human number: 10 -2024-02-20 10:28:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:11, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:20, INFO: Using device: cpu -2024-02-20 10:28:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:20, INFO: Similarity_func: concatenation -2024-02-20 10:28:20, INFO: Layerwise_graph: False -2024-02-20 10:28:20, INFO: Skip_connection: True -2024-02-20 10:28:20, INFO: Number of layers: 1 -2024-02-20 10:28:20, INFO: Similarity_func: concatenation -2024-02-20 10:28:20, INFO: Layerwise_graph: False -2024-02-20 10:28:20, INFO: Skip_connection: True -2024-02-20 10:28:20, INFO: Number of layers: 1 -2024-02-20 10:28:20, INFO: Planning depth: 1 -2024-02-20 10:28:20, INFO: Planning width: 10 -2024-02-20 10:28:20, INFO: Sparse search: None -2024-02-20 10:28:22, INFO: human number: 10 -2024-02-20 10:28:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:22, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:27, INFO: Using device: cpu -2024-02-20 10:28:27, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:27, INFO: Similarity_func: concatenation -2024-02-20 10:28:27, INFO: Layerwise_graph: False -2024-02-20 10:28:27, INFO: Skip_connection: True -2024-02-20 10:28:27, INFO: Number of layers: 1 -2024-02-20 10:28:27, INFO: Similarity_func: concatenation -2024-02-20 10:28:27, INFO: Layerwise_graph: False -2024-02-20 10:28:27, INFO: Skip_connection: True -2024-02-20 10:28:27, INFO: Number of layers: 1 -2024-02-20 10:28:27, INFO: Planning depth: 1 -2024-02-20 10:28:27, INFO: Planning width: 10 -2024-02-20 10:28:27, INFO: Sparse search: None -2024-02-20 10:28:29, INFO: human number: 10 -2024-02-20 10:28:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:35, INFO: Using device: cpu -2024-02-20 10:28:35, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:35, INFO: Similarity_func: concatenation -2024-02-20 10:28:35, INFO: Layerwise_graph: False -2024-02-20 10:28:35, INFO: Skip_connection: True -2024-02-20 10:28:35, INFO: Number of layers: 1 -2024-02-20 10:28:35, INFO: Similarity_func: concatenation -2024-02-20 10:28:35, INFO: Layerwise_graph: False -2024-02-20 10:28:35, INFO: Skip_connection: True -2024-02-20 10:28:35, INFO: Number of layers: 1 -2024-02-20 10:28:35, INFO: Planning depth: 1 -2024-02-20 10:28:35, INFO: Planning width: 10 -2024-02-20 10:28:35, INFO: Sparse search: None -2024-02-20 10:28:38, INFO: human number: 10 -2024-02-20 10:28:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:38, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:50, INFO: Using device: cpu -2024-02-20 10:28:50, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:50, INFO: Similarity_func: concatenation -2024-02-20 10:28:50, INFO: Layerwise_graph: False -2024-02-20 10:28:50, INFO: Skip_connection: True -2024-02-20 10:28:50, INFO: Number of layers: 1 -2024-02-20 10:28:50, INFO: Similarity_func: concatenation -2024-02-20 10:28:50, INFO: Layerwise_graph: False -2024-02-20 10:28:50, INFO: Skip_connection: True -2024-02-20 10:28:50, INFO: Number of layers: 1 -2024-02-20 10:28:50, INFO: Planning depth: 1 -2024-02-20 10:28:50, INFO: Planning width: 10 -2024-02-20 10:28:50, INFO: Sparse search: None -2024-02-20 10:28:53, INFO: human number: 10 -2024-02-20 10:28:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:28:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:28:53, INFO: Square width: 10, circle width: 4 -2024-02-20 10:28:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:28:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:28:57, INFO: Using device: cpu -2024-02-20 10:28:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:28:57, INFO: Similarity_func: concatenation -2024-02-20 10:28:57, INFO: Layerwise_graph: False -2024-02-20 10:28:57, INFO: Skip_connection: True -2024-02-20 10:28:57, INFO: Number of layers: 1 -2024-02-20 10:28:57, INFO: Similarity_func: concatenation -2024-02-20 10:28:57, INFO: Layerwise_graph: False -2024-02-20 10:28:57, INFO: Skip_connection: True -2024-02-20 10:28:57, INFO: Number of layers: 1 -2024-02-20 10:28:57, INFO: Planning depth: 1 -2024-02-20 10:28:57, INFO: Planning width: 10 -2024-02-20 10:28:57, INFO: Sparse search: None -2024-02-20 10:29:00, INFO: human number: 10 -2024-02-20 10:29:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:00, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:05, INFO: Using device: cpu -2024-02-20 10:29:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:05, INFO: Similarity_func: concatenation -2024-02-20 10:29:05, INFO: Layerwise_graph: False -2024-02-20 10:29:05, INFO: Skip_connection: True -2024-02-20 10:29:05, INFO: Number of layers: 1 -2024-02-20 10:29:05, INFO: Similarity_func: concatenation -2024-02-20 10:29:05, INFO: Layerwise_graph: False -2024-02-20 10:29:05, INFO: Skip_connection: True -2024-02-20 10:29:05, INFO: Number of layers: 1 -2024-02-20 10:29:05, INFO: Planning depth: 1 -2024-02-20 10:29:05, INFO: Planning width: 10 -2024-02-20 10:29:05, INFO: Sparse search: None -2024-02-20 10:29:07, INFO: human number: 10 -2024-02-20 10:29:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:12, INFO: Using device: cpu -2024-02-20 10:29:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:12, INFO: Similarity_func: concatenation -2024-02-20 10:29:12, INFO: Layerwise_graph: False -2024-02-20 10:29:12, INFO: Skip_connection: True -2024-02-20 10:29:12, INFO: Number of layers: 1 -2024-02-20 10:29:12, INFO: Similarity_func: concatenation -2024-02-20 10:29:12, INFO: Layerwise_graph: False -2024-02-20 10:29:12, INFO: Skip_connection: True -2024-02-20 10:29:12, INFO: Number of layers: 1 -2024-02-20 10:29:12, INFO: Planning depth: 1 -2024-02-20 10:29:12, INFO: Planning width: 10 -2024-02-20 10:29:12, INFO: Sparse search: None -2024-02-20 10:29:14, INFO: human number: 10 -2024-02-20 10:29:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:14, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:19, INFO: Using device: cpu -2024-02-20 10:29:19, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:19, INFO: Similarity_func: concatenation -2024-02-20 10:29:19, INFO: Layerwise_graph: False -2024-02-20 10:29:19, INFO: Skip_connection: True -2024-02-20 10:29:19, INFO: Number of layers: 1 -2024-02-20 10:29:19, INFO: Similarity_func: concatenation -2024-02-20 10:29:19, INFO: Layerwise_graph: False -2024-02-20 10:29:19, INFO: Skip_connection: True -2024-02-20 10:29:19, INFO: Number of layers: 1 -2024-02-20 10:29:19, INFO: Planning depth: 1 -2024-02-20 10:29:19, INFO: Planning width: 10 -2024-02-20 10:29:19, INFO: Sparse search: None -2024-02-20 10:29:21, INFO: human number: 10 -2024-02-20 10:29:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:21, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:26, INFO: Using device: cpu -2024-02-20 10:29:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:26, INFO: Similarity_func: concatenation -2024-02-20 10:29:26, INFO: Layerwise_graph: False -2024-02-20 10:29:26, INFO: Skip_connection: True -2024-02-20 10:29:26, INFO: Number of layers: 1 -2024-02-20 10:29:26, INFO: Similarity_func: concatenation -2024-02-20 10:29:26, INFO: Layerwise_graph: False -2024-02-20 10:29:26, INFO: Skip_connection: True -2024-02-20 10:29:26, INFO: Number of layers: 1 -2024-02-20 10:29:26, INFO: Planning depth: 1 -2024-02-20 10:29:26, INFO: Planning width: 10 -2024-02-20 10:29:26, INFO: Sparse search: None -2024-02-20 10:29:28, INFO: human number: 10 -2024-02-20 10:29:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:28, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:36, INFO: Using device: cpu -2024-02-20 10:29:36, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:36, INFO: Similarity_func: concatenation -2024-02-20 10:29:36, INFO: Layerwise_graph: False -2024-02-20 10:29:36, INFO: Skip_connection: True -2024-02-20 10:29:36, INFO: Number of layers: 1 -2024-02-20 10:29:36, INFO: Similarity_func: concatenation -2024-02-20 10:29:36, INFO: Layerwise_graph: False -2024-02-20 10:29:36, INFO: Skip_connection: True -2024-02-20 10:29:36, INFO: Number of layers: 1 -2024-02-20 10:29:36, INFO: Planning depth: 1 -2024-02-20 10:29:36, INFO: Planning width: 10 -2024-02-20 10:29:36, INFO: Sparse search: None -2024-02-20 10:29:39, INFO: human number: 10 -2024-02-20 10:29:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:39, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:43, INFO: Using device: cpu -2024-02-20 10:29:43, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:43, INFO: Similarity_func: concatenation -2024-02-20 10:29:43, INFO: Layerwise_graph: False -2024-02-20 10:29:43, INFO: Skip_connection: True -2024-02-20 10:29:43, INFO: Number of layers: 1 -2024-02-20 10:29:43, INFO: Similarity_func: concatenation -2024-02-20 10:29:43, INFO: Layerwise_graph: False -2024-02-20 10:29:43, INFO: Skip_connection: True -2024-02-20 10:29:43, INFO: Number of layers: 1 -2024-02-20 10:29:43, INFO: Planning depth: 1 -2024-02-20 10:29:43, INFO: Planning width: 10 -2024-02-20 10:29:43, INFO: Sparse search: None -2024-02-20 10:29:46, INFO: human number: 10 -2024-02-20 10:29:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:46, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:50, INFO: Using device: cpu -2024-02-20 10:29:50, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:50, INFO: Similarity_func: concatenation -2024-02-20 10:29:50, INFO: Layerwise_graph: False -2024-02-20 10:29:50, INFO: Skip_connection: True -2024-02-20 10:29:50, INFO: Number of layers: 1 -2024-02-20 10:29:50, INFO: Similarity_func: concatenation -2024-02-20 10:29:50, INFO: Layerwise_graph: False -2024-02-20 10:29:50, INFO: Skip_connection: True -2024-02-20 10:29:50, INFO: Number of layers: 1 -2024-02-20 10:29:50, INFO: Planning depth: 1 -2024-02-20 10:29:50, INFO: Planning width: 10 -2024-02-20 10:29:50, INFO: Sparse search: None -2024-02-20 10:29:53, INFO: human number: 10 -2024-02-20 10:29:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:53, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:29:57, INFO: Using device: cpu -2024-02-20 10:29:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:29:57, INFO: Similarity_func: concatenation -2024-02-20 10:29:57, INFO: Layerwise_graph: False -2024-02-20 10:29:57, INFO: Skip_connection: True -2024-02-20 10:29:57, INFO: Number of layers: 1 -2024-02-20 10:29:57, INFO: Similarity_func: concatenation -2024-02-20 10:29:57, INFO: Layerwise_graph: False -2024-02-20 10:29:57, INFO: Skip_connection: True -2024-02-20 10:29:57, INFO: Number of layers: 1 -2024-02-20 10:29:57, INFO: Planning depth: 1 -2024-02-20 10:29:57, INFO: Planning width: 10 -2024-02-20 10:29:57, INFO: Sparse search: None -2024-02-20 10:29:59, INFO: human number: 10 -2024-02-20 10:29:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:29:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:29:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:29:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:29:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:06, INFO: Using device: cpu -2024-02-20 10:30:06, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:06, INFO: Similarity_func: concatenation -2024-02-20 10:30:06, INFO: Layerwise_graph: False -2024-02-20 10:30:06, INFO: Skip_connection: True -2024-02-20 10:30:06, INFO: Number of layers: 1 -2024-02-20 10:30:06, INFO: Similarity_func: concatenation -2024-02-20 10:30:06, INFO: Layerwise_graph: False -2024-02-20 10:30:06, INFO: Skip_connection: True -2024-02-20 10:30:06, INFO: Number of layers: 1 -2024-02-20 10:30:06, INFO: Planning depth: 1 -2024-02-20 10:30:06, INFO: Planning width: 10 -2024-02-20 10:30:06, INFO: Sparse search: None -2024-02-20 10:30:09, INFO: human number: 10 -2024-02-20 10:30:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:09, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:14, INFO: Using device: cpu -2024-02-20 10:30:14, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:14, INFO: Similarity_func: concatenation -2024-02-20 10:30:14, INFO: Layerwise_graph: False -2024-02-20 10:30:14, INFO: Skip_connection: True -2024-02-20 10:30:14, INFO: Number of layers: 1 -2024-02-20 10:30:14, INFO: Similarity_func: concatenation -2024-02-20 10:30:14, INFO: Layerwise_graph: False -2024-02-20 10:30:14, INFO: Skip_connection: True -2024-02-20 10:30:14, INFO: Number of layers: 1 -2024-02-20 10:30:14, INFO: Planning depth: 1 -2024-02-20 10:30:14, INFO: Planning width: 10 -2024-02-20 10:30:14, INFO: Sparse search: None -2024-02-20 10:30:17, INFO: human number: 10 -2024-02-20 10:30:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:17, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:21, INFO: Using device: cpu -2024-02-20 10:30:21, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:21, INFO: Similarity_func: concatenation -2024-02-20 10:30:21, INFO: Layerwise_graph: False -2024-02-20 10:30:21, INFO: Skip_connection: True -2024-02-20 10:30:21, INFO: Number of layers: 1 -2024-02-20 10:30:21, INFO: Similarity_func: concatenation -2024-02-20 10:30:21, INFO: Layerwise_graph: False -2024-02-20 10:30:21, INFO: Skip_connection: True -2024-02-20 10:30:21, INFO: Number of layers: 1 -2024-02-20 10:30:21, INFO: Planning depth: 1 -2024-02-20 10:30:21, INFO: Planning width: 10 -2024-02-20 10:30:21, INFO: Sparse search: None -2024-02-20 10:30:24, INFO: human number: 10 -2024-02-20 10:30:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:24, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:28, INFO: Using device: cpu -2024-02-20 10:30:28, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:28, INFO: Similarity_func: concatenation -2024-02-20 10:30:28, INFO: Layerwise_graph: False -2024-02-20 10:30:28, INFO: Skip_connection: True -2024-02-20 10:30:28, INFO: Number of layers: 1 -2024-02-20 10:30:28, INFO: Similarity_func: concatenation -2024-02-20 10:30:28, INFO: Layerwise_graph: False -2024-02-20 10:30:28, INFO: Skip_connection: True -2024-02-20 10:30:28, INFO: Number of layers: 1 -2024-02-20 10:30:28, INFO: Planning depth: 1 -2024-02-20 10:30:28, INFO: Planning width: 10 -2024-02-20 10:30:28, INFO: Sparse search: None -2024-02-20 10:30:31, INFO: human number: 10 -2024-02-20 10:30:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:31, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:35, INFO: Using device: cpu -2024-02-20 10:30:35, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:35, INFO: Similarity_func: concatenation -2024-02-20 10:30:35, INFO: Layerwise_graph: False -2024-02-20 10:30:35, INFO: Skip_connection: True -2024-02-20 10:30:35, INFO: Number of layers: 1 -2024-02-20 10:30:35, INFO: Similarity_func: concatenation -2024-02-20 10:30:35, INFO: Layerwise_graph: False -2024-02-20 10:30:35, INFO: Skip_connection: True -2024-02-20 10:30:35, INFO: Number of layers: 1 -2024-02-20 10:30:35, INFO: Planning depth: 1 -2024-02-20 10:30:35, INFO: Planning width: 10 -2024-02-20 10:30:35, INFO: Sparse search: None -2024-02-20 10:30:38, INFO: human number: 10 -2024-02-20 10:30:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:38, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:42, INFO: Using device: cpu -2024-02-20 10:30:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:42, INFO: Similarity_func: concatenation -2024-02-20 10:30:42, INFO: Layerwise_graph: False -2024-02-20 10:30:42, INFO: Skip_connection: True -2024-02-20 10:30:42, INFO: Number of layers: 1 -2024-02-20 10:30:42, INFO: Similarity_func: concatenation -2024-02-20 10:30:42, INFO: Layerwise_graph: False -2024-02-20 10:30:42, INFO: Skip_connection: True -2024-02-20 10:30:42, INFO: Number of layers: 1 -2024-02-20 10:30:42, INFO: Planning depth: 1 -2024-02-20 10:30:42, INFO: Planning width: 10 -2024-02-20 10:30:42, INFO: Sparse search: None -2024-02-20 10:30:45, INFO: human number: 10 -2024-02-20 10:30:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:50, INFO: Using device: cpu -2024-02-20 10:30:50, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:50, INFO: Similarity_func: concatenation -2024-02-20 10:30:50, INFO: Layerwise_graph: False -2024-02-20 10:30:50, INFO: Skip_connection: True -2024-02-20 10:30:50, INFO: Number of layers: 1 -2024-02-20 10:30:50, INFO: Similarity_func: concatenation -2024-02-20 10:30:50, INFO: Layerwise_graph: False -2024-02-20 10:30:50, INFO: Skip_connection: True -2024-02-20 10:30:50, INFO: Number of layers: 1 -2024-02-20 10:30:50, INFO: Planning depth: 1 -2024-02-20 10:30:50, INFO: Planning width: 10 -2024-02-20 10:30:50, INFO: Sparse search: None -2024-02-20 10:30:53, INFO: human number: 10 -2024-02-20 10:30:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:30:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:30:53, INFO: Square width: 10, circle width: 4 -2024-02-20 10:30:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:30:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:30:57, INFO: Using device: cpu -2024-02-20 10:30:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:30:57, INFO: Similarity_func: concatenation -2024-02-20 10:30:57, INFO: Layerwise_graph: False -2024-02-20 10:30:57, INFO: Skip_connection: True -2024-02-20 10:30:57, INFO: Number of layers: 1 -2024-02-20 10:30:57, INFO: Similarity_func: concatenation -2024-02-20 10:30:57, INFO: Layerwise_graph: False -2024-02-20 10:30:57, INFO: Skip_connection: True -2024-02-20 10:30:57, INFO: Number of layers: 1 -2024-02-20 10:30:57, INFO: Planning depth: 1 -2024-02-20 10:30:57, INFO: Planning width: 10 -2024-02-20 10:30:57, INFO: Sparse search: None -2024-02-20 10:31:00, INFO: human number: 10 -2024-02-20 10:31:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:00, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:04, INFO: Using device: cpu -2024-02-20 10:31:04, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:04, INFO: Similarity_func: concatenation -2024-02-20 10:31:04, INFO: Layerwise_graph: False -2024-02-20 10:31:04, INFO: Skip_connection: True -2024-02-20 10:31:04, INFO: Number of layers: 1 -2024-02-20 10:31:04, INFO: Similarity_func: concatenation -2024-02-20 10:31:04, INFO: Layerwise_graph: False -2024-02-20 10:31:04, INFO: Skip_connection: True -2024-02-20 10:31:04, INFO: Number of layers: 1 -2024-02-20 10:31:04, INFO: Planning depth: 1 -2024-02-20 10:31:04, INFO: Planning width: 10 -2024-02-20 10:31:04, INFO: Sparse search: None -2024-02-20 10:31:07, INFO: human number: 10 -2024-02-20 10:31:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:14, INFO: Using device: cpu -2024-02-20 10:31:14, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:14, INFO: Similarity_func: concatenation -2024-02-20 10:31:14, INFO: Layerwise_graph: False -2024-02-20 10:31:14, INFO: Skip_connection: True -2024-02-20 10:31:14, INFO: Number of layers: 1 -2024-02-20 10:31:14, INFO: Similarity_func: concatenation -2024-02-20 10:31:14, INFO: Layerwise_graph: False -2024-02-20 10:31:14, INFO: Skip_connection: True -2024-02-20 10:31:14, INFO: Number of layers: 1 -2024-02-20 10:31:14, INFO: Planning depth: 1 -2024-02-20 10:31:14, INFO: Planning width: 10 -2024-02-20 10:31:14, INFO: Sparse search: None -2024-02-20 10:31:17, INFO: human number: 10 -2024-02-20 10:31:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:17, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:22, INFO: Using device: cpu -2024-02-20 10:31:22, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:22, INFO: Similarity_func: concatenation -2024-02-20 10:31:22, INFO: Layerwise_graph: False -2024-02-20 10:31:22, INFO: Skip_connection: True -2024-02-20 10:31:22, INFO: Number of layers: 1 -2024-02-20 10:31:22, INFO: Similarity_func: concatenation -2024-02-20 10:31:22, INFO: Layerwise_graph: False -2024-02-20 10:31:22, INFO: Skip_connection: True -2024-02-20 10:31:22, INFO: Number of layers: 1 -2024-02-20 10:31:22, INFO: Planning depth: 1 -2024-02-20 10:31:22, INFO: Planning width: 10 -2024-02-20 10:31:22, INFO: Sparse search: None -2024-02-20 10:31:24, INFO: human number: 10 -2024-02-20 10:31:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:24, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:29, INFO: Using device: cpu -2024-02-20 10:31:29, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:29, INFO: Similarity_func: concatenation -2024-02-20 10:31:29, INFO: Layerwise_graph: False -2024-02-20 10:31:29, INFO: Skip_connection: True -2024-02-20 10:31:29, INFO: Number of layers: 1 -2024-02-20 10:31:29, INFO: Similarity_func: concatenation -2024-02-20 10:31:29, INFO: Layerwise_graph: False -2024-02-20 10:31:29, INFO: Skip_connection: True -2024-02-20 10:31:29, INFO: Number of layers: 1 -2024-02-20 10:31:29, INFO: Planning depth: 1 -2024-02-20 10:31:29, INFO: Planning width: 10 -2024-02-20 10:31:29, INFO: Sparse search: None -2024-02-20 10:31:32, INFO: human number: 10 -2024-02-20 10:31:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:32, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:39, INFO: Using device: cpu -2024-02-20 10:31:39, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:39, INFO: Similarity_func: concatenation -2024-02-20 10:31:39, INFO: Layerwise_graph: False -2024-02-20 10:31:39, INFO: Skip_connection: True -2024-02-20 10:31:39, INFO: Number of layers: 1 -2024-02-20 10:31:39, INFO: Similarity_func: concatenation -2024-02-20 10:31:39, INFO: Layerwise_graph: False -2024-02-20 10:31:39, INFO: Skip_connection: True -2024-02-20 10:31:39, INFO: Number of layers: 1 -2024-02-20 10:31:39, INFO: Planning depth: 1 -2024-02-20 10:31:39, INFO: Planning width: 10 -2024-02-20 10:31:39, INFO: Sparse search: None -2024-02-20 10:31:42, INFO: human number: 10 -2024-02-20 10:31:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:42, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:46, INFO: Using device: cpu -2024-02-20 10:31:46, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:46, INFO: Similarity_func: concatenation -2024-02-20 10:31:46, INFO: Layerwise_graph: False -2024-02-20 10:31:46, INFO: Skip_connection: True -2024-02-20 10:31:46, INFO: Number of layers: 1 -2024-02-20 10:31:46, INFO: Similarity_func: concatenation -2024-02-20 10:31:46, INFO: Layerwise_graph: False -2024-02-20 10:31:46, INFO: Skip_connection: True -2024-02-20 10:31:46, INFO: Number of layers: 1 -2024-02-20 10:31:46, INFO: Planning depth: 1 -2024-02-20 10:31:46, INFO: Planning width: 10 -2024-02-20 10:31:46, INFO: Sparse search: None -2024-02-20 10:31:49, INFO: human number: 10 -2024-02-20 10:31:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:49, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:31:54, INFO: Using device: cpu -2024-02-20 10:31:54, INFO: Loaded RL weights with best VAL -2024-02-20 10:31:54, INFO: Similarity_func: concatenation -2024-02-20 10:31:54, INFO: Layerwise_graph: False -2024-02-20 10:31:54, INFO: Skip_connection: True -2024-02-20 10:31:54, INFO: Number of layers: 1 -2024-02-20 10:31:54, INFO: Similarity_func: concatenation -2024-02-20 10:31:54, INFO: Layerwise_graph: False -2024-02-20 10:31:54, INFO: Skip_connection: True -2024-02-20 10:31:54, INFO: Number of layers: 1 -2024-02-20 10:31:54, INFO: Planning depth: 1 -2024-02-20 10:31:54, INFO: Planning width: 10 -2024-02-20 10:31:54, INFO: Sparse search: None -2024-02-20 10:31:57, INFO: human number: 10 -2024-02-20 10:31:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:31:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:31:57, INFO: Square width: 10, circle width: 4 -2024-02-20 10:31:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:31:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:01, INFO: Using device: cpu -2024-02-20 10:32:01, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:01, INFO: Similarity_func: concatenation -2024-02-20 10:32:01, INFO: Layerwise_graph: False -2024-02-20 10:32:01, INFO: Skip_connection: True -2024-02-20 10:32:01, INFO: Number of layers: 1 -2024-02-20 10:32:01, INFO: Similarity_func: concatenation -2024-02-20 10:32:01, INFO: Layerwise_graph: False -2024-02-20 10:32:01, INFO: Skip_connection: True -2024-02-20 10:32:01, INFO: Number of layers: 1 -2024-02-20 10:32:01, INFO: Planning depth: 1 -2024-02-20 10:32:01, INFO: Planning width: 10 -2024-02-20 10:32:01, INFO: Sparse search: None -2024-02-20 10:32:04, INFO: human number: 10 -2024-02-20 10:32:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:04, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:08, INFO: Using device: cpu -2024-02-20 10:32:08, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:08, INFO: Similarity_func: concatenation -2024-02-20 10:32:08, INFO: Layerwise_graph: False -2024-02-20 10:32:08, INFO: Skip_connection: True -2024-02-20 10:32:08, INFO: Number of layers: 1 -2024-02-20 10:32:08, INFO: Similarity_func: concatenation -2024-02-20 10:32:08, INFO: Layerwise_graph: False -2024-02-20 10:32:08, INFO: Skip_connection: True -2024-02-20 10:32:08, INFO: Number of layers: 1 -2024-02-20 10:32:08, INFO: Planning depth: 1 -2024-02-20 10:32:08, INFO: Planning width: 10 -2024-02-20 10:32:08, INFO: Sparse search: None -2024-02-20 10:32:11, INFO: human number: 10 -2024-02-20 10:32:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:11, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:16, INFO: Using device: cpu -2024-02-20 10:32:16, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:16, INFO: Similarity_func: concatenation -2024-02-20 10:32:16, INFO: Layerwise_graph: False -2024-02-20 10:32:16, INFO: Skip_connection: True -2024-02-20 10:32:16, INFO: Number of layers: 1 -2024-02-20 10:32:16, INFO: Similarity_func: concatenation -2024-02-20 10:32:16, INFO: Layerwise_graph: False -2024-02-20 10:32:16, INFO: Skip_connection: True -2024-02-20 10:32:16, INFO: Number of layers: 1 -2024-02-20 10:32:16, INFO: Planning depth: 1 -2024-02-20 10:32:16, INFO: Planning width: 10 -2024-02-20 10:32:16, INFO: Sparse search: None -2024-02-20 10:32:19, INFO: human number: 10 -2024-02-20 10:32:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:19, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:25, INFO: Using device: cpu -2024-02-20 10:32:25, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:25, INFO: Similarity_func: concatenation -2024-02-20 10:32:25, INFO: Layerwise_graph: False -2024-02-20 10:32:25, INFO: Skip_connection: True -2024-02-20 10:32:25, INFO: Number of layers: 1 -2024-02-20 10:32:25, INFO: Similarity_func: concatenation -2024-02-20 10:32:25, INFO: Layerwise_graph: False -2024-02-20 10:32:25, INFO: Skip_connection: True -2024-02-20 10:32:25, INFO: Number of layers: 1 -2024-02-20 10:32:25, INFO: Planning depth: 1 -2024-02-20 10:32:25, INFO: Planning width: 10 -2024-02-20 10:32:25, INFO: Sparse search: None -2024-02-20 10:32:28, INFO: human number: 10 -2024-02-20 10:32:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:28, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:32, INFO: Using device: cpu -2024-02-20 10:32:32, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:32, INFO: Similarity_func: concatenation -2024-02-20 10:32:32, INFO: Layerwise_graph: False -2024-02-20 10:32:32, INFO: Skip_connection: True -2024-02-20 10:32:32, INFO: Number of layers: 1 -2024-02-20 10:32:32, INFO: Similarity_func: concatenation -2024-02-20 10:32:32, INFO: Layerwise_graph: False -2024-02-20 10:32:32, INFO: Skip_connection: True -2024-02-20 10:32:32, INFO: Number of layers: 1 -2024-02-20 10:32:32, INFO: Planning depth: 1 -2024-02-20 10:32:32, INFO: Planning width: 10 -2024-02-20 10:32:32, INFO: Sparse search: None -2024-02-20 10:32:35, INFO: human number: 10 -2024-02-20 10:32:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:35, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:42, INFO: Using device: cpu -2024-02-20 10:32:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:42, INFO: Similarity_func: concatenation -2024-02-20 10:32:42, INFO: Layerwise_graph: False -2024-02-20 10:32:42, INFO: Skip_connection: True -2024-02-20 10:32:42, INFO: Number of layers: 1 -2024-02-20 10:32:42, INFO: Similarity_func: concatenation -2024-02-20 10:32:42, INFO: Layerwise_graph: False -2024-02-20 10:32:42, INFO: Skip_connection: True -2024-02-20 10:32:42, INFO: Number of layers: 1 -2024-02-20 10:32:42, INFO: Planning depth: 1 -2024-02-20 10:32:42, INFO: Planning width: 10 -2024-02-20 10:32:42, INFO: Sparse search: None -2024-02-20 10:32:45, INFO: human number: 10 -2024-02-20 10:32:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:49, INFO: Using device: cpu -2024-02-20 10:32:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:49, INFO: Similarity_func: concatenation -2024-02-20 10:32:49, INFO: Layerwise_graph: False -2024-02-20 10:32:49, INFO: Skip_connection: True -2024-02-20 10:32:49, INFO: Number of layers: 1 -2024-02-20 10:32:49, INFO: Similarity_func: concatenation -2024-02-20 10:32:49, INFO: Layerwise_graph: False -2024-02-20 10:32:49, INFO: Skip_connection: True -2024-02-20 10:32:49, INFO: Number of layers: 1 -2024-02-20 10:32:49, INFO: Planning depth: 1 -2024-02-20 10:32:49, INFO: Planning width: 10 -2024-02-20 10:32:49, INFO: Sparse search: None -2024-02-20 10:32:52, INFO: human number: 10 -2024-02-20 10:32:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:32:57, INFO: Using device: cpu -2024-02-20 10:32:57, INFO: Loaded RL weights with best VAL -2024-02-20 10:32:57, INFO: Similarity_func: concatenation -2024-02-20 10:32:57, INFO: Layerwise_graph: False -2024-02-20 10:32:57, INFO: Skip_connection: True -2024-02-20 10:32:57, INFO: Number of layers: 1 -2024-02-20 10:32:57, INFO: Similarity_func: concatenation -2024-02-20 10:32:57, INFO: Layerwise_graph: False -2024-02-20 10:32:57, INFO: Skip_connection: True -2024-02-20 10:32:57, INFO: Number of layers: 1 -2024-02-20 10:32:57, INFO: Planning depth: 1 -2024-02-20 10:32:57, INFO: Planning width: 10 -2024-02-20 10:32:57, INFO: Sparse search: None -2024-02-20 10:32:59, INFO: human number: 10 -2024-02-20 10:32:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:32:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:32:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:32:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:32:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:05, INFO: Using device: cpu -2024-02-20 10:33:05, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:05, INFO: Similarity_func: concatenation -2024-02-20 10:33:05, INFO: Layerwise_graph: False -2024-02-20 10:33:05, INFO: Skip_connection: True -2024-02-20 10:33:05, INFO: Number of layers: 1 -2024-02-20 10:33:05, INFO: Similarity_func: concatenation -2024-02-20 10:33:05, INFO: Layerwise_graph: False -2024-02-20 10:33:05, INFO: Skip_connection: True -2024-02-20 10:33:05, INFO: Number of layers: 1 -2024-02-20 10:33:05, INFO: Planning depth: 1 -2024-02-20 10:33:05, INFO: Planning width: 10 -2024-02-20 10:33:05, INFO: Sparse search: None -2024-02-20 10:33:07, INFO: human number: 10 -2024-02-20 10:33:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:12, INFO: Using device: cpu -2024-02-20 10:33:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:12, INFO: Similarity_func: concatenation -2024-02-20 10:33:12, INFO: Layerwise_graph: False -2024-02-20 10:33:12, INFO: Skip_connection: True -2024-02-20 10:33:12, INFO: Number of layers: 1 -2024-02-20 10:33:12, INFO: Similarity_func: concatenation -2024-02-20 10:33:12, INFO: Layerwise_graph: False -2024-02-20 10:33:12, INFO: Skip_connection: True -2024-02-20 10:33:12, INFO: Number of layers: 1 -2024-02-20 10:33:12, INFO: Planning depth: 1 -2024-02-20 10:33:12, INFO: Planning width: 10 -2024-02-20 10:33:12, INFO: Sparse search: None -2024-02-20 10:33:15, INFO: human number: 10 -2024-02-20 10:33:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:15, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:19, INFO: Using device: cpu -2024-02-20 10:33:19, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:19, INFO: Similarity_func: concatenation -2024-02-20 10:33:19, INFO: Layerwise_graph: False -2024-02-20 10:33:19, INFO: Skip_connection: True -2024-02-20 10:33:19, INFO: Number of layers: 1 -2024-02-20 10:33:19, INFO: Similarity_func: concatenation -2024-02-20 10:33:19, INFO: Layerwise_graph: False -2024-02-20 10:33:19, INFO: Skip_connection: True -2024-02-20 10:33:19, INFO: Number of layers: 1 -2024-02-20 10:33:19, INFO: Planning depth: 1 -2024-02-20 10:33:19, INFO: Planning width: 10 -2024-02-20 10:33:19, INFO: Sparse search: None -2024-02-20 10:33:22, INFO: human number: 10 -2024-02-20 10:33:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:22, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:26, INFO: Using device: cpu -2024-02-20 10:33:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:26, INFO: Similarity_func: concatenation -2024-02-20 10:33:26, INFO: Layerwise_graph: False -2024-02-20 10:33:26, INFO: Skip_connection: True -2024-02-20 10:33:26, INFO: Number of layers: 1 -2024-02-20 10:33:26, INFO: Similarity_func: concatenation -2024-02-20 10:33:26, INFO: Layerwise_graph: False -2024-02-20 10:33:26, INFO: Skip_connection: True -2024-02-20 10:33:26, INFO: Number of layers: 1 -2024-02-20 10:33:26, INFO: Planning depth: 1 -2024-02-20 10:33:26, INFO: Planning width: 10 -2024-02-20 10:33:26, INFO: Sparse search: None -2024-02-20 10:33:29, INFO: human number: 10 -2024-02-20 10:33:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:34, INFO: Using device: cpu -2024-02-20 10:33:34, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:34, INFO: Similarity_func: concatenation -2024-02-20 10:33:34, INFO: Layerwise_graph: False -2024-02-20 10:33:34, INFO: Skip_connection: True -2024-02-20 10:33:34, INFO: Number of layers: 1 -2024-02-20 10:33:34, INFO: Similarity_func: concatenation -2024-02-20 10:33:34, INFO: Layerwise_graph: False -2024-02-20 10:33:34, INFO: Skip_connection: True -2024-02-20 10:33:34, INFO: Number of layers: 1 -2024-02-20 10:33:34, INFO: Planning depth: 1 -2024-02-20 10:33:34, INFO: Planning width: 10 -2024-02-20 10:33:34, INFO: Sparse search: None -2024-02-20 10:33:36, INFO: human number: 10 -2024-02-20 10:33:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:36, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:42, INFO: Using device: cpu -2024-02-20 10:33:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:42, INFO: Similarity_func: concatenation -2024-02-20 10:33:42, INFO: Layerwise_graph: False -2024-02-20 10:33:42, INFO: Skip_connection: True -2024-02-20 10:33:42, INFO: Number of layers: 1 -2024-02-20 10:33:42, INFO: Similarity_func: concatenation -2024-02-20 10:33:42, INFO: Layerwise_graph: False -2024-02-20 10:33:42, INFO: Skip_connection: True -2024-02-20 10:33:42, INFO: Number of layers: 1 -2024-02-20 10:33:42, INFO: Planning depth: 1 -2024-02-20 10:33:42, INFO: Planning width: 10 -2024-02-20 10:33:42, INFO: Sparse search: None -2024-02-20 10:33:45, INFO: human number: 10 -2024-02-20 10:33:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:49, INFO: Using device: cpu -2024-02-20 10:33:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:49, INFO: Similarity_func: concatenation -2024-02-20 10:33:49, INFO: Layerwise_graph: False -2024-02-20 10:33:49, INFO: Skip_connection: True -2024-02-20 10:33:49, INFO: Number of layers: 1 -2024-02-20 10:33:49, INFO: Similarity_func: concatenation -2024-02-20 10:33:49, INFO: Layerwise_graph: False -2024-02-20 10:33:49, INFO: Skip_connection: True -2024-02-20 10:33:49, INFO: Number of layers: 1 -2024-02-20 10:33:49, INFO: Planning depth: 1 -2024-02-20 10:33:49, INFO: Planning width: 10 -2024-02-20 10:33:49, INFO: Sparse search: None -2024-02-20 10:33:52, INFO: human number: 10 -2024-02-20 10:33:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:33:56, INFO: Using device: cpu -2024-02-20 10:33:56, INFO: Loaded RL weights with best VAL -2024-02-20 10:33:56, INFO: Similarity_func: concatenation -2024-02-20 10:33:56, INFO: Layerwise_graph: False -2024-02-20 10:33:56, INFO: Skip_connection: True -2024-02-20 10:33:56, INFO: Number of layers: 1 -2024-02-20 10:33:56, INFO: Similarity_func: concatenation -2024-02-20 10:33:56, INFO: Layerwise_graph: False -2024-02-20 10:33:56, INFO: Skip_connection: True -2024-02-20 10:33:56, INFO: Number of layers: 1 -2024-02-20 10:33:56, INFO: Planning depth: 1 -2024-02-20 10:33:56, INFO: Planning width: 10 -2024-02-20 10:33:56, INFO: Sparse search: None -2024-02-20 10:33:59, INFO: human number: 10 -2024-02-20 10:33:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:33:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:33:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:33:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:33:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:03, INFO: Using device: cpu -2024-02-20 10:34:03, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:03, INFO: Similarity_func: concatenation -2024-02-20 10:34:03, INFO: Layerwise_graph: False -2024-02-20 10:34:03, INFO: Skip_connection: True -2024-02-20 10:34:03, INFO: Number of layers: 1 -2024-02-20 10:34:03, INFO: Similarity_func: concatenation -2024-02-20 10:34:03, INFO: Layerwise_graph: False -2024-02-20 10:34:03, INFO: Skip_connection: True -2024-02-20 10:34:03, INFO: Number of layers: 1 -2024-02-20 10:34:03, INFO: Planning depth: 1 -2024-02-20 10:34:03, INFO: Planning width: 10 -2024-02-20 10:34:03, INFO: Sparse search: None -2024-02-20 10:34:06, INFO: human number: 10 -2024-02-20 10:34:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:06, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:10, INFO: Using device: cpu -2024-02-20 10:34:10, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:10, INFO: Similarity_func: concatenation -2024-02-20 10:34:10, INFO: Layerwise_graph: False -2024-02-20 10:34:10, INFO: Skip_connection: True -2024-02-20 10:34:10, INFO: Number of layers: 1 -2024-02-20 10:34:10, INFO: Similarity_func: concatenation -2024-02-20 10:34:10, INFO: Layerwise_graph: False -2024-02-20 10:34:10, INFO: Skip_connection: True -2024-02-20 10:34:10, INFO: Number of layers: 1 -2024-02-20 10:34:10, INFO: Planning depth: 1 -2024-02-20 10:34:10, INFO: Planning width: 10 -2024-02-20 10:34:10, INFO: Sparse search: None -2024-02-20 10:34:13, INFO: human number: 10 -2024-02-20 10:34:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:13, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:17, INFO: Using device: cpu -2024-02-20 10:34:17, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:17, INFO: Similarity_func: concatenation -2024-02-20 10:34:17, INFO: Layerwise_graph: False -2024-02-20 10:34:17, INFO: Skip_connection: True -2024-02-20 10:34:17, INFO: Number of layers: 1 -2024-02-20 10:34:17, INFO: Similarity_func: concatenation -2024-02-20 10:34:17, INFO: Layerwise_graph: False -2024-02-20 10:34:17, INFO: Skip_connection: True -2024-02-20 10:34:17, INFO: Number of layers: 1 -2024-02-20 10:34:17, INFO: Planning depth: 1 -2024-02-20 10:34:17, INFO: Planning width: 10 -2024-02-20 10:34:17, INFO: Sparse search: None -2024-02-20 10:34:19, INFO: human number: 10 -2024-02-20 10:34:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:19, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:25, INFO: Using device: cpu -2024-02-20 10:34:25, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:25, INFO: Similarity_func: concatenation -2024-02-20 10:34:25, INFO: Layerwise_graph: False -2024-02-20 10:34:25, INFO: Skip_connection: True -2024-02-20 10:34:25, INFO: Number of layers: 1 -2024-02-20 10:34:25, INFO: Similarity_func: concatenation -2024-02-20 10:34:25, INFO: Layerwise_graph: False -2024-02-20 10:34:25, INFO: Skip_connection: True -2024-02-20 10:34:25, INFO: Number of layers: 1 -2024-02-20 10:34:25, INFO: Planning depth: 1 -2024-02-20 10:34:25, INFO: Planning width: 10 -2024-02-20 10:34:25, INFO: Sparse search: None -2024-02-20 10:34:27, INFO: human number: 10 -2024-02-20 10:34:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:27, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:32, INFO: Using device: cpu -2024-02-20 10:34:32, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:32, INFO: Similarity_func: concatenation -2024-02-20 10:34:32, INFO: Layerwise_graph: False -2024-02-20 10:34:32, INFO: Skip_connection: True -2024-02-20 10:34:32, INFO: Number of layers: 1 -2024-02-20 10:34:32, INFO: Similarity_func: concatenation -2024-02-20 10:34:32, INFO: Layerwise_graph: False -2024-02-20 10:34:32, INFO: Skip_connection: True -2024-02-20 10:34:32, INFO: Number of layers: 1 -2024-02-20 10:34:32, INFO: Planning depth: 1 -2024-02-20 10:34:32, INFO: Planning width: 10 -2024-02-20 10:34:32, INFO: Sparse search: None -2024-02-20 10:34:35, INFO: human number: 10 -2024-02-20 10:34:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:35, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:40, INFO: Using device: cpu -2024-02-20 10:34:40, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:40, INFO: Similarity_func: concatenation -2024-02-20 10:34:40, INFO: Layerwise_graph: False -2024-02-20 10:34:40, INFO: Skip_connection: True -2024-02-20 10:34:40, INFO: Number of layers: 1 -2024-02-20 10:34:40, INFO: Similarity_func: concatenation -2024-02-20 10:34:40, INFO: Layerwise_graph: False -2024-02-20 10:34:40, INFO: Skip_connection: True -2024-02-20 10:34:40, INFO: Number of layers: 1 -2024-02-20 10:34:40, INFO: Planning depth: 1 -2024-02-20 10:34:40, INFO: Planning width: 10 -2024-02-20 10:34:40, INFO: Sparse search: None -2024-02-20 10:34:43, INFO: human number: 10 -2024-02-20 10:34:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:43, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:48, INFO: Using device: cpu -2024-02-20 10:34:48, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:48, INFO: Similarity_func: concatenation -2024-02-20 10:34:48, INFO: Layerwise_graph: False -2024-02-20 10:34:48, INFO: Skip_connection: True -2024-02-20 10:34:48, INFO: Number of layers: 1 -2024-02-20 10:34:48, INFO: Similarity_func: concatenation -2024-02-20 10:34:48, INFO: Layerwise_graph: False -2024-02-20 10:34:48, INFO: Skip_connection: True -2024-02-20 10:34:48, INFO: Number of layers: 1 -2024-02-20 10:34:48, INFO: Planning depth: 1 -2024-02-20 10:34:48, INFO: Planning width: 10 -2024-02-20 10:34:48, INFO: Sparse search: None -2024-02-20 10:34:50, INFO: human number: 10 -2024-02-20 10:34:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:50, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:34:55, INFO: Using device: cpu -2024-02-20 10:34:55, INFO: Loaded RL weights with best VAL -2024-02-20 10:34:55, INFO: Similarity_func: concatenation -2024-02-20 10:34:55, INFO: Layerwise_graph: False -2024-02-20 10:34:55, INFO: Skip_connection: True -2024-02-20 10:34:55, INFO: Number of layers: 1 -2024-02-20 10:34:55, INFO: Similarity_func: concatenation -2024-02-20 10:34:55, INFO: Layerwise_graph: False -2024-02-20 10:34:55, INFO: Skip_connection: True -2024-02-20 10:34:55, INFO: Number of layers: 1 -2024-02-20 10:34:55, INFO: Planning depth: 1 -2024-02-20 10:34:55, INFO: Planning width: 10 -2024-02-20 10:34:55, INFO: Sparse search: None -2024-02-20 10:34:58, INFO: human number: 10 -2024-02-20 10:34:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:34:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:34:58, INFO: Square width: 10, circle width: 4 -2024-02-20 10:34:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:34:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:03, INFO: Using device: cpu -2024-02-20 10:35:03, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:03, INFO: Similarity_func: concatenation -2024-02-20 10:35:03, INFO: Layerwise_graph: False -2024-02-20 10:35:03, INFO: Skip_connection: True -2024-02-20 10:35:03, INFO: Number of layers: 1 -2024-02-20 10:35:03, INFO: Similarity_func: concatenation -2024-02-20 10:35:03, INFO: Layerwise_graph: False -2024-02-20 10:35:03, INFO: Skip_connection: True -2024-02-20 10:35:03, INFO: Number of layers: 1 -2024-02-20 10:35:03, INFO: Planning depth: 1 -2024-02-20 10:35:03, INFO: Planning width: 10 -2024-02-20 10:35:03, INFO: Sparse search: None -2024-02-20 10:35:06, INFO: human number: 10 -2024-02-20 10:35:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:06, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:11, INFO: Using device: cpu -2024-02-20 10:35:11, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:11, INFO: Similarity_func: concatenation -2024-02-20 10:35:11, INFO: Layerwise_graph: False -2024-02-20 10:35:11, INFO: Skip_connection: True -2024-02-20 10:35:11, INFO: Number of layers: 1 -2024-02-20 10:35:11, INFO: Similarity_func: concatenation -2024-02-20 10:35:11, INFO: Layerwise_graph: False -2024-02-20 10:35:11, INFO: Skip_connection: True -2024-02-20 10:35:11, INFO: Number of layers: 1 -2024-02-20 10:35:11, INFO: Planning depth: 1 -2024-02-20 10:35:11, INFO: Planning width: 10 -2024-02-20 10:35:11, INFO: Sparse search: None -2024-02-20 10:35:14, INFO: human number: 10 -2024-02-20 10:35:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:14, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:19, INFO: Using device: cpu -2024-02-20 10:35:19, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:19, INFO: Similarity_func: concatenation -2024-02-20 10:35:19, INFO: Layerwise_graph: False -2024-02-20 10:35:19, INFO: Skip_connection: True -2024-02-20 10:35:19, INFO: Number of layers: 1 -2024-02-20 10:35:19, INFO: Similarity_func: concatenation -2024-02-20 10:35:19, INFO: Layerwise_graph: False -2024-02-20 10:35:19, INFO: Skip_connection: True -2024-02-20 10:35:19, INFO: Number of layers: 1 -2024-02-20 10:35:19, INFO: Planning depth: 1 -2024-02-20 10:35:19, INFO: Planning width: 10 -2024-02-20 10:35:19, INFO: Sparse search: None -2024-02-20 10:35:22, INFO: human number: 10 -2024-02-20 10:35:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:22, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:26, INFO: Using device: cpu -2024-02-20 10:35:26, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:27, INFO: Similarity_func: concatenation -2024-02-20 10:35:27, INFO: Layerwise_graph: False -2024-02-20 10:35:27, INFO: Skip_connection: True -2024-02-20 10:35:27, INFO: Number of layers: 1 -2024-02-20 10:35:27, INFO: Similarity_func: concatenation -2024-02-20 10:35:27, INFO: Layerwise_graph: False -2024-02-20 10:35:27, INFO: Skip_connection: True -2024-02-20 10:35:27, INFO: Number of layers: 1 -2024-02-20 10:35:27, INFO: Planning depth: 1 -2024-02-20 10:35:27, INFO: Planning width: 10 -2024-02-20 10:35:27, INFO: Sparse search: None -2024-02-20 10:35:29, INFO: human number: 10 -2024-02-20 10:35:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:29, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:34, INFO: Using device: cpu -2024-02-20 10:35:34, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:34, INFO: Similarity_func: concatenation -2024-02-20 10:35:34, INFO: Layerwise_graph: False -2024-02-20 10:35:34, INFO: Skip_connection: True -2024-02-20 10:35:34, INFO: Number of layers: 1 -2024-02-20 10:35:34, INFO: Similarity_func: concatenation -2024-02-20 10:35:34, INFO: Layerwise_graph: False -2024-02-20 10:35:34, INFO: Skip_connection: True -2024-02-20 10:35:34, INFO: Number of layers: 1 -2024-02-20 10:35:34, INFO: Planning depth: 1 -2024-02-20 10:35:34, INFO: Planning width: 10 -2024-02-20 10:35:34, INFO: Sparse search: None -2024-02-20 10:35:37, INFO: human number: 10 -2024-02-20 10:35:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:37, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:42, INFO: Using device: cpu -2024-02-20 10:35:42, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:42, INFO: Similarity_func: concatenation -2024-02-20 10:35:42, INFO: Layerwise_graph: False -2024-02-20 10:35:42, INFO: Skip_connection: True -2024-02-20 10:35:42, INFO: Number of layers: 1 -2024-02-20 10:35:42, INFO: Similarity_func: concatenation -2024-02-20 10:35:42, INFO: Layerwise_graph: False -2024-02-20 10:35:42, INFO: Skip_connection: True -2024-02-20 10:35:42, INFO: Number of layers: 1 -2024-02-20 10:35:42, INFO: Planning depth: 1 -2024-02-20 10:35:42, INFO: Planning width: 10 -2024-02-20 10:35:42, INFO: Sparse search: None -2024-02-20 10:35:45, INFO: human number: 10 -2024-02-20 10:35:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:45, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:49, INFO: Using device: cpu -2024-02-20 10:35:49, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:49, INFO: Similarity_func: concatenation -2024-02-20 10:35:49, INFO: Layerwise_graph: False -2024-02-20 10:35:49, INFO: Skip_connection: True -2024-02-20 10:35:49, INFO: Number of layers: 1 -2024-02-20 10:35:49, INFO: Similarity_func: concatenation -2024-02-20 10:35:49, INFO: Layerwise_graph: False -2024-02-20 10:35:49, INFO: Skip_connection: True -2024-02-20 10:35:49, INFO: Number of layers: 1 -2024-02-20 10:35:49, INFO: Planning depth: 1 -2024-02-20 10:35:49, INFO: Planning width: 10 -2024-02-20 10:35:49, INFO: Sparse search: None -2024-02-20 10:35:52, INFO: human number: 10 -2024-02-20 10:35:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:52, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:35:56, INFO: Using device: cpu -2024-02-20 10:35:56, INFO: Loaded RL weights with best VAL -2024-02-20 10:35:56, INFO: Similarity_func: concatenation -2024-02-20 10:35:56, INFO: Layerwise_graph: False -2024-02-20 10:35:56, INFO: Skip_connection: True -2024-02-20 10:35:56, INFO: Number of layers: 1 -2024-02-20 10:35:56, INFO: Similarity_func: concatenation -2024-02-20 10:35:56, INFO: Layerwise_graph: False -2024-02-20 10:35:56, INFO: Skip_connection: True -2024-02-20 10:35:56, INFO: Number of layers: 1 -2024-02-20 10:35:56, INFO: Planning depth: 1 -2024-02-20 10:35:56, INFO: Planning width: 10 -2024-02-20 10:35:56, INFO: Sparse search: None -2024-02-20 10:35:59, INFO: human number: 10 -2024-02-20 10:35:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:35:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:35:59, INFO: Square width: 10, circle width: 4 -2024-02-20 10:35:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:35:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:04, INFO: Using device: cpu -2024-02-20 10:36:04, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:04, INFO: Similarity_func: concatenation -2024-02-20 10:36:04, INFO: Layerwise_graph: False -2024-02-20 10:36:04, INFO: Skip_connection: True -2024-02-20 10:36:04, INFO: Number of layers: 1 -2024-02-20 10:36:04, INFO: Similarity_func: concatenation -2024-02-20 10:36:04, INFO: Layerwise_graph: False -2024-02-20 10:36:04, INFO: Skip_connection: True -2024-02-20 10:36:04, INFO: Number of layers: 1 -2024-02-20 10:36:04, INFO: Planning depth: 1 -2024-02-20 10:36:04, INFO: Planning width: 10 -2024-02-20 10:36:04, INFO: Sparse search: None -2024-02-20 10:36:07, INFO: human number: 10 -2024-02-20 10:36:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:07, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:12, INFO: Using device: cpu -2024-02-20 10:36:12, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:12, INFO: Similarity_func: concatenation -2024-02-20 10:36:12, INFO: Layerwise_graph: False -2024-02-20 10:36:12, INFO: Skip_connection: True -2024-02-20 10:36:12, INFO: Number of layers: 1 -2024-02-20 10:36:13, INFO: Similarity_func: concatenation -2024-02-20 10:36:13, INFO: Layerwise_graph: False -2024-02-20 10:36:13, INFO: Skip_connection: True -2024-02-20 10:36:13, INFO: Number of layers: 1 -2024-02-20 10:36:13, INFO: Planning depth: 1 -2024-02-20 10:36:13, INFO: Planning width: 10 -2024-02-20 10:36:13, INFO: Sparse search: None -2024-02-20 10:36:15, INFO: human number: 10 -2024-02-20 10:36:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:15, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:20, INFO: Using device: cpu -2024-02-20 10:36:20, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:20, INFO: Similarity_func: concatenation -2024-02-20 10:36:20, INFO: Layerwise_graph: False -2024-02-20 10:36:20, INFO: Skip_connection: True -2024-02-20 10:36:20, INFO: Number of layers: 1 -2024-02-20 10:36:20, INFO: Similarity_func: concatenation -2024-02-20 10:36:20, INFO: Layerwise_graph: False -2024-02-20 10:36:20, INFO: Skip_connection: True -2024-02-20 10:36:20, INFO: Number of layers: 1 -2024-02-20 10:36:20, INFO: Planning depth: 1 -2024-02-20 10:36:20, INFO: Planning width: 10 -2024-02-20 10:36:20, INFO: Sparse search: None -2024-02-20 10:36:23, INFO: human number: 10 -2024-02-20 10:36:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:23, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:27, INFO: Using device: cpu -2024-02-20 10:36:27, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:27, INFO: Similarity_func: concatenation -2024-02-20 10:36:27, INFO: Layerwise_graph: False -2024-02-20 10:36:27, INFO: Skip_connection: True -2024-02-20 10:36:27, INFO: Number of layers: 1 -2024-02-20 10:36:27, INFO: Similarity_func: concatenation -2024-02-20 10:36:27, INFO: Layerwise_graph: False -2024-02-20 10:36:27, INFO: Skip_connection: True -2024-02-20 10:36:27, INFO: Number of layers: 1 -2024-02-20 10:36:27, INFO: Planning depth: 1 -2024-02-20 10:36:27, INFO: Planning width: 10 -2024-02-20 10:36:27, INFO: Sparse search: None -2024-02-20 10:36:30, INFO: human number: 10 -2024-02-20 10:36:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:30, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:37, INFO: Using device: cpu -2024-02-20 10:36:37, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:37, INFO: Similarity_func: concatenation -2024-02-20 10:36:37, INFO: Layerwise_graph: False -2024-02-20 10:36:37, INFO: Skip_connection: True -2024-02-20 10:36:37, INFO: Number of layers: 1 -2024-02-20 10:36:37, INFO: Similarity_func: concatenation -2024-02-20 10:36:37, INFO: Layerwise_graph: False -2024-02-20 10:36:37, INFO: Skip_connection: True -2024-02-20 10:36:37, INFO: Number of layers: 1 -2024-02-20 10:36:37, INFO: Planning depth: 1 -2024-02-20 10:36:37, INFO: Planning width: 10 -2024-02-20 10:36:37, INFO: Sparse search: None -2024-02-20 10:36:39, INFO: human number: 10 -2024-02-20 10:36:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:39, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:36:44, INFO: Using device: cpu -2024-02-20 10:36:44, INFO: Loaded RL weights with best VAL -2024-02-20 10:36:44, INFO: Similarity_func: concatenation -2024-02-20 10:36:44, INFO: Layerwise_graph: False -2024-02-20 10:36:44, INFO: Skip_connection: True -2024-02-20 10:36:44, INFO: Number of layers: 1 -2024-02-20 10:36:44, INFO: Similarity_func: concatenation -2024-02-20 10:36:44, INFO: Layerwise_graph: False -2024-02-20 10:36:44, INFO: Skip_connection: True -2024-02-20 10:36:44, INFO: Number of layers: 1 -2024-02-20 10:36:44, INFO: Planning depth: 1 -2024-02-20 10:36:44, INFO: Planning width: 10 -2024-02-20 10:36:44, INFO: Sparse search: None -2024-02-20 10:36:46, INFO: human number: 10 -2024-02-20 10:36:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:36:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:36:46, INFO: Square width: 10, circle width: 4 -2024-02-20 10:36:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:36:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:38:54, INFO: Using device: cpu -2024-02-20 10:38:54, INFO: Loaded RL weights with best VAL -2024-02-20 10:38:54, INFO: Similarity_func: concatenation -2024-02-20 10:38:54, INFO: Layerwise_graph: False -2024-02-20 10:38:54, INFO: Skip_connection: True -2024-02-20 10:38:54, INFO: Number of layers: 1 -2024-02-20 10:38:54, INFO: Similarity_func: concatenation -2024-02-20 10:38:54, INFO: Layerwise_graph: False -2024-02-20 10:38:54, INFO: Skip_connection: True -2024-02-20 10:38:54, INFO: Number of layers: 1 -2024-02-20 10:38:54, INFO: Planning depth: 1 -2024-02-20 10:38:54, INFO: Planning width: 10 -2024-02-20 10:38:54, INFO: Sparse search: None -2024-02-20 10:38:57, INFO: human number: 10 -2024-02-20 10:38:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:38:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:38:57, INFO: Square width: 10, circle width: 4 -2024-02-20 10:38:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:38:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:43:48, INFO: Using device: cpu -2024-02-20 10:43:48, INFO: Loaded RL weights with best VAL -2024-02-20 10:43:48, INFO: Similarity_func: concatenation -2024-02-20 10:43:48, INFO: Layerwise_graph: False -2024-02-20 10:43:48, INFO: Skip_connection: True -2024-02-20 10:43:48, INFO: Number of layers: 1 -2024-02-20 10:43:48, INFO: Similarity_func: concatenation -2024-02-20 10:43:48, INFO: Layerwise_graph: False -2024-02-20 10:43:48, INFO: Skip_connection: True -2024-02-20 10:43:48, INFO: Number of layers: 1 -2024-02-20 10:43:48, INFO: Planning depth: 1 -2024-02-20 10:43:48, INFO: Planning width: 10 -2024-02-20 10:43:48, INFO: Sparse search: None -2024-02-20 10:43:50, INFO: human number: 10 -2024-02-20 10:43:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:43:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:43:50, INFO: Square width: 10, circle width: 4 -2024-02-20 10:43:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:43:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:45:51, INFO: Using device: cpu -2024-02-20 10:45:51, INFO: Loaded RL weights with best VAL -2024-02-20 10:45:51, INFO: Similarity_func: concatenation -2024-02-20 10:45:51, INFO: Layerwise_graph: False -2024-02-20 10:45:51, INFO: Skip_connection: True -2024-02-20 10:45:51, INFO: Number of layers: 1 -2024-02-20 10:45:51, INFO: Similarity_func: concatenation -2024-02-20 10:45:51, INFO: Layerwise_graph: False -2024-02-20 10:45:51, INFO: Skip_connection: True -2024-02-20 10:45:51, INFO: Number of layers: 1 -2024-02-20 10:45:51, INFO: Planning depth: 1 -2024-02-20 10:45:51, INFO: Planning width: 10 -2024-02-20 10:45:51, INFO: Sparse search: None -2024-02-20 10:45:54, INFO: human number: 10 -2024-02-20 10:45:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:45:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:45:54, INFO: Square width: 10, circle width: 4 -2024-02-20 10:45:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:45:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 10:57:53, INFO: Using device: cpu -2024-02-20 10:57:53, INFO: Loaded RL weights with best VAL -2024-02-20 10:57:54, INFO: Similarity_func: concatenation -2024-02-20 10:57:54, INFO: Layerwise_graph: False -2024-02-20 10:57:54, INFO: Skip_connection: True -2024-02-20 10:57:54, INFO: Number of layers: 1 -2024-02-20 10:57:54, INFO: Similarity_func: concatenation -2024-02-20 10:57:54, INFO: Layerwise_graph: False -2024-02-20 10:57:54, INFO: Skip_connection: True -2024-02-20 10:57:54, INFO: Number of layers: 1 -2024-02-20 10:57:54, INFO: Planning depth: 1 -2024-02-20 10:57:54, INFO: Planning width: 10 -2024-02-20 10:57:54, INFO: Sparse search: None -2024-02-20 10:57:57, INFO: human number: 10 -2024-02-20 10:57:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 10:57:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 10:57:57, INFO: Square width: 10, circle width: 4 -2024-02-20 10:57:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 10:57:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:46:14, INFO: Using device: cpu -2024-02-20 11:46:14, INFO: Loaded RL weights with best VAL -2024-02-20 11:46:14, INFO: Similarity_func: concatenation -2024-02-20 11:46:14, INFO: Layerwise_graph: False -2024-02-20 11:46:14, INFO: Skip_connection: True -2024-02-20 11:46:14, INFO: Number of layers: 1 -2024-02-20 11:46:14, INFO: Similarity_func: concatenation -2024-02-20 11:46:14, INFO: Layerwise_graph: False -2024-02-20 11:46:14, INFO: Skip_connection: True -2024-02-20 11:46:14, INFO: Number of layers: 1 -2024-02-20 11:46:14, INFO: Planning depth: 1 -2024-02-20 11:46:14, INFO: Planning width: 10 -2024-02-20 11:46:14, INFO: Sparse search: None -2024-02-20 11:46:17, INFO: human number: 10 -2024-02-20 11:46:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:46:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:46:17, INFO: Square width: 10, circle width: 4 -2024-02-20 11:46:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:46:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:53:09, INFO: Using device: cpu -2024-02-20 11:53:09, INFO: Loaded RL weights with best VAL -2024-02-20 11:53:09, INFO: Similarity_func: concatenation -2024-02-20 11:53:09, INFO: Layerwise_graph: False -2024-02-20 11:53:09, INFO: Skip_connection: True -2024-02-20 11:53:09, INFO: Number of layers: 1 -2024-02-20 11:53:09, INFO: Similarity_func: concatenation -2024-02-20 11:53:09, INFO: Layerwise_graph: False -2024-02-20 11:53:09, INFO: Skip_connection: True -2024-02-20 11:53:09, INFO: Number of layers: 1 -2024-02-20 11:53:09, INFO: Planning depth: 1 -2024-02-20 11:53:09, INFO: Planning width: 10 -2024-02-20 11:53:09, INFO: Sparse search: None -2024-02-20 11:53:12, INFO: human number: 10 -2024-02-20 11:53:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:53:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:53:12, INFO: Square width: 10, circle width: 4 -2024-02-20 11:53:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:53:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:53:44, INFO: Using device: cpu -2024-02-20 11:53:44, INFO: Loaded RL weights with best VAL -2024-02-20 11:53:44, INFO: Similarity_func: concatenation -2024-02-20 11:53:44, INFO: Layerwise_graph: False -2024-02-20 11:53:44, INFO: Skip_connection: True -2024-02-20 11:53:44, INFO: Number of layers: 1 -2024-02-20 11:53:44, INFO: Similarity_func: concatenation -2024-02-20 11:53:44, INFO: Layerwise_graph: False -2024-02-20 11:53:44, INFO: Skip_connection: True -2024-02-20 11:53:44, INFO: Number of layers: 1 -2024-02-20 11:53:44, INFO: Planning depth: 1 -2024-02-20 11:53:44, INFO: Planning width: 10 -2024-02-20 11:53:44, INFO: Sparse search: None -2024-02-20 11:55:24, INFO: Using device: cpu -2024-02-20 11:55:24, INFO: Loaded RL weights with best VAL -2024-02-20 11:55:24, INFO: Similarity_func: concatenation -2024-02-20 11:55:24, INFO: Layerwise_graph: False -2024-02-20 11:55:24, INFO: Skip_connection: True -2024-02-20 11:55:24, INFO: Number of layers: 1 -2024-02-20 11:55:24, INFO: Similarity_func: concatenation -2024-02-20 11:55:24, INFO: Layerwise_graph: False -2024-02-20 11:55:24, INFO: Skip_connection: True -2024-02-20 11:55:24, INFO: Number of layers: 1 -2024-02-20 11:55:24, INFO: Planning depth: 1 -2024-02-20 11:55:24, INFO: Planning width: 10 -2024-02-20 11:55:24, INFO: Sparse search: None -2024-02-20 11:55:27, INFO: human number: 10 -2024-02-20 11:55:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:55:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:55:27, INFO: Square width: 10, circle width: 4 -2024-02-20 11:55:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:55:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:55:32, INFO: Using device: cpu -2024-02-20 11:55:32, INFO: Loaded RL weights with best VAL -2024-02-20 11:55:32, INFO: Similarity_func: concatenation -2024-02-20 11:55:32, INFO: Layerwise_graph: False -2024-02-20 11:55:32, INFO: Skip_connection: True -2024-02-20 11:55:32, INFO: Number of layers: 1 -2024-02-20 11:55:32, INFO: Similarity_func: concatenation -2024-02-20 11:55:32, INFO: Layerwise_graph: False -2024-02-20 11:55:32, INFO: Skip_connection: True -2024-02-20 11:55:32, INFO: Number of layers: 1 -2024-02-20 11:55:32, INFO: Planning depth: 1 -2024-02-20 11:55:32, INFO: Planning width: 10 -2024-02-20 11:55:32, INFO: Sparse search: None -2024-02-20 11:55:35, INFO: human number: 10 -2024-02-20 11:55:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:55:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:55:35, INFO: Square width: 10, circle width: 4 -2024-02-20 11:55:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:55:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:55:40, INFO: Using device: cpu -2024-02-20 11:55:40, INFO: Loaded RL weights with best VAL -2024-02-20 11:55:40, INFO: Similarity_func: concatenation -2024-02-20 11:55:40, INFO: Layerwise_graph: False -2024-02-20 11:55:40, INFO: Skip_connection: True -2024-02-20 11:55:40, INFO: Number of layers: 1 -2024-02-20 11:55:40, INFO: Similarity_func: concatenation -2024-02-20 11:55:40, INFO: Layerwise_graph: False -2024-02-20 11:55:40, INFO: Skip_connection: True -2024-02-20 11:55:40, INFO: Number of layers: 1 -2024-02-20 11:55:40, INFO: Planning depth: 1 -2024-02-20 11:55:40, INFO: Planning width: 10 -2024-02-20 11:55:40, INFO: Sparse search: None -2024-02-20 11:55:43, INFO: human number: 10 -2024-02-20 11:55:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:55:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:55:43, INFO: Square width: 10, circle width: 4 -2024-02-20 11:55:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:55:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:55:47, INFO: Using device: cpu -2024-02-20 11:55:47, INFO: Loaded RL weights with best VAL -2024-02-20 11:55:47, INFO: Similarity_func: concatenation -2024-02-20 11:55:47, INFO: Layerwise_graph: False -2024-02-20 11:55:47, INFO: Skip_connection: True -2024-02-20 11:55:47, INFO: Number of layers: 1 -2024-02-20 11:55:47, INFO: Similarity_func: concatenation -2024-02-20 11:55:47, INFO: Layerwise_graph: False -2024-02-20 11:55:47, INFO: Skip_connection: True -2024-02-20 11:55:47, INFO: Number of layers: 1 -2024-02-20 11:55:47, INFO: Planning depth: 1 -2024-02-20 11:55:47, INFO: Planning width: 10 -2024-02-20 11:55:47, INFO: Sparse search: None -2024-02-20 11:55:50, INFO: human number: 10 -2024-02-20 11:55:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:55:50, INFO: Square width: 10, circle width: 4 -2024-02-20 11:55:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:55:56, INFO: Using device: cpu -2024-02-20 11:55:56, INFO: Loaded RL weights with best VAL -2024-02-20 11:55:56, INFO: Similarity_func: concatenation -2024-02-20 11:55:56, INFO: Layerwise_graph: False -2024-02-20 11:55:56, INFO: Skip_connection: True -2024-02-20 11:55:56, INFO: Number of layers: 1 -2024-02-20 11:55:56, INFO: Similarity_func: concatenation -2024-02-20 11:55:56, INFO: Layerwise_graph: False -2024-02-20 11:55:56, INFO: Skip_connection: True -2024-02-20 11:55:56, INFO: Number of layers: 1 -2024-02-20 11:55:56, INFO: Planning depth: 1 -2024-02-20 11:55:56, INFO: Planning width: 10 -2024-02-20 11:55:56, INFO: Sparse search: None -2024-02-20 11:55:59, INFO: human number: 10 -2024-02-20 11:55:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:55:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:55:59, INFO: Square width: 10, circle width: 4 -2024-02-20 11:55:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:55:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:04, INFO: Using device: cpu -2024-02-20 11:56:04, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:04, INFO: Similarity_func: concatenation -2024-02-20 11:56:04, INFO: Layerwise_graph: False -2024-02-20 11:56:04, INFO: Skip_connection: True -2024-02-20 11:56:04, INFO: Number of layers: 1 -2024-02-20 11:56:04, INFO: Similarity_func: concatenation -2024-02-20 11:56:04, INFO: Layerwise_graph: False -2024-02-20 11:56:04, INFO: Skip_connection: True -2024-02-20 11:56:04, INFO: Number of layers: 1 -2024-02-20 11:56:04, INFO: Planning depth: 1 -2024-02-20 11:56:04, INFO: Planning width: 10 -2024-02-20 11:56:04, INFO: Sparse search: None -2024-02-20 11:56:07, INFO: human number: 10 -2024-02-20 11:56:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:07, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:11, INFO: Using device: cpu -2024-02-20 11:56:11, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:11, INFO: Similarity_func: concatenation -2024-02-20 11:56:11, INFO: Layerwise_graph: False -2024-02-20 11:56:11, INFO: Skip_connection: True -2024-02-20 11:56:11, INFO: Number of layers: 1 -2024-02-20 11:56:11, INFO: Similarity_func: concatenation -2024-02-20 11:56:11, INFO: Layerwise_graph: False -2024-02-20 11:56:11, INFO: Skip_connection: True -2024-02-20 11:56:11, INFO: Number of layers: 1 -2024-02-20 11:56:11, INFO: Planning depth: 1 -2024-02-20 11:56:11, INFO: Planning width: 10 -2024-02-20 11:56:11, INFO: Sparse search: None -2024-02-20 11:56:13, INFO: human number: 10 -2024-02-20 11:56:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:13, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:19, INFO: Using device: cpu -2024-02-20 11:56:19, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:19, INFO: Similarity_func: concatenation -2024-02-20 11:56:19, INFO: Layerwise_graph: False -2024-02-20 11:56:19, INFO: Skip_connection: True -2024-02-20 11:56:19, INFO: Number of layers: 1 -2024-02-20 11:56:19, INFO: Similarity_func: concatenation -2024-02-20 11:56:19, INFO: Layerwise_graph: False -2024-02-20 11:56:19, INFO: Skip_connection: True -2024-02-20 11:56:19, INFO: Number of layers: 1 -2024-02-20 11:56:19, INFO: Planning depth: 1 -2024-02-20 11:56:19, INFO: Planning width: 10 -2024-02-20 11:56:19, INFO: Sparse search: None -2024-02-20 11:56:22, INFO: human number: 10 -2024-02-20 11:56:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:22, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:27, INFO: Using device: cpu -2024-02-20 11:56:27, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:28, INFO: Similarity_func: concatenation -2024-02-20 11:56:28, INFO: Layerwise_graph: False -2024-02-20 11:56:28, INFO: Skip_connection: True -2024-02-20 11:56:28, INFO: Number of layers: 1 -2024-02-20 11:56:28, INFO: Similarity_func: concatenation -2024-02-20 11:56:28, INFO: Layerwise_graph: False -2024-02-20 11:56:28, INFO: Skip_connection: True -2024-02-20 11:56:28, INFO: Number of layers: 1 -2024-02-20 11:56:28, INFO: Planning depth: 1 -2024-02-20 11:56:28, INFO: Planning width: 10 -2024-02-20 11:56:28, INFO: Sparse search: None -2024-02-20 11:56:30, INFO: human number: 10 -2024-02-20 11:56:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:30, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:35, INFO: Using device: cpu -2024-02-20 11:56:35, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:35, INFO: Similarity_func: concatenation -2024-02-20 11:56:35, INFO: Layerwise_graph: False -2024-02-20 11:56:35, INFO: Skip_connection: True -2024-02-20 11:56:35, INFO: Number of layers: 1 -2024-02-20 11:56:35, INFO: Similarity_func: concatenation -2024-02-20 11:56:35, INFO: Layerwise_graph: False -2024-02-20 11:56:35, INFO: Skip_connection: True -2024-02-20 11:56:35, INFO: Number of layers: 1 -2024-02-20 11:56:35, INFO: Planning depth: 1 -2024-02-20 11:56:35, INFO: Planning width: 10 -2024-02-20 11:56:35, INFO: Sparse search: None -2024-02-20 11:56:38, INFO: human number: 10 -2024-02-20 11:56:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:38, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:43, INFO: Using device: cpu -2024-02-20 11:56:43, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:43, INFO: Similarity_func: concatenation -2024-02-20 11:56:43, INFO: Layerwise_graph: False -2024-02-20 11:56:43, INFO: Skip_connection: True -2024-02-20 11:56:43, INFO: Number of layers: 1 -2024-02-20 11:56:43, INFO: Similarity_func: concatenation -2024-02-20 11:56:43, INFO: Layerwise_graph: False -2024-02-20 11:56:43, INFO: Skip_connection: True -2024-02-20 11:56:43, INFO: Number of layers: 1 -2024-02-20 11:56:43, INFO: Planning depth: 1 -2024-02-20 11:56:43, INFO: Planning width: 10 -2024-02-20 11:56:43, INFO: Sparse search: None -2024-02-20 11:56:45, INFO: human number: 10 -2024-02-20 11:56:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:45, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:50, INFO: Using device: cpu -2024-02-20 11:56:50, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:50, INFO: Similarity_func: concatenation -2024-02-20 11:56:50, INFO: Layerwise_graph: False -2024-02-20 11:56:50, INFO: Skip_connection: True -2024-02-20 11:56:50, INFO: Number of layers: 1 -2024-02-20 11:56:50, INFO: Similarity_func: concatenation -2024-02-20 11:56:50, INFO: Layerwise_graph: False -2024-02-20 11:56:50, INFO: Skip_connection: True -2024-02-20 11:56:50, INFO: Number of layers: 1 -2024-02-20 11:56:50, INFO: Planning depth: 1 -2024-02-20 11:56:50, INFO: Planning width: 10 -2024-02-20 11:56:50, INFO: Sparse search: None -2024-02-20 11:56:53, INFO: human number: 10 -2024-02-20 11:56:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:56:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:56:53, INFO: Square width: 10, circle width: 4 -2024-02-20 11:56:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:56:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:56:58, INFO: Using device: cpu -2024-02-20 11:56:58, INFO: Loaded RL weights with best VAL -2024-02-20 11:56:58, INFO: Similarity_func: concatenation -2024-02-20 11:56:58, INFO: Layerwise_graph: False -2024-02-20 11:56:58, INFO: Skip_connection: True -2024-02-20 11:56:58, INFO: Number of layers: 1 -2024-02-20 11:56:58, INFO: Similarity_func: concatenation -2024-02-20 11:56:58, INFO: Layerwise_graph: False -2024-02-20 11:56:58, INFO: Skip_connection: True -2024-02-20 11:56:58, INFO: Number of layers: 1 -2024-02-20 11:56:58, INFO: Planning depth: 1 -2024-02-20 11:56:58, INFO: Planning width: 10 -2024-02-20 11:56:58, INFO: Sparse search: None -2024-02-20 11:57:01, INFO: human number: 10 -2024-02-20 11:57:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:57:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:57:01, INFO: Square width: 10, circle width: 4 -2024-02-20 11:57:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:57:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:57:06, INFO: Using device: cpu -2024-02-20 11:57:06, INFO: Loaded RL weights with best VAL -2024-02-20 11:57:06, INFO: Similarity_func: concatenation -2024-02-20 11:57:06, INFO: Layerwise_graph: False -2024-02-20 11:57:06, INFO: Skip_connection: True -2024-02-20 11:57:06, INFO: Number of layers: 1 -2024-02-20 11:57:06, INFO: Similarity_func: concatenation -2024-02-20 11:57:06, INFO: Layerwise_graph: False -2024-02-20 11:57:06, INFO: Skip_connection: True -2024-02-20 11:57:06, INFO: Number of layers: 1 -2024-02-20 11:57:06, INFO: Planning depth: 1 -2024-02-20 11:57:06, INFO: Planning width: 10 -2024-02-20 11:57:06, INFO: Sparse search: None -2024-02-20 11:57:08, INFO: human number: 10 -2024-02-20 11:57:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:57:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:57:08, INFO: Square width: 10, circle width: 4 -2024-02-20 11:57:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:57:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:57:14, INFO: Using device: cpu -2024-02-20 11:57:14, INFO: Loaded RL weights with best VAL -2024-02-20 11:57:14, INFO: Similarity_func: concatenation -2024-02-20 11:57:14, INFO: Layerwise_graph: False -2024-02-20 11:57:14, INFO: Skip_connection: True -2024-02-20 11:57:14, INFO: Number of layers: 1 -2024-02-20 11:57:14, INFO: Similarity_func: concatenation -2024-02-20 11:57:14, INFO: Layerwise_graph: False -2024-02-20 11:57:14, INFO: Skip_connection: True -2024-02-20 11:57:14, INFO: Number of layers: 1 -2024-02-20 11:57:14, INFO: Planning depth: 1 -2024-02-20 11:57:14, INFO: Planning width: 10 -2024-02-20 11:57:14, INFO: Sparse search: None -2024-02-20 11:57:16, INFO: human number: 10 -2024-02-20 11:57:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:57:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:57:16, INFO: Square width: 10, circle width: 4 -2024-02-20 11:57:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:57:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:57:22, INFO: Using device: cpu -2024-02-20 11:57:22, INFO: Loaded RL weights with best VAL -2024-02-20 11:57:22, INFO: Similarity_func: concatenation -2024-02-20 11:57:22, INFO: Layerwise_graph: False -2024-02-20 11:57:22, INFO: Skip_connection: True -2024-02-20 11:57:22, INFO: Number of layers: 1 -2024-02-20 11:57:22, INFO: Similarity_func: concatenation -2024-02-20 11:57:22, INFO: Layerwise_graph: False -2024-02-20 11:57:22, INFO: Skip_connection: True -2024-02-20 11:57:22, INFO: Number of layers: 1 -2024-02-20 11:57:22, INFO: Planning depth: 1 -2024-02-20 11:57:22, INFO: Planning width: 10 -2024-02-20 11:57:22, INFO: Sparse search: None -2024-02-20 11:57:25, INFO: human number: 10 -2024-02-20 11:57:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:57:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:57:25, INFO: Square width: 10, circle width: 4 -2024-02-20 11:57:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:57:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:03, INFO: Using device: cpu -2024-02-20 11:59:03, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:03, INFO: Similarity_func: concatenation -2024-02-20 11:59:03, INFO: Layerwise_graph: False -2024-02-20 11:59:03, INFO: Skip_connection: True -2024-02-20 11:59:03, INFO: Number of layers: 1 -2024-02-20 11:59:03, INFO: Similarity_func: concatenation -2024-02-20 11:59:03, INFO: Layerwise_graph: False -2024-02-20 11:59:03, INFO: Skip_connection: True -2024-02-20 11:59:03, INFO: Number of layers: 1 -2024-02-20 11:59:03, INFO: Planning depth: 1 -2024-02-20 11:59:03, INFO: Planning width: 10 -2024-02-20 11:59:03, INFO: Sparse search: None -2024-02-20 11:59:06, INFO: human number: 10 -2024-02-20 11:59:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:06, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:11, INFO: Using device: cpu -2024-02-20 11:59:11, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:11, INFO: Similarity_func: concatenation -2024-02-20 11:59:11, INFO: Layerwise_graph: False -2024-02-20 11:59:11, INFO: Skip_connection: True -2024-02-20 11:59:11, INFO: Number of layers: 1 -2024-02-20 11:59:11, INFO: Similarity_func: concatenation -2024-02-20 11:59:11, INFO: Layerwise_graph: False -2024-02-20 11:59:11, INFO: Skip_connection: True -2024-02-20 11:59:11, INFO: Number of layers: 1 -2024-02-20 11:59:11, INFO: Planning depth: 1 -2024-02-20 11:59:11, INFO: Planning width: 10 -2024-02-20 11:59:11, INFO: Sparse search: None -2024-02-20 11:59:13, INFO: human number: 10 -2024-02-20 11:59:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:13, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:21, INFO: Using device: cpu -2024-02-20 11:59:21, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:21, INFO: Similarity_func: concatenation -2024-02-20 11:59:21, INFO: Layerwise_graph: False -2024-02-20 11:59:21, INFO: Skip_connection: True -2024-02-20 11:59:21, INFO: Number of layers: 1 -2024-02-20 11:59:21, INFO: Similarity_func: concatenation -2024-02-20 11:59:21, INFO: Layerwise_graph: False -2024-02-20 11:59:21, INFO: Skip_connection: True -2024-02-20 11:59:21, INFO: Number of layers: 1 -2024-02-20 11:59:21, INFO: Planning depth: 1 -2024-02-20 11:59:21, INFO: Planning width: 10 -2024-02-20 11:59:21, INFO: Sparse search: None -2024-02-20 11:59:24, INFO: human number: 10 -2024-02-20 11:59:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:24, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:28, INFO: Using device: cpu -2024-02-20 11:59:28, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:28, INFO: Similarity_func: concatenation -2024-02-20 11:59:28, INFO: Layerwise_graph: False -2024-02-20 11:59:28, INFO: Skip_connection: True -2024-02-20 11:59:28, INFO: Number of layers: 1 -2024-02-20 11:59:28, INFO: Similarity_func: concatenation -2024-02-20 11:59:28, INFO: Layerwise_graph: False -2024-02-20 11:59:28, INFO: Skip_connection: True -2024-02-20 11:59:28, INFO: Number of layers: 1 -2024-02-20 11:59:28, INFO: Planning depth: 1 -2024-02-20 11:59:28, INFO: Planning width: 10 -2024-02-20 11:59:28, INFO: Sparse search: None -2024-02-20 11:59:31, INFO: human number: 10 -2024-02-20 11:59:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:31, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:36, INFO: Using device: cpu -2024-02-20 11:59:36, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:36, INFO: Similarity_func: concatenation -2024-02-20 11:59:36, INFO: Layerwise_graph: False -2024-02-20 11:59:36, INFO: Skip_connection: True -2024-02-20 11:59:36, INFO: Number of layers: 1 -2024-02-20 11:59:36, INFO: Similarity_func: concatenation -2024-02-20 11:59:36, INFO: Layerwise_graph: False -2024-02-20 11:59:36, INFO: Skip_connection: True -2024-02-20 11:59:36, INFO: Number of layers: 1 -2024-02-20 11:59:36, INFO: Planning depth: 1 -2024-02-20 11:59:36, INFO: Planning width: 10 -2024-02-20 11:59:36, INFO: Sparse search: None -2024-02-20 11:59:39, INFO: human number: 10 -2024-02-20 11:59:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:39, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:44, INFO: Using device: cpu -2024-02-20 11:59:44, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:44, INFO: Similarity_func: concatenation -2024-02-20 11:59:44, INFO: Layerwise_graph: False -2024-02-20 11:59:44, INFO: Skip_connection: True -2024-02-20 11:59:44, INFO: Number of layers: 1 -2024-02-20 11:59:44, INFO: Similarity_func: concatenation -2024-02-20 11:59:44, INFO: Layerwise_graph: False -2024-02-20 11:59:44, INFO: Skip_connection: True -2024-02-20 11:59:44, INFO: Number of layers: 1 -2024-02-20 11:59:44, INFO: Planning depth: 1 -2024-02-20 11:59:44, INFO: Planning width: 10 -2024-02-20 11:59:44, INFO: Sparse search: None -2024-02-20 11:59:47, INFO: human number: 10 -2024-02-20 11:59:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:47, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:51, INFO: Using device: cpu -2024-02-20 11:59:51, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:51, INFO: Similarity_func: concatenation -2024-02-20 11:59:51, INFO: Layerwise_graph: False -2024-02-20 11:59:51, INFO: Skip_connection: True -2024-02-20 11:59:51, INFO: Number of layers: 1 -2024-02-20 11:59:51, INFO: Similarity_func: concatenation -2024-02-20 11:59:51, INFO: Layerwise_graph: False -2024-02-20 11:59:51, INFO: Skip_connection: True -2024-02-20 11:59:51, INFO: Number of layers: 1 -2024-02-20 11:59:51, INFO: Planning depth: 1 -2024-02-20 11:59:51, INFO: Planning width: 10 -2024-02-20 11:59:51, INFO: Sparse search: None -2024-02-20 11:59:54, INFO: human number: 10 -2024-02-20 11:59:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 11:59:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 11:59:54, INFO: Square width: 10, circle width: 4 -2024-02-20 11:59:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 11:59:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 11:59:59, INFO: Using device: cpu -2024-02-20 11:59:59, INFO: Loaded RL weights with best VAL -2024-02-20 11:59:59, INFO: Similarity_func: concatenation -2024-02-20 11:59:59, INFO: Layerwise_graph: False -2024-02-20 11:59:59, INFO: Skip_connection: True -2024-02-20 11:59:59, INFO: Number of layers: 1 -2024-02-20 11:59:59, INFO: Similarity_func: concatenation -2024-02-20 11:59:59, INFO: Layerwise_graph: False -2024-02-20 11:59:59, INFO: Skip_connection: True -2024-02-20 11:59:59, INFO: Number of layers: 1 -2024-02-20 11:59:59, INFO: Planning depth: 1 -2024-02-20 11:59:59, INFO: Planning width: 10 -2024-02-20 11:59:59, INFO: Sparse search: None -2024-02-20 12:00:02, INFO: human number: 10 -2024-02-20 12:00:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:07, INFO: Using device: cpu -2024-02-20 12:00:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:07, INFO: Similarity_func: concatenation -2024-02-20 12:00:07, INFO: Layerwise_graph: False -2024-02-20 12:00:07, INFO: Skip_connection: True -2024-02-20 12:00:07, INFO: Number of layers: 1 -2024-02-20 12:00:07, INFO: Similarity_func: concatenation -2024-02-20 12:00:07, INFO: Layerwise_graph: False -2024-02-20 12:00:07, INFO: Skip_connection: True -2024-02-20 12:00:07, INFO: Number of layers: 1 -2024-02-20 12:00:07, INFO: Planning depth: 1 -2024-02-20 12:00:07, INFO: Planning width: 10 -2024-02-20 12:00:07, INFO: Sparse search: None -2024-02-20 12:00:10, INFO: human number: 10 -2024-02-20 12:00:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:10, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:15, INFO: Using device: cpu -2024-02-20 12:00:15, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:15, INFO: Similarity_func: concatenation -2024-02-20 12:00:15, INFO: Layerwise_graph: False -2024-02-20 12:00:15, INFO: Skip_connection: True -2024-02-20 12:00:15, INFO: Number of layers: 1 -2024-02-20 12:00:15, INFO: Similarity_func: concatenation -2024-02-20 12:00:15, INFO: Layerwise_graph: False -2024-02-20 12:00:15, INFO: Skip_connection: True -2024-02-20 12:00:15, INFO: Number of layers: 1 -2024-02-20 12:00:15, INFO: Planning depth: 1 -2024-02-20 12:00:15, INFO: Planning width: 10 -2024-02-20 12:00:15, INFO: Sparse search: None -2024-02-20 12:00:17, INFO: human number: 10 -2024-02-20 12:00:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:22, INFO: Using device: cpu -2024-02-20 12:00:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:22, INFO: Similarity_func: concatenation -2024-02-20 12:00:22, INFO: Layerwise_graph: False -2024-02-20 12:00:22, INFO: Skip_connection: True -2024-02-20 12:00:22, INFO: Number of layers: 1 -2024-02-20 12:00:22, INFO: Similarity_func: concatenation -2024-02-20 12:00:22, INFO: Layerwise_graph: False -2024-02-20 12:00:22, INFO: Skip_connection: True -2024-02-20 12:00:22, INFO: Number of layers: 1 -2024-02-20 12:00:22, INFO: Planning depth: 1 -2024-02-20 12:00:22, INFO: Planning width: 10 -2024-02-20 12:00:22, INFO: Sparse search: None -2024-02-20 12:00:25, INFO: human number: 10 -2024-02-20 12:00:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:31, INFO: Using device: cpu -2024-02-20 12:00:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:31, INFO: Similarity_func: concatenation -2024-02-20 12:00:31, INFO: Layerwise_graph: False -2024-02-20 12:00:31, INFO: Skip_connection: True -2024-02-20 12:00:31, INFO: Number of layers: 1 -2024-02-20 12:00:31, INFO: Similarity_func: concatenation -2024-02-20 12:00:31, INFO: Layerwise_graph: False -2024-02-20 12:00:31, INFO: Skip_connection: True -2024-02-20 12:00:31, INFO: Number of layers: 1 -2024-02-20 12:00:31, INFO: Planning depth: 1 -2024-02-20 12:00:31, INFO: Planning width: 10 -2024-02-20 12:00:31, INFO: Sparse search: None -2024-02-20 12:00:34, INFO: human number: 10 -2024-02-20 12:00:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:39, INFO: Using device: cpu -2024-02-20 12:00:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:39, INFO: Similarity_func: concatenation -2024-02-20 12:00:39, INFO: Layerwise_graph: False -2024-02-20 12:00:39, INFO: Skip_connection: True -2024-02-20 12:00:39, INFO: Number of layers: 1 -2024-02-20 12:00:39, INFO: Similarity_func: concatenation -2024-02-20 12:00:39, INFO: Layerwise_graph: False -2024-02-20 12:00:39, INFO: Skip_connection: True -2024-02-20 12:00:39, INFO: Number of layers: 1 -2024-02-20 12:00:39, INFO: Planning depth: 1 -2024-02-20 12:00:39, INFO: Planning width: 10 -2024-02-20 12:00:39, INFO: Sparse search: None -2024-02-20 12:00:42, INFO: human number: 10 -2024-02-20 12:00:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:46, INFO: Using device: cpu -2024-02-20 12:00:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:46, INFO: Similarity_func: concatenation -2024-02-20 12:00:46, INFO: Layerwise_graph: False -2024-02-20 12:00:46, INFO: Skip_connection: True -2024-02-20 12:00:46, INFO: Number of layers: 1 -2024-02-20 12:00:46, INFO: Similarity_func: concatenation -2024-02-20 12:00:46, INFO: Layerwise_graph: False -2024-02-20 12:00:46, INFO: Skip_connection: True -2024-02-20 12:00:46, INFO: Number of layers: 1 -2024-02-20 12:00:46, INFO: Planning depth: 1 -2024-02-20 12:00:46, INFO: Planning width: 10 -2024-02-20 12:00:46, INFO: Sparse search: None -2024-02-20 12:00:49, INFO: human number: 10 -2024-02-20 12:00:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:00:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:00:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:00:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:00:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:00:57, INFO: Using device: cpu -2024-02-20 12:00:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:00:57, INFO: Similarity_func: concatenation -2024-02-20 12:00:57, INFO: Layerwise_graph: False -2024-02-20 12:00:57, INFO: Skip_connection: True -2024-02-20 12:00:57, INFO: Number of layers: 1 -2024-02-20 12:00:57, INFO: Similarity_func: concatenation -2024-02-20 12:00:57, INFO: Layerwise_graph: False -2024-02-20 12:00:57, INFO: Skip_connection: True -2024-02-20 12:00:57, INFO: Number of layers: 1 -2024-02-20 12:00:57, INFO: Planning depth: 1 -2024-02-20 12:00:57, INFO: Planning width: 10 -2024-02-20 12:00:57, INFO: Sparse search: None -2024-02-20 12:01:00, INFO: human number: 10 -2024-02-20 12:01:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:01:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:01:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:01:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:01:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:01:06, INFO: Using device: cpu -2024-02-20 12:01:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:01:06, INFO: Similarity_func: concatenation -2024-02-20 12:01:06, INFO: Layerwise_graph: False -2024-02-20 12:01:06, INFO: Skip_connection: True -2024-02-20 12:01:06, INFO: Number of layers: 1 -2024-02-20 12:01:06, INFO: Similarity_func: concatenation -2024-02-20 12:01:06, INFO: Layerwise_graph: False -2024-02-20 12:01:06, INFO: Skip_connection: True -2024-02-20 12:01:06, INFO: Number of layers: 1 -2024-02-20 12:01:06, INFO: Planning depth: 1 -2024-02-20 12:01:06, INFO: Planning width: 10 -2024-02-20 12:01:06, INFO: Sparse search: None -2024-02-20 12:01:09, INFO: human number: 10 -2024-02-20 12:01:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:01:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:01:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:01:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:01:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:01:14, INFO: Using device: cpu -2024-02-20 12:01:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:01:14, INFO: Similarity_func: concatenation -2024-02-20 12:01:14, INFO: Layerwise_graph: False -2024-02-20 12:01:14, INFO: Skip_connection: True -2024-02-20 12:01:14, INFO: Number of layers: 1 -2024-02-20 12:01:14, INFO: Similarity_func: concatenation -2024-02-20 12:01:14, INFO: Layerwise_graph: False -2024-02-20 12:01:14, INFO: Skip_connection: True -2024-02-20 12:01:14, INFO: Number of layers: 1 -2024-02-20 12:01:14, INFO: Planning depth: 1 -2024-02-20 12:01:14, INFO: Planning width: 10 -2024-02-20 12:01:14, INFO: Sparse search: None -2024-02-20 12:01:47, INFO: Using device: cpu -2024-02-20 12:01:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:01:47, INFO: Similarity_func: concatenation -2024-02-20 12:01:47, INFO: Layerwise_graph: False -2024-02-20 12:01:47, INFO: Skip_connection: True -2024-02-20 12:01:47, INFO: Number of layers: 1 -2024-02-20 12:01:47, INFO: Similarity_func: concatenation -2024-02-20 12:01:47, INFO: Layerwise_graph: False -2024-02-20 12:01:47, INFO: Skip_connection: True -2024-02-20 12:01:47, INFO: Number of layers: 1 -2024-02-20 12:01:47, INFO: Planning depth: 1 -2024-02-20 12:01:47, INFO: Planning width: 10 -2024-02-20 12:01:47, INFO: Sparse search: None -2024-02-20 12:01:50, INFO: human number: 10 -2024-02-20 12:01:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:01:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:01:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:01:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:01:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:01:54, INFO: Using device: cpu -2024-02-20 12:01:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:01:54, INFO: Similarity_func: concatenation -2024-02-20 12:01:54, INFO: Layerwise_graph: False -2024-02-20 12:01:54, INFO: Skip_connection: True -2024-02-20 12:01:54, INFO: Number of layers: 1 -2024-02-20 12:01:54, INFO: Similarity_func: concatenation -2024-02-20 12:01:54, INFO: Layerwise_graph: False -2024-02-20 12:01:54, INFO: Skip_connection: True -2024-02-20 12:01:54, INFO: Number of layers: 1 -2024-02-20 12:01:54, INFO: Planning depth: 1 -2024-02-20 12:01:54, INFO: Planning width: 10 -2024-02-20 12:01:54, INFO: Sparse search: None -2024-02-20 12:01:57, INFO: human number: 10 -2024-02-20 12:01:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:01:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:01:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:01:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:01:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:02:02, INFO: Using device: cpu -2024-02-20 12:02:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:02:02, INFO: Similarity_func: concatenation -2024-02-20 12:02:02, INFO: Layerwise_graph: False -2024-02-20 12:02:02, INFO: Skip_connection: True -2024-02-20 12:02:02, INFO: Number of layers: 1 -2024-02-20 12:02:02, INFO: Similarity_func: concatenation -2024-02-20 12:02:02, INFO: Layerwise_graph: False -2024-02-20 12:02:02, INFO: Skip_connection: True -2024-02-20 12:02:02, INFO: Number of layers: 1 -2024-02-20 12:02:02, INFO: Planning depth: 1 -2024-02-20 12:02:02, INFO: Planning width: 10 -2024-02-20 12:02:02, INFO: Sparse search: None -2024-02-20 12:02:05, INFO: human number: 10 -2024-02-20 12:02:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:02:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:02:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:02:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:02:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:02:33, INFO: Using device: cpu -2024-02-20 12:02:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:02:33, INFO: Similarity_func: concatenation -2024-02-20 12:02:33, INFO: Layerwise_graph: False -2024-02-20 12:02:33, INFO: Skip_connection: True -2024-02-20 12:02:33, INFO: Number of layers: 1 -2024-02-20 12:02:33, INFO: Similarity_func: concatenation -2024-02-20 12:02:33, INFO: Layerwise_graph: False -2024-02-20 12:02:33, INFO: Skip_connection: True -2024-02-20 12:02:33, INFO: Number of layers: 1 -2024-02-20 12:02:33, INFO: Planning depth: 1 -2024-02-20 12:02:33, INFO: Planning width: 10 -2024-02-20 12:02:33, INFO: Sparse search: None -2024-02-20 12:02:36, INFO: human number: 10 -2024-02-20 12:02:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:02:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:02:36, INFO: Square width: 10, circle width: 4 -2024-02-20 12:02:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:02:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:02:42, INFO: Using device: cpu -2024-02-20 12:02:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:02:42, INFO: Similarity_func: concatenation -2024-02-20 12:02:42, INFO: Layerwise_graph: False -2024-02-20 12:02:42, INFO: Skip_connection: True -2024-02-20 12:02:42, INFO: Number of layers: 1 -2024-02-20 12:02:42, INFO: Similarity_func: concatenation -2024-02-20 12:02:42, INFO: Layerwise_graph: False -2024-02-20 12:02:42, INFO: Skip_connection: True -2024-02-20 12:02:42, INFO: Number of layers: 1 -2024-02-20 12:02:42, INFO: Planning depth: 1 -2024-02-20 12:02:42, INFO: Planning width: 10 -2024-02-20 12:02:42, INFO: Sparse search: None -2024-02-20 12:02:45, INFO: human number: 10 -2024-02-20 12:02:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:02:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:02:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:02:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:02:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:02:49, INFO: Using device: cpu -2024-02-20 12:02:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:02:49, INFO: Similarity_func: concatenation -2024-02-20 12:02:49, INFO: Layerwise_graph: False -2024-02-20 12:02:49, INFO: Skip_connection: True -2024-02-20 12:02:49, INFO: Number of layers: 1 -2024-02-20 12:02:49, INFO: Similarity_func: concatenation -2024-02-20 12:02:49, INFO: Layerwise_graph: False -2024-02-20 12:02:49, INFO: Skip_connection: True -2024-02-20 12:02:49, INFO: Number of layers: 1 -2024-02-20 12:02:49, INFO: Planning depth: 1 -2024-02-20 12:02:49, INFO: Planning width: 10 -2024-02-20 12:02:49, INFO: Sparse search: None -2024-02-20 12:02:52, INFO: human number: 10 -2024-02-20 12:02:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:02:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:02:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:02:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:02:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:02:57, INFO: Using device: cpu -2024-02-20 12:02:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:02:57, INFO: Similarity_func: concatenation -2024-02-20 12:02:57, INFO: Layerwise_graph: False -2024-02-20 12:02:57, INFO: Skip_connection: True -2024-02-20 12:02:57, INFO: Number of layers: 1 -2024-02-20 12:02:57, INFO: Similarity_func: concatenation -2024-02-20 12:02:57, INFO: Layerwise_graph: False -2024-02-20 12:02:57, INFO: Skip_connection: True -2024-02-20 12:02:57, INFO: Number of layers: 1 -2024-02-20 12:02:57, INFO: Planning depth: 1 -2024-02-20 12:02:57, INFO: Planning width: 10 -2024-02-20 12:02:57, INFO: Sparse search: None -2024-02-20 12:02:59, INFO: human number: 10 -2024-02-20 12:02:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:02:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:02:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:02:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:02:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:04, INFO: Using device: cpu -2024-02-20 12:03:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:04, INFO: Similarity_func: concatenation -2024-02-20 12:03:04, INFO: Layerwise_graph: False -2024-02-20 12:03:04, INFO: Skip_connection: True -2024-02-20 12:03:04, INFO: Number of layers: 1 -2024-02-20 12:03:04, INFO: Similarity_func: concatenation -2024-02-20 12:03:04, INFO: Layerwise_graph: False -2024-02-20 12:03:04, INFO: Skip_connection: True -2024-02-20 12:03:04, INFO: Number of layers: 1 -2024-02-20 12:03:04, INFO: Planning depth: 1 -2024-02-20 12:03:04, INFO: Planning width: 10 -2024-02-20 12:03:04, INFO: Sparse search: None -2024-02-20 12:03:07, INFO: human number: 10 -2024-02-20 12:03:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:11, INFO: Using device: cpu -2024-02-20 12:03:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:11, INFO: Similarity_func: concatenation -2024-02-20 12:03:11, INFO: Layerwise_graph: False -2024-02-20 12:03:11, INFO: Skip_connection: True -2024-02-20 12:03:11, INFO: Number of layers: 1 -2024-02-20 12:03:11, INFO: Similarity_func: concatenation -2024-02-20 12:03:11, INFO: Layerwise_graph: False -2024-02-20 12:03:11, INFO: Skip_connection: True -2024-02-20 12:03:11, INFO: Number of layers: 1 -2024-02-20 12:03:11, INFO: Planning depth: 1 -2024-02-20 12:03:11, INFO: Planning width: 10 -2024-02-20 12:03:11, INFO: Sparse search: None -2024-02-20 12:03:14, INFO: human number: 10 -2024-02-20 12:03:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:19, INFO: Using device: cpu -2024-02-20 12:03:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:19, INFO: Similarity_func: concatenation -2024-02-20 12:03:19, INFO: Layerwise_graph: False -2024-02-20 12:03:19, INFO: Skip_connection: True -2024-02-20 12:03:19, INFO: Number of layers: 1 -2024-02-20 12:03:19, INFO: Similarity_func: concatenation -2024-02-20 12:03:19, INFO: Layerwise_graph: False -2024-02-20 12:03:19, INFO: Skip_connection: True -2024-02-20 12:03:19, INFO: Number of layers: 1 -2024-02-20 12:03:19, INFO: Planning depth: 1 -2024-02-20 12:03:19, INFO: Planning width: 10 -2024-02-20 12:03:19, INFO: Sparse search: None -2024-02-20 12:03:22, INFO: human number: 10 -2024-02-20 12:03:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:28, INFO: Using device: cpu -2024-02-20 12:03:28, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:28, INFO: Similarity_func: concatenation -2024-02-20 12:03:28, INFO: Layerwise_graph: False -2024-02-20 12:03:28, INFO: Skip_connection: True -2024-02-20 12:03:28, INFO: Number of layers: 1 -2024-02-20 12:03:28, INFO: Similarity_func: concatenation -2024-02-20 12:03:28, INFO: Layerwise_graph: False -2024-02-20 12:03:28, INFO: Skip_connection: True -2024-02-20 12:03:28, INFO: Number of layers: 1 -2024-02-20 12:03:28, INFO: Planning depth: 1 -2024-02-20 12:03:28, INFO: Planning width: 10 -2024-02-20 12:03:28, INFO: Sparse search: None -2024-02-20 12:03:30, INFO: human number: 10 -2024-02-20 12:03:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:35, INFO: Using device: cpu -2024-02-20 12:03:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:35, INFO: Similarity_func: concatenation -2024-02-20 12:03:35, INFO: Layerwise_graph: False -2024-02-20 12:03:35, INFO: Skip_connection: True -2024-02-20 12:03:35, INFO: Number of layers: 1 -2024-02-20 12:03:35, INFO: Similarity_func: concatenation -2024-02-20 12:03:35, INFO: Layerwise_graph: False -2024-02-20 12:03:35, INFO: Skip_connection: True -2024-02-20 12:03:35, INFO: Number of layers: 1 -2024-02-20 12:03:35, INFO: Planning depth: 1 -2024-02-20 12:03:35, INFO: Planning width: 10 -2024-02-20 12:03:35, INFO: Sparse search: None -2024-02-20 12:03:38, INFO: human number: 10 -2024-02-20 12:03:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:43, INFO: Using device: cpu -2024-02-20 12:03:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:43, INFO: Similarity_func: concatenation -2024-02-20 12:03:43, INFO: Layerwise_graph: False -2024-02-20 12:03:43, INFO: Skip_connection: True -2024-02-20 12:03:43, INFO: Number of layers: 1 -2024-02-20 12:03:43, INFO: Similarity_func: concatenation -2024-02-20 12:03:43, INFO: Layerwise_graph: False -2024-02-20 12:03:43, INFO: Skip_connection: True -2024-02-20 12:03:43, INFO: Number of layers: 1 -2024-02-20 12:03:43, INFO: Planning depth: 1 -2024-02-20 12:03:43, INFO: Planning width: 10 -2024-02-20 12:03:43, INFO: Sparse search: None -2024-02-20 12:03:46, INFO: human number: 10 -2024-02-20 12:03:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:51, INFO: Using device: cpu -2024-02-20 12:03:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:51, INFO: Similarity_func: concatenation -2024-02-20 12:03:51, INFO: Layerwise_graph: False -2024-02-20 12:03:51, INFO: Skip_connection: True -2024-02-20 12:03:51, INFO: Number of layers: 1 -2024-02-20 12:03:51, INFO: Similarity_func: concatenation -2024-02-20 12:03:51, INFO: Layerwise_graph: False -2024-02-20 12:03:51, INFO: Skip_connection: True -2024-02-20 12:03:51, INFO: Number of layers: 1 -2024-02-20 12:03:51, INFO: Planning depth: 1 -2024-02-20 12:03:51, INFO: Planning width: 10 -2024-02-20 12:03:51, INFO: Sparse search: None -2024-02-20 12:03:53, INFO: human number: 10 -2024-02-20 12:03:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:03:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:03:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:03:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:03:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:03:58, INFO: Using device: cpu -2024-02-20 12:03:58, INFO: Loaded RL weights with best VAL -2024-02-20 12:03:58, INFO: Similarity_func: concatenation -2024-02-20 12:03:58, INFO: Layerwise_graph: False -2024-02-20 12:03:58, INFO: Skip_connection: True -2024-02-20 12:03:58, INFO: Number of layers: 1 -2024-02-20 12:03:58, INFO: Similarity_func: concatenation -2024-02-20 12:03:58, INFO: Layerwise_graph: False -2024-02-20 12:03:58, INFO: Skip_connection: True -2024-02-20 12:03:58, INFO: Number of layers: 1 -2024-02-20 12:03:58, INFO: Planning depth: 1 -2024-02-20 12:03:58, INFO: Planning width: 10 -2024-02-20 12:03:58, INFO: Sparse search: None -2024-02-20 12:04:01, INFO: human number: 10 -2024-02-20 12:04:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:01, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:06, INFO: Using device: cpu -2024-02-20 12:04:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:06, INFO: Similarity_func: concatenation -2024-02-20 12:04:06, INFO: Layerwise_graph: False -2024-02-20 12:04:06, INFO: Skip_connection: True -2024-02-20 12:04:06, INFO: Number of layers: 1 -2024-02-20 12:04:06, INFO: Similarity_func: concatenation -2024-02-20 12:04:06, INFO: Layerwise_graph: False -2024-02-20 12:04:06, INFO: Skip_connection: True -2024-02-20 12:04:06, INFO: Number of layers: 1 -2024-02-20 12:04:06, INFO: Planning depth: 1 -2024-02-20 12:04:06, INFO: Planning width: 10 -2024-02-20 12:04:06, INFO: Sparse search: None -2024-02-20 12:04:09, INFO: human number: 10 -2024-02-20 12:04:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:13, INFO: Using device: cpu -2024-02-20 12:04:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:13, INFO: Similarity_func: concatenation -2024-02-20 12:04:13, INFO: Layerwise_graph: False -2024-02-20 12:04:13, INFO: Skip_connection: True -2024-02-20 12:04:13, INFO: Number of layers: 1 -2024-02-20 12:04:13, INFO: Similarity_func: concatenation -2024-02-20 12:04:13, INFO: Layerwise_graph: False -2024-02-20 12:04:13, INFO: Skip_connection: True -2024-02-20 12:04:13, INFO: Number of layers: 1 -2024-02-20 12:04:13, INFO: Planning depth: 1 -2024-02-20 12:04:13, INFO: Planning width: 10 -2024-02-20 12:04:13, INFO: Sparse search: None -2024-02-20 12:04:16, INFO: human number: 10 -2024-02-20 12:04:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:22, INFO: Using device: cpu -2024-02-20 12:04:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:22, INFO: Similarity_func: concatenation -2024-02-20 12:04:22, INFO: Layerwise_graph: False -2024-02-20 12:04:22, INFO: Skip_connection: True -2024-02-20 12:04:22, INFO: Number of layers: 1 -2024-02-20 12:04:22, INFO: Similarity_func: concatenation -2024-02-20 12:04:22, INFO: Layerwise_graph: False -2024-02-20 12:04:22, INFO: Skip_connection: True -2024-02-20 12:04:22, INFO: Number of layers: 1 -2024-02-20 12:04:22, INFO: Planning depth: 1 -2024-02-20 12:04:22, INFO: Planning width: 10 -2024-02-20 12:04:22, INFO: Sparse search: None -2024-02-20 12:04:25, INFO: human number: 10 -2024-02-20 12:04:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:31, INFO: Using device: cpu -2024-02-20 12:04:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:31, INFO: Similarity_func: concatenation -2024-02-20 12:04:31, INFO: Layerwise_graph: False -2024-02-20 12:04:31, INFO: Skip_connection: True -2024-02-20 12:04:31, INFO: Number of layers: 1 -2024-02-20 12:04:31, INFO: Similarity_func: concatenation -2024-02-20 12:04:31, INFO: Layerwise_graph: False -2024-02-20 12:04:31, INFO: Skip_connection: True -2024-02-20 12:04:31, INFO: Number of layers: 1 -2024-02-20 12:04:31, INFO: Planning depth: 1 -2024-02-20 12:04:31, INFO: Planning width: 10 -2024-02-20 12:04:31, INFO: Sparse search: None -2024-02-20 12:04:34, INFO: human number: 10 -2024-02-20 12:04:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:39, INFO: Using device: cpu -2024-02-20 12:04:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:39, INFO: Similarity_func: concatenation -2024-02-20 12:04:39, INFO: Layerwise_graph: False -2024-02-20 12:04:39, INFO: Skip_connection: True -2024-02-20 12:04:39, INFO: Number of layers: 1 -2024-02-20 12:04:39, INFO: Similarity_func: concatenation -2024-02-20 12:04:39, INFO: Layerwise_graph: False -2024-02-20 12:04:39, INFO: Skip_connection: True -2024-02-20 12:04:39, INFO: Number of layers: 1 -2024-02-20 12:04:39, INFO: Planning depth: 1 -2024-02-20 12:04:39, INFO: Planning width: 10 -2024-02-20 12:04:39, INFO: Sparse search: None -2024-02-20 12:04:41, INFO: human number: 10 -2024-02-20 12:04:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:46, INFO: Using device: cpu -2024-02-20 12:04:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:46, INFO: Similarity_func: concatenation -2024-02-20 12:04:46, INFO: Layerwise_graph: False -2024-02-20 12:04:46, INFO: Skip_connection: True -2024-02-20 12:04:46, INFO: Number of layers: 1 -2024-02-20 12:04:46, INFO: Similarity_func: concatenation -2024-02-20 12:04:46, INFO: Layerwise_graph: False -2024-02-20 12:04:46, INFO: Skip_connection: True -2024-02-20 12:04:46, INFO: Number of layers: 1 -2024-02-20 12:04:46, INFO: Planning depth: 1 -2024-02-20 12:04:46, INFO: Planning width: 10 -2024-02-20 12:04:46, INFO: Sparse search: None -2024-02-20 12:04:49, INFO: human number: 10 -2024-02-20 12:04:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:04:53, INFO: Using device: cpu -2024-02-20 12:04:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:04:53, INFO: Similarity_func: concatenation -2024-02-20 12:04:53, INFO: Layerwise_graph: False -2024-02-20 12:04:53, INFO: Skip_connection: True -2024-02-20 12:04:53, INFO: Number of layers: 1 -2024-02-20 12:04:53, INFO: Similarity_func: concatenation -2024-02-20 12:04:53, INFO: Layerwise_graph: False -2024-02-20 12:04:53, INFO: Skip_connection: True -2024-02-20 12:04:53, INFO: Number of layers: 1 -2024-02-20 12:04:53, INFO: Planning depth: 1 -2024-02-20 12:04:53, INFO: Planning width: 10 -2024-02-20 12:04:53, INFO: Sparse search: None -2024-02-20 12:04:56, INFO: human number: 10 -2024-02-20 12:04:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:04:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:04:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:04:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:04:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:02, INFO: Using device: cpu -2024-02-20 12:05:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:02, INFO: Similarity_func: concatenation -2024-02-20 12:05:02, INFO: Layerwise_graph: False -2024-02-20 12:05:02, INFO: Skip_connection: True -2024-02-20 12:05:02, INFO: Number of layers: 1 -2024-02-20 12:05:02, INFO: Similarity_func: concatenation -2024-02-20 12:05:02, INFO: Layerwise_graph: False -2024-02-20 12:05:02, INFO: Skip_connection: True -2024-02-20 12:05:02, INFO: Number of layers: 1 -2024-02-20 12:05:02, INFO: Planning depth: 1 -2024-02-20 12:05:02, INFO: Planning width: 10 -2024-02-20 12:05:02, INFO: Sparse search: None -2024-02-20 12:05:04, INFO: human number: 10 -2024-02-20 12:05:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:09, INFO: Using device: cpu -2024-02-20 12:05:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:09, INFO: Similarity_func: concatenation -2024-02-20 12:05:09, INFO: Layerwise_graph: False -2024-02-20 12:05:09, INFO: Skip_connection: True -2024-02-20 12:05:09, INFO: Number of layers: 1 -2024-02-20 12:05:09, INFO: Similarity_func: concatenation -2024-02-20 12:05:09, INFO: Layerwise_graph: False -2024-02-20 12:05:09, INFO: Skip_connection: True -2024-02-20 12:05:09, INFO: Number of layers: 1 -2024-02-20 12:05:09, INFO: Planning depth: 1 -2024-02-20 12:05:09, INFO: Planning width: 10 -2024-02-20 12:05:09, INFO: Sparse search: None -2024-02-20 12:05:12, INFO: human number: 10 -2024-02-20 12:05:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:17, INFO: Using device: cpu -2024-02-20 12:05:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:17, INFO: Similarity_func: concatenation -2024-02-20 12:05:17, INFO: Layerwise_graph: False -2024-02-20 12:05:17, INFO: Skip_connection: True -2024-02-20 12:05:17, INFO: Number of layers: 1 -2024-02-20 12:05:17, INFO: Similarity_func: concatenation -2024-02-20 12:05:17, INFO: Layerwise_graph: False -2024-02-20 12:05:17, INFO: Skip_connection: True -2024-02-20 12:05:17, INFO: Number of layers: 1 -2024-02-20 12:05:17, INFO: Planning depth: 1 -2024-02-20 12:05:17, INFO: Planning width: 10 -2024-02-20 12:05:17, INFO: Sparse search: None -2024-02-20 12:05:20, INFO: human number: 10 -2024-02-20 12:05:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:24, INFO: Using device: cpu -2024-02-20 12:05:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:24, INFO: Similarity_func: concatenation -2024-02-20 12:05:24, INFO: Layerwise_graph: False -2024-02-20 12:05:24, INFO: Skip_connection: True -2024-02-20 12:05:24, INFO: Number of layers: 1 -2024-02-20 12:05:24, INFO: Similarity_func: concatenation -2024-02-20 12:05:24, INFO: Layerwise_graph: False -2024-02-20 12:05:24, INFO: Skip_connection: True -2024-02-20 12:05:24, INFO: Number of layers: 1 -2024-02-20 12:05:24, INFO: Planning depth: 1 -2024-02-20 12:05:24, INFO: Planning width: 10 -2024-02-20 12:05:24, INFO: Sparse search: None -2024-02-20 12:05:27, INFO: human number: 10 -2024-02-20 12:05:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:32, INFO: Using device: cpu -2024-02-20 12:05:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:32, INFO: Similarity_func: concatenation -2024-02-20 12:05:32, INFO: Layerwise_graph: False -2024-02-20 12:05:32, INFO: Skip_connection: True -2024-02-20 12:05:32, INFO: Number of layers: 1 -2024-02-20 12:05:32, INFO: Similarity_func: concatenation -2024-02-20 12:05:32, INFO: Layerwise_graph: False -2024-02-20 12:05:32, INFO: Skip_connection: True -2024-02-20 12:05:32, INFO: Number of layers: 1 -2024-02-20 12:05:32, INFO: Planning depth: 1 -2024-02-20 12:05:32, INFO: Planning width: 10 -2024-02-20 12:05:32, INFO: Sparse search: None -2024-02-20 12:05:35, INFO: human number: 10 -2024-02-20 12:05:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:40, INFO: Using device: cpu -2024-02-20 12:05:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:40, INFO: Similarity_func: concatenation -2024-02-20 12:05:40, INFO: Layerwise_graph: False -2024-02-20 12:05:40, INFO: Skip_connection: True -2024-02-20 12:05:40, INFO: Number of layers: 1 -2024-02-20 12:05:40, INFO: Similarity_func: concatenation -2024-02-20 12:05:40, INFO: Layerwise_graph: False -2024-02-20 12:05:40, INFO: Skip_connection: True -2024-02-20 12:05:40, INFO: Number of layers: 1 -2024-02-20 12:05:40, INFO: Planning depth: 1 -2024-02-20 12:05:40, INFO: Planning width: 10 -2024-02-20 12:05:40, INFO: Sparse search: None -2024-02-20 12:05:43, INFO: human number: 10 -2024-02-20 12:05:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:48, INFO: Using device: cpu -2024-02-20 12:05:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:48, INFO: Similarity_func: concatenation -2024-02-20 12:05:48, INFO: Layerwise_graph: False -2024-02-20 12:05:48, INFO: Skip_connection: True -2024-02-20 12:05:48, INFO: Number of layers: 1 -2024-02-20 12:05:48, INFO: Similarity_func: concatenation -2024-02-20 12:05:48, INFO: Layerwise_graph: False -2024-02-20 12:05:48, INFO: Skip_connection: True -2024-02-20 12:05:48, INFO: Number of layers: 1 -2024-02-20 12:05:48, INFO: Planning depth: 1 -2024-02-20 12:05:48, INFO: Planning width: 10 -2024-02-20 12:05:48, INFO: Sparse search: None -2024-02-20 12:05:50, INFO: human number: 10 -2024-02-20 12:05:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:05:55, INFO: Using device: cpu -2024-02-20 12:05:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:05:55, INFO: Similarity_func: concatenation -2024-02-20 12:05:55, INFO: Layerwise_graph: False -2024-02-20 12:05:55, INFO: Skip_connection: True -2024-02-20 12:05:55, INFO: Number of layers: 1 -2024-02-20 12:05:55, INFO: Similarity_func: concatenation -2024-02-20 12:05:55, INFO: Layerwise_graph: False -2024-02-20 12:05:55, INFO: Skip_connection: True -2024-02-20 12:05:55, INFO: Number of layers: 1 -2024-02-20 12:05:55, INFO: Planning depth: 1 -2024-02-20 12:05:55, INFO: Planning width: 10 -2024-02-20 12:05:55, INFO: Sparse search: None -2024-02-20 12:05:58, INFO: human number: 10 -2024-02-20 12:05:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:05:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:05:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:05:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:05:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:03, INFO: Using device: cpu -2024-02-20 12:06:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:03, INFO: Similarity_func: concatenation -2024-02-20 12:06:03, INFO: Layerwise_graph: False -2024-02-20 12:06:03, INFO: Skip_connection: True -2024-02-20 12:06:03, INFO: Number of layers: 1 -2024-02-20 12:06:03, INFO: Similarity_func: concatenation -2024-02-20 12:06:03, INFO: Layerwise_graph: False -2024-02-20 12:06:03, INFO: Skip_connection: True -2024-02-20 12:06:03, INFO: Number of layers: 1 -2024-02-20 12:06:03, INFO: Planning depth: 1 -2024-02-20 12:06:03, INFO: Planning width: 10 -2024-02-20 12:06:03, INFO: Sparse search: None -2024-02-20 12:06:05, INFO: human number: 10 -2024-02-20 12:06:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:10, INFO: Using device: cpu -2024-02-20 12:06:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:10, INFO: Similarity_func: concatenation -2024-02-20 12:06:10, INFO: Layerwise_graph: False -2024-02-20 12:06:10, INFO: Skip_connection: True -2024-02-20 12:06:10, INFO: Number of layers: 1 -2024-02-20 12:06:10, INFO: Similarity_func: concatenation -2024-02-20 12:06:10, INFO: Layerwise_graph: False -2024-02-20 12:06:10, INFO: Skip_connection: True -2024-02-20 12:06:10, INFO: Number of layers: 1 -2024-02-20 12:06:10, INFO: Planning depth: 1 -2024-02-20 12:06:10, INFO: Planning width: 10 -2024-02-20 12:06:10, INFO: Sparse search: None -2024-02-20 12:06:13, INFO: human number: 10 -2024-02-20 12:06:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:18, INFO: Using device: cpu -2024-02-20 12:06:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:18, INFO: Similarity_func: concatenation -2024-02-20 12:06:18, INFO: Layerwise_graph: False -2024-02-20 12:06:18, INFO: Skip_connection: True -2024-02-20 12:06:18, INFO: Number of layers: 1 -2024-02-20 12:06:18, INFO: Similarity_func: concatenation -2024-02-20 12:06:18, INFO: Layerwise_graph: False -2024-02-20 12:06:18, INFO: Skip_connection: True -2024-02-20 12:06:18, INFO: Number of layers: 1 -2024-02-20 12:06:18, INFO: Planning depth: 1 -2024-02-20 12:06:18, INFO: Planning width: 10 -2024-02-20 12:06:18, INFO: Sparse search: None -2024-02-20 12:06:21, INFO: human number: 10 -2024-02-20 12:06:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:27, INFO: Using device: cpu -2024-02-20 12:06:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:27, INFO: Similarity_func: concatenation -2024-02-20 12:06:27, INFO: Layerwise_graph: False -2024-02-20 12:06:27, INFO: Skip_connection: True -2024-02-20 12:06:27, INFO: Number of layers: 1 -2024-02-20 12:06:27, INFO: Similarity_func: concatenation -2024-02-20 12:06:27, INFO: Layerwise_graph: False -2024-02-20 12:06:27, INFO: Skip_connection: True -2024-02-20 12:06:27, INFO: Number of layers: 1 -2024-02-20 12:06:27, INFO: Planning depth: 1 -2024-02-20 12:06:27, INFO: Planning width: 10 -2024-02-20 12:06:27, INFO: Sparse search: None -2024-02-20 12:06:30, INFO: human number: 10 -2024-02-20 12:06:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:35, INFO: Using device: cpu -2024-02-20 12:06:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:35, INFO: Similarity_func: concatenation -2024-02-20 12:06:35, INFO: Layerwise_graph: False -2024-02-20 12:06:35, INFO: Skip_connection: True -2024-02-20 12:06:35, INFO: Number of layers: 1 -2024-02-20 12:06:35, INFO: Similarity_func: concatenation -2024-02-20 12:06:35, INFO: Layerwise_graph: False -2024-02-20 12:06:35, INFO: Skip_connection: True -2024-02-20 12:06:35, INFO: Number of layers: 1 -2024-02-20 12:06:35, INFO: Planning depth: 1 -2024-02-20 12:06:35, INFO: Planning width: 10 -2024-02-20 12:06:35, INFO: Sparse search: None -2024-02-20 12:06:38, INFO: human number: 10 -2024-02-20 12:06:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:43, INFO: Using device: cpu -2024-02-20 12:06:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:43, INFO: Similarity_func: concatenation -2024-02-20 12:06:43, INFO: Layerwise_graph: False -2024-02-20 12:06:43, INFO: Skip_connection: True -2024-02-20 12:06:43, INFO: Number of layers: 1 -2024-02-20 12:06:43, INFO: Similarity_func: concatenation -2024-02-20 12:06:43, INFO: Layerwise_graph: False -2024-02-20 12:06:43, INFO: Skip_connection: True -2024-02-20 12:06:43, INFO: Number of layers: 1 -2024-02-20 12:06:43, INFO: Planning depth: 1 -2024-02-20 12:06:43, INFO: Planning width: 10 -2024-02-20 12:06:43, INFO: Sparse search: None -2024-02-20 12:06:46, INFO: human number: 10 -2024-02-20 12:06:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:51, INFO: Using device: cpu -2024-02-20 12:06:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:51, INFO: Similarity_func: concatenation -2024-02-20 12:06:51, INFO: Layerwise_graph: False -2024-02-20 12:06:51, INFO: Skip_connection: True -2024-02-20 12:06:51, INFO: Number of layers: 1 -2024-02-20 12:06:51, INFO: Similarity_func: concatenation -2024-02-20 12:06:51, INFO: Layerwise_graph: False -2024-02-20 12:06:51, INFO: Skip_connection: True -2024-02-20 12:06:51, INFO: Number of layers: 1 -2024-02-20 12:06:51, INFO: Planning depth: 1 -2024-02-20 12:06:51, INFO: Planning width: 10 -2024-02-20 12:06:51, INFO: Sparse search: None -2024-02-20 12:06:54, INFO: human number: 10 -2024-02-20 12:06:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:06:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:06:54, INFO: Square width: 10, circle width: 4 -2024-02-20 12:06:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:06:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:06:59, INFO: Using device: cpu -2024-02-20 12:06:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:06:59, INFO: Similarity_func: concatenation -2024-02-20 12:06:59, INFO: Layerwise_graph: False -2024-02-20 12:06:59, INFO: Skip_connection: True -2024-02-20 12:06:59, INFO: Number of layers: 1 -2024-02-20 12:06:59, INFO: Similarity_func: concatenation -2024-02-20 12:06:59, INFO: Layerwise_graph: False -2024-02-20 12:06:59, INFO: Skip_connection: True -2024-02-20 12:06:59, INFO: Number of layers: 1 -2024-02-20 12:06:59, INFO: Planning depth: 1 -2024-02-20 12:06:59, INFO: Planning width: 10 -2024-02-20 12:06:59, INFO: Sparse search: None -2024-02-20 12:07:02, INFO: human number: 10 -2024-02-20 12:07:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:07, INFO: Using device: cpu -2024-02-20 12:07:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:07, INFO: Similarity_func: concatenation -2024-02-20 12:07:07, INFO: Layerwise_graph: False -2024-02-20 12:07:07, INFO: Skip_connection: True -2024-02-20 12:07:07, INFO: Number of layers: 1 -2024-02-20 12:07:07, INFO: Similarity_func: concatenation -2024-02-20 12:07:07, INFO: Layerwise_graph: False -2024-02-20 12:07:07, INFO: Skip_connection: True -2024-02-20 12:07:07, INFO: Number of layers: 1 -2024-02-20 12:07:07, INFO: Planning depth: 1 -2024-02-20 12:07:07, INFO: Planning width: 10 -2024-02-20 12:07:07, INFO: Sparse search: None -2024-02-20 12:07:09, INFO: human number: 10 -2024-02-20 12:07:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:15, INFO: Using device: cpu -2024-02-20 12:07:15, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:15, INFO: Similarity_func: concatenation -2024-02-20 12:07:15, INFO: Layerwise_graph: False -2024-02-20 12:07:15, INFO: Skip_connection: True -2024-02-20 12:07:15, INFO: Number of layers: 1 -2024-02-20 12:07:15, INFO: Similarity_func: concatenation -2024-02-20 12:07:15, INFO: Layerwise_graph: False -2024-02-20 12:07:15, INFO: Skip_connection: True -2024-02-20 12:07:15, INFO: Number of layers: 1 -2024-02-20 12:07:15, INFO: Planning depth: 1 -2024-02-20 12:07:15, INFO: Planning width: 10 -2024-02-20 12:07:15, INFO: Sparse search: None -2024-02-20 12:07:18, INFO: human number: 10 -2024-02-20 12:07:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:18, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:22, INFO: Using device: cpu -2024-02-20 12:07:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:22, INFO: Similarity_func: concatenation -2024-02-20 12:07:22, INFO: Layerwise_graph: False -2024-02-20 12:07:22, INFO: Skip_connection: True -2024-02-20 12:07:22, INFO: Number of layers: 1 -2024-02-20 12:07:22, INFO: Similarity_func: concatenation -2024-02-20 12:07:22, INFO: Layerwise_graph: False -2024-02-20 12:07:22, INFO: Skip_connection: True -2024-02-20 12:07:22, INFO: Number of layers: 1 -2024-02-20 12:07:22, INFO: Planning depth: 1 -2024-02-20 12:07:22, INFO: Planning width: 10 -2024-02-20 12:07:22, INFO: Sparse search: None -2024-02-20 12:07:25, INFO: human number: 10 -2024-02-20 12:07:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:30, INFO: Using device: cpu -2024-02-20 12:07:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:30, INFO: Similarity_func: concatenation -2024-02-20 12:07:30, INFO: Layerwise_graph: False -2024-02-20 12:07:30, INFO: Skip_connection: True -2024-02-20 12:07:30, INFO: Number of layers: 1 -2024-02-20 12:07:30, INFO: Similarity_func: concatenation -2024-02-20 12:07:30, INFO: Layerwise_graph: False -2024-02-20 12:07:30, INFO: Skip_connection: True -2024-02-20 12:07:30, INFO: Number of layers: 1 -2024-02-20 12:07:30, INFO: Planning depth: 1 -2024-02-20 12:07:30, INFO: Planning width: 10 -2024-02-20 12:07:30, INFO: Sparse search: None -2024-02-20 12:07:32, INFO: human number: 10 -2024-02-20 12:07:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:37, INFO: Using device: cpu -2024-02-20 12:07:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:37, INFO: Similarity_func: concatenation -2024-02-20 12:07:37, INFO: Layerwise_graph: False -2024-02-20 12:07:37, INFO: Skip_connection: True -2024-02-20 12:07:37, INFO: Number of layers: 1 -2024-02-20 12:07:37, INFO: Similarity_func: concatenation -2024-02-20 12:07:37, INFO: Layerwise_graph: False -2024-02-20 12:07:37, INFO: Skip_connection: True -2024-02-20 12:07:37, INFO: Number of layers: 1 -2024-02-20 12:07:37, INFO: Planning depth: 1 -2024-02-20 12:07:37, INFO: Planning width: 10 -2024-02-20 12:07:37, INFO: Sparse search: None -2024-02-20 12:07:40, INFO: human number: 10 -2024-02-20 12:07:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:47, INFO: Using device: cpu -2024-02-20 12:07:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:47, INFO: Similarity_func: concatenation -2024-02-20 12:07:47, INFO: Layerwise_graph: False -2024-02-20 12:07:47, INFO: Skip_connection: True -2024-02-20 12:07:47, INFO: Number of layers: 1 -2024-02-20 12:07:47, INFO: Similarity_func: concatenation -2024-02-20 12:07:47, INFO: Layerwise_graph: False -2024-02-20 12:07:47, INFO: Skip_connection: True -2024-02-20 12:07:47, INFO: Number of layers: 1 -2024-02-20 12:07:47, INFO: Planning depth: 1 -2024-02-20 12:07:47, INFO: Planning width: 10 -2024-02-20 12:07:47, INFO: Sparse search: None -2024-02-20 12:07:49, INFO: human number: 10 -2024-02-20 12:07:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:07:54, INFO: Using device: cpu -2024-02-20 12:07:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:07:54, INFO: Similarity_func: concatenation -2024-02-20 12:07:54, INFO: Layerwise_graph: False -2024-02-20 12:07:54, INFO: Skip_connection: True -2024-02-20 12:07:54, INFO: Number of layers: 1 -2024-02-20 12:07:54, INFO: Similarity_func: concatenation -2024-02-20 12:07:54, INFO: Layerwise_graph: False -2024-02-20 12:07:54, INFO: Skip_connection: True -2024-02-20 12:07:54, INFO: Number of layers: 1 -2024-02-20 12:07:54, INFO: Planning depth: 1 -2024-02-20 12:07:54, INFO: Planning width: 10 -2024-02-20 12:07:54, INFO: Sparse search: None -2024-02-20 12:07:57, INFO: human number: 10 -2024-02-20 12:07:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:07:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:07:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:07:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:07:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:02, INFO: Using device: cpu -2024-02-20 12:08:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:02, INFO: Similarity_func: concatenation -2024-02-20 12:08:02, INFO: Layerwise_graph: False -2024-02-20 12:08:02, INFO: Skip_connection: True -2024-02-20 12:08:02, INFO: Number of layers: 1 -2024-02-20 12:08:02, INFO: Similarity_func: concatenation -2024-02-20 12:08:02, INFO: Layerwise_graph: False -2024-02-20 12:08:02, INFO: Skip_connection: True -2024-02-20 12:08:02, INFO: Number of layers: 1 -2024-02-20 12:08:02, INFO: Planning depth: 1 -2024-02-20 12:08:02, INFO: Planning width: 10 -2024-02-20 12:08:02, INFO: Sparse search: None -2024-02-20 12:08:05, INFO: human number: 10 -2024-02-20 12:08:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:11, INFO: Using device: cpu -2024-02-20 12:08:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:11, INFO: Similarity_func: concatenation -2024-02-20 12:08:11, INFO: Layerwise_graph: False -2024-02-20 12:08:11, INFO: Skip_connection: True -2024-02-20 12:08:11, INFO: Number of layers: 1 -2024-02-20 12:08:11, INFO: Similarity_func: concatenation -2024-02-20 12:08:11, INFO: Layerwise_graph: False -2024-02-20 12:08:11, INFO: Skip_connection: True -2024-02-20 12:08:11, INFO: Number of layers: 1 -2024-02-20 12:08:11, INFO: Planning depth: 1 -2024-02-20 12:08:11, INFO: Planning width: 10 -2024-02-20 12:08:11, INFO: Sparse search: None -2024-02-20 12:08:14, INFO: human number: 10 -2024-02-20 12:08:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:19, INFO: Using device: cpu -2024-02-20 12:08:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:19, INFO: Similarity_func: concatenation -2024-02-20 12:08:19, INFO: Layerwise_graph: False -2024-02-20 12:08:19, INFO: Skip_connection: True -2024-02-20 12:08:19, INFO: Number of layers: 1 -2024-02-20 12:08:19, INFO: Similarity_func: concatenation -2024-02-20 12:08:19, INFO: Layerwise_graph: False -2024-02-20 12:08:19, INFO: Skip_connection: True -2024-02-20 12:08:19, INFO: Number of layers: 1 -2024-02-20 12:08:19, INFO: Planning depth: 1 -2024-02-20 12:08:19, INFO: Planning width: 10 -2024-02-20 12:08:19, INFO: Sparse search: None -2024-02-20 12:08:22, INFO: human number: 10 -2024-02-20 12:08:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:28, INFO: Using device: cpu -2024-02-20 12:08:28, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:28, INFO: Similarity_func: concatenation -2024-02-20 12:08:28, INFO: Layerwise_graph: False -2024-02-20 12:08:28, INFO: Skip_connection: True -2024-02-20 12:08:28, INFO: Number of layers: 1 -2024-02-20 12:08:28, INFO: Similarity_func: concatenation -2024-02-20 12:08:28, INFO: Layerwise_graph: False -2024-02-20 12:08:28, INFO: Skip_connection: True -2024-02-20 12:08:28, INFO: Number of layers: 1 -2024-02-20 12:08:28, INFO: Planning depth: 1 -2024-02-20 12:08:28, INFO: Planning width: 10 -2024-02-20 12:08:28, INFO: Sparse search: None -2024-02-20 12:08:30, INFO: human number: 10 -2024-02-20 12:08:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:35, INFO: Using device: cpu -2024-02-20 12:08:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:35, INFO: Similarity_func: concatenation -2024-02-20 12:08:35, INFO: Layerwise_graph: False -2024-02-20 12:08:35, INFO: Skip_connection: True -2024-02-20 12:08:35, INFO: Number of layers: 1 -2024-02-20 12:08:35, INFO: Similarity_func: concatenation -2024-02-20 12:08:35, INFO: Layerwise_graph: False -2024-02-20 12:08:35, INFO: Skip_connection: True -2024-02-20 12:08:35, INFO: Number of layers: 1 -2024-02-20 12:08:35, INFO: Planning depth: 1 -2024-02-20 12:08:35, INFO: Planning width: 10 -2024-02-20 12:08:35, INFO: Sparse search: None -2024-02-20 12:08:38, INFO: human number: 10 -2024-02-20 12:08:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:43, INFO: Using device: cpu -2024-02-20 12:08:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:43, INFO: Similarity_func: concatenation -2024-02-20 12:08:43, INFO: Layerwise_graph: False -2024-02-20 12:08:43, INFO: Skip_connection: True -2024-02-20 12:08:43, INFO: Number of layers: 1 -2024-02-20 12:08:43, INFO: Similarity_func: concatenation -2024-02-20 12:08:43, INFO: Layerwise_graph: False -2024-02-20 12:08:43, INFO: Skip_connection: True -2024-02-20 12:08:43, INFO: Number of layers: 1 -2024-02-20 12:08:43, INFO: Planning depth: 1 -2024-02-20 12:08:43, INFO: Planning width: 10 -2024-02-20 12:08:43, INFO: Sparse search: None -2024-02-20 12:08:46, INFO: human number: 10 -2024-02-20 12:08:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:51, INFO: Using device: cpu -2024-02-20 12:08:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:51, INFO: Similarity_func: concatenation -2024-02-20 12:08:51, INFO: Layerwise_graph: False -2024-02-20 12:08:51, INFO: Skip_connection: True -2024-02-20 12:08:51, INFO: Number of layers: 1 -2024-02-20 12:08:51, INFO: Similarity_func: concatenation -2024-02-20 12:08:51, INFO: Layerwise_graph: False -2024-02-20 12:08:51, INFO: Skip_connection: True -2024-02-20 12:08:51, INFO: Number of layers: 1 -2024-02-20 12:08:51, INFO: Planning depth: 1 -2024-02-20 12:08:51, INFO: Planning width: 10 -2024-02-20 12:08:51, INFO: Sparse search: None -2024-02-20 12:08:53, INFO: human number: 10 -2024-02-20 12:08:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:08:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:08:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:08:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:08:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:08:59, INFO: Using device: cpu -2024-02-20 12:08:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:08:59, INFO: Similarity_func: concatenation -2024-02-20 12:08:59, INFO: Layerwise_graph: False -2024-02-20 12:08:59, INFO: Skip_connection: True -2024-02-20 12:08:59, INFO: Number of layers: 1 -2024-02-20 12:08:59, INFO: Similarity_func: concatenation -2024-02-20 12:08:59, INFO: Layerwise_graph: False -2024-02-20 12:08:59, INFO: Skip_connection: True -2024-02-20 12:08:59, INFO: Number of layers: 1 -2024-02-20 12:08:59, INFO: Planning depth: 1 -2024-02-20 12:08:59, INFO: Planning width: 10 -2024-02-20 12:08:59, INFO: Sparse search: None -2024-02-20 12:09:02, INFO: human number: 10 -2024-02-20 12:09:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:07, INFO: Using device: cpu -2024-02-20 12:09:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:07, INFO: Similarity_func: concatenation -2024-02-20 12:09:07, INFO: Layerwise_graph: False -2024-02-20 12:09:07, INFO: Skip_connection: True -2024-02-20 12:09:07, INFO: Number of layers: 1 -2024-02-20 12:09:07, INFO: Similarity_func: concatenation -2024-02-20 12:09:07, INFO: Layerwise_graph: False -2024-02-20 12:09:07, INFO: Skip_connection: True -2024-02-20 12:09:07, INFO: Number of layers: 1 -2024-02-20 12:09:07, INFO: Planning depth: 1 -2024-02-20 12:09:07, INFO: Planning width: 10 -2024-02-20 12:09:07, INFO: Sparse search: None -2024-02-20 12:09:10, INFO: human number: 10 -2024-02-20 12:09:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:10, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:14, INFO: Using device: cpu -2024-02-20 12:09:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:14, INFO: Similarity_func: concatenation -2024-02-20 12:09:14, INFO: Layerwise_graph: False -2024-02-20 12:09:14, INFO: Skip_connection: True -2024-02-20 12:09:14, INFO: Number of layers: 1 -2024-02-20 12:09:14, INFO: Similarity_func: concatenation -2024-02-20 12:09:14, INFO: Layerwise_graph: False -2024-02-20 12:09:14, INFO: Skip_connection: True -2024-02-20 12:09:14, INFO: Number of layers: 1 -2024-02-20 12:09:14, INFO: Planning depth: 1 -2024-02-20 12:09:14, INFO: Planning width: 10 -2024-02-20 12:09:14, INFO: Sparse search: None -2024-02-20 12:09:17, INFO: human number: 10 -2024-02-20 12:09:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:22, INFO: Using device: cpu -2024-02-20 12:09:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:22, INFO: Similarity_func: concatenation -2024-02-20 12:09:22, INFO: Layerwise_graph: False -2024-02-20 12:09:22, INFO: Skip_connection: True -2024-02-20 12:09:22, INFO: Number of layers: 1 -2024-02-20 12:09:22, INFO: Similarity_func: concatenation -2024-02-20 12:09:22, INFO: Layerwise_graph: False -2024-02-20 12:09:22, INFO: Skip_connection: True -2024-02-20 12:09:22, INFO: Number of layers: 1 -2024-02-20 12:09:22, INFO: Planning depth: 1 -2024-02-20 12:09:22, INFO: Planning width: 10 -2024-02-20 12:09:22, INFO: Sparse search: None -2024-02-20 12:09:24, INFO: human number: 10 -2024-02-20 12:09:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:29, INFO: Using device: cpu -2024-02-20 12:09:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:29, INFO: Similarity_func: concatenation -2024-02-20 12:09:29, INFO: Layerwise_graph: False -2024-02-20 12:09:29, INFO: Skip_connection: True -2024-02-20 12:09:29, INFO: Number of layers: 1 -2024-02-20 12:09:29, INFO: Similarity_func: concatenation -2024-02-20 12:09:29, INFO: Layerwise_graph: False -2024-02-20 12:09:29, INFO: Skip_connection: True -2024-02-20 12:09:29, INFO: Number of layers: 1 -2024-02-20 12:09:29, INFO: Planning depth: 1 -2024-02-20 12:09:29, INFO: Planning width: 10 -2024-02-20 12:09:29, INFO: Sparse search: None -2024-02-20 12:09:32, INFO: human number: 10 -2024-02-20 12:09:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:37, INFO: Using device: cpu -2024-02-20 12:09:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:37, INFO: Similarity_func: concatenation -2024-02-20 12:09:37, INFO: Layerwise_graph: False -2024-02-20 12:09:37, INFO: Skip_connection: True -2024-02-20 12:09:37, INFO: Number of layers: 1 -2024-02-20 12:09:37, INFO: Similarity_func: concatenation -2024-02-20 12:09:37, INFO: Layerwise_graph: False -2024-02-20 12:09:37, INFO: Skip_connection: True -2024-02-20 12:09:37, INFO: Number of layers: 1 -2024-02-20 12:09:37, INFO: Planning depth: 1 -2024-02-20 12:09:37, INFO: Planning width: 10 -2024-02-20 12:09:37, INFO: Sparse search: None -2024-02-20 12:09:40, INFO: human number: 10 -2024-02-20 12:09:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:44, INFO: Using device: cpu -2024-02-20 12:09:44, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:44, INFO: Similarity_func: concatenation -2024-02-20 12:09:44, INFO: Layerwise_graph: False -2024-02-20 12:09:44, INFO: Skip_connection: True -2024-02-20 12:09:44, INFO: Number of layers: 1 -2024-02-20 12:09:44, INFO: Similarity_func: concatenation -2024-02-20 12:09:44, INFO: Layerwise_graph: False -2024-02-20 12:09:44, INFO: Skip_connection: True -2024-02-20 12:09:44, INFO: Number of layers: 1 -2024-02-20 12:09:44, INFO: Planning depth: 1 -2024-02-20 12:09:44, INFO: Planning width: 10 -2024-02-20 12:09:44, INFO: Sparse search: None -2024-02-20 12:09:47, INFO: human number: 10 -2024-02-20 12:09:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:09:52, INFO: Using device: cpu -2024-02-20 12:09:52, INFO: Loaded RL weights with best VAL -2024-02-20 12:09:52, INFO: Similarity_func: concatenation -2024-02-20 12:09:52, INFO: Layerwise_graph: False -2024-02-20 12:09:52, INFO: Skip_connection: True -2024-02-20 12:09:52, INFO: Number of layers: 1 -2024-02-20 12:09:52, INFO: Similarity_func: concatenation -2024-02-20 12:09:52, INFO: Layerwise_graph: False -2024-02-20 12:09:52, INFO: Skip_connection: True -2024-02-20 12:09:52, INFO: Number of layers: 1 -2024-02-20 12:09:52, INFO: Planning depth: 1 -2024-02-20 12:09:52, INFO: Planning width: 10 -2024-02-20 12:09:52, INFO: Sparse search: None -2024-02-20 12:09:55, INFO: human number: 10 -2024-02-20 12:09:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:09:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:09:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:09:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:09:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:00, INFO: Using device: cpu -2024-02-20 12:10:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:00, INFO: Similarity_func: concatenation -2024-02-20 12:10:00, INFO: Layerwise_graph: False -2024-02-20 12:10:00, INFO: Skip_connection: True -2024-02-20 12:10:00, INFO: Number of layers: 1 -2024-02-20 12:10:00, INFO: Similarity_func: concatenation -2024-02-20 12:10:00, INFO: Layerwise_graph: False -2024-02-20 12:10:00, INFO: Skip_connection: True -2024-02-20 12:10:00, INFO: Number of layers: 1 -2024-02-20 12:10:00, INFO: Planning depth: 1 -2024-02-20 12:10:00, INFO: Planning width: 10 -2024-02-20 12:10:00, INFO: Sparse search: None -2024-02-20 12:10:02, INFO: human number: 10 -2024-02-20 12:10:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:07, INFO: Using device: cpu -2024-02-20 12:10:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:07, INFO: Similarity_func: concatenation -2024-02-20 12:10:07, INFO: Layerwise_graph: False -2024-02-20 12:10:07, INFO: Skip_connection: True -2024-02-20 12:10:07, INFO: Number of layers: 1 -2024-02-20 12:10:07, INFO: Similarity_func: concatenation -2024-02-20 12:10:07, INFO: Layerwise_graph: False -2024-02-20 12:10:07, INFO: Skip_connection: True -2024-02-20 12:10:07, INFO: Number of layers: 1 -2024-02-20 12:10:07, INFO: Planning depth: 1 -2024-02-20 12:10:07, INFO: Planning width: 10 -2024-02-20 12:10:07, INFO: Sparse search: None -2024-02-20 12:10:09, INFO: human number: 10 -2024-02-20 12:10:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:14, INFO: Using device: cpu -2024-02-20 12:10:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:14, INFO: Similarity_func: concatenation -2024-02-20 12:10:14, INFO: Layerwise_graph: False -2024-02-20 12:10:14, INFO: Skip_connection: True -2024-02-20 12:10:14, INFO: Number of layers: 1 -2024-02-20 12:10:14, INFO: Similarity_func: concatenation -2024-02-20 12:10:14, INFO: Layerwise_graph: False -2024-02-20 12:10:14, INFO: Skip_connection: True -2024-02-20 12:10:14, INFO: Number of layers: 1 -2024-02-20 12:10:14, INFO: Planning depth: 1 -2024-02-20 12:10:14, INFO: Planning width: 10 -2024-02-20 12:10:14, INFO: Sparse search: None -2024-02-20 12:10:17, INFO: human number: 10 -2024-02-20 12:10:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:23, INFO: Using device: cpu -2024-02-20 12:10:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:23, INFO: Similarity_func: concatenation -2024-02-20 12:10:23, INFO: Layerwise_graph: False -2024-02-20 12:10:23, INFO: Skip_connection: True -2024-02-20 12:10:23, INFO: Number of layers: 1 -2024-02-20 12:10:23, INFO: Similarity_func: concatenation -2024-02-20 12:10:23, INFO: Layerwise_graph: False -2024-02-20 12:10:23, INFO: Skip_connection: True -2024-02-20 12:10:23, INFO: Number of layers: 1 -2024-02-20 12:10:23, INFO: Planning depth: 1 -2024-02-20 12:10:23, INFO: Planning width: 10 -2024-02-20 12:10:23, INFO: Sparse search: None -2024-02-20 12:10:26, INFO: human number: 10 -2024-02-20 12:10:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:31, INFO: Using device: cpu -2024-02-20 12:10:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:31, INFO: Similarity_func: concatenation -2024-02-20 12:10:31, INFO: Layerwise_graph: False -2024-02-20 12:10:31, INFO: Skip_connection: True -2024-02-20 12:10:31, INFO: Number of layers: 1 -2024-02-20 12:10:31, INFO: Similarity_func: concatenation -2024-02-20 12:10:31, INFO: Layerwise_graph: False -2024-02-20 12:10:31, INFO: Skip_connection: True -2024-02-20 12:10:31, INFO: Number of layers: 1 -2024-02-20 12:10:31, INFO: Planning depth: 1 -2024-02-20 12:10:31, INFO: Planning width: 10 -2024-02-20 12:10:31, INFO: Sparse search: None -2024-02-20 12:10:33, INFO: human number: 10 -2024-02-20 12:10:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:38, INFO: Using device: cpu -2024-02-20 12:10:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:38, INFO: Similarity_func: concatenation -2024-02-20 12:10:38, INFO: Layerwise_graph: False -2024-02-20 12:10:38, INFO: Skip_connection: True -2024-02-20 12:10:38, INFO: Number of layers: 1 -2024-02-20 12:10:38, INFO: Similarity_func: concatenation -2024-02-20 12:10:38, INFO: Layerwise_graph: False -2024-02-20 12:10:38, INFO: Skip_connection: True -2024-02-20 12:10:38, INFO: Number of layers: 1 -2024-02-20 12:10:38, INFO: Planning depth: 1 -2024-02-20 12:10:38, INFO: Planning width: 10 -2024-02-20 12:10:38, INFO: Sparse search: None -2024-02-20 12:10:41, INFO: human number: 10 -2024-02-20 12:10:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:46, INFO: Using device: cpu -2024-02-20 12:10:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:46, INFO: Similarity_func: concatenation -2024-02-20 12:10:46, INFO: Layerwise_graph: False -2024-02-20 12:10:46, INFO: Skip_connection: True -2024-02-20 12:10:46, INFO: Number of layers: 1 -2024-02-20 12:10:46, INFO: Similarity_func: concatenation -2024-02-20 12:10:46, INFO: Layerwise_graph: False -2024-02-20 12:10:46, INFO: Skip_connection: True -2024-02-20 12:10:46, INFO: Number of layers: 1 -2024-02-20 12:10:46, INFO: Planning depth: 1 -2024-02-20 12:10:46, INFO: Planning width: 10 -2024-02-20 12:10:46, INFO: Sparse search: None -2024-02-20 12:10:49, INFO: human number: 10 -2024-02-20 12:10:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:10:53, INFO: Using device: cpu -2024-02-20 12:10:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:10:53, INFO: Similarity_func: concatenation -2024-02-20 12:10:53, INFO: Layerwise_graph: False -2024-02-20 12:10:53, INFO: Skip_connection: True -2024-02-20 12:10:53, INFO: Number of layers: 1 -2024-02-20 12:10:53, INFO: Similarity_func: concatenation -2024-02-20 12:10:53, INFO: Layerwise_graph: False -2024-02-20 12:10:53, INFO: Skip_connection: True -2024-02-20 12:10:53, INFO: Number of layers: 1 -2024-02-20 12:10:53, INFO: Planning depth: 1 -2024-02-20 12:10:53, INFO: Planning width: 10 -2024-02-20 12:10:53, INFO: Sparse search: None -2024-02-20 12:10:56, INFO: human number: 10 -2024-02-20 12:10:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:10:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:10:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:10:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:10:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:01, INFO: Using device: cpu -2024-02-20 12:11:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:01, INFO: Similarity_func: concatenation -2024-02-20 12:11:01, INFO: Layerwise_graph: False -2024-02-20 12:11:01, INFO: Skip_connection: True -2024-02-20 12:11:01, INFO: Number of layers: 1 -2024-02-20 12:11:01, INFO: Similarity_func: concatenation -2024-02-20 12:11:01, INFO: Layerwise_graph: False -2024-02-20 12:11:01, INFO: Skip_connection: True -2024-02-20 12:11:01, INFO: Number of layers: 1 -2024-02-20 12:11:01, INFO: Planning depth: 1 -2024-02-20 12:11:01, INFO: Planning width: 10 -2024-02-20 12:11:01, INFO: Sparse search: None -2024-02-20 12:11:04, INFO: human number: 10 -2024-02-20 12:11:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:08, INFO: Using device: cpu -2024-02-20 12:11:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:08, INFO: Similarity_func: concatenation -2024-02-20 12:11:08, INFO: Layerwise_graph: False -2024-02-20 12:11:08, INFO: Skip_connection: True -2024-02-20 12:11:08, INFO: Number of layers: 1 -2024-02-20 12:11:08, INFO: Similarity_func: concatenation -2024-02-20 12:11:08, INFO: Layerwise_graph: False -2024-02-20 12:11:08, INFO: Skip_connection: True -2024-02-20 12:11:08, INFO: Number of layers: 1 -2024-02-20 12:11:08, INFO: Planning depth: 1 -2024-02-20 12:11:08, INFO: Planning width: 10 -2024-02-20 12:11:08, INFO: Sparse search: None -2024-02-20 12:11:11, INFO: human number: 10 -2024-02-20 12:11:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:17, INFO: Using device: cpu -2024-02-20 12:11:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:17, INFO: Similarity_func: concatenation -2024-02-20 12:11:17, INFO: Layerwise_graph: False -2024-02-20 12:11:17, INFO: Skip_connection: True -2024-02-20 12:11:17, INFO: Number of layers: 1 -2024-02-20 12:11:17, INFO: Similarity_func: concatenation -2024-02-20 12:11:17, INFO: Layerwise_graph: False -2024-02-20 12:11:17, INFO: Skip_connection: True -2024-02-20 12:11:17, INFO: Number of layers: 1 -2024-02-20 12:11:17, INFO: Planning depth: 1 -2024-02-20 12:11:17, INFO: Planning width: 10 -2024-02-20 12:11:17, INFO: Sparse search: None -2024-02-20 12:11:19, INFO: human number: 10 -2024-02-20 12:11:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:24, INFO: Using device: cpu -2024-02-20 12:11:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:24, INFO: Similarity_func: concatenation -2024-02-20 12:11:24, INFO: Layerwise_graph: False -2024-02-20 12:11:24, INFO: Skip_connection: True -2024-02-20 12:11:24, INFO: Number of layers: 1 -2024-02-20 12:11:24, INFO: Similarity_func: concatenation -2024-02-20 12:11:24, INFO: Layerwise_graph: False -2024-02-20 12:11:24, INFO: Skip_connection: True -2024-02-20 12:11:24, INFO: Number of layers: 1 -2024-02-20 12:11:24, INFO: Planning depth: 1 -2024-02-20 12:11:24, INFO: Planning width: 10 -2024-02-20 12:11:24, INFO: Sparse search: None -2024-02-20 12:11:27, INFO: human number: 10 -2024-02-20 12:11:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:31, INFO: Using device: cpu -2024-02-20 12:11:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:31, INFO: Similarity_func: concatenation -2024-02-20 12:11:31, INFO: Layerwise_graph: False -2024-02-20 12:11:31, INFO: Skip_connection: True -2024-02-20 12:11:31, INFO: Number of layers: 1 -2024-02-20 12:11:31, INFO: Similarity_func: concatenation -2024-02-20 12:11:31, INFO: Layerwise_graph: False -2024-02-20 12:11:31, INFO: Skip_connection: True -2024-02-20 12:11:31, INFO: Number of layers: 1 -2024-02-20 12:11:31, INFO: Planning depth: 1 -2024-02-20 12:11:31, INFO: Planning width: 10 -2024-02-20 12:11:31, INFO: Sparse search: None -2024-02-20 12:11:34, INFO: human number: 10 -2024-02-20 12:11:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:39, INFO: Using device: cpu -2024-02-20 12:11:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:39, INFO: Similarity_func: concatenation -2024-02-20 12:11:39, INFO: Layerwise_graph: False -2024-02-20 12:11:39, INFO: Skip_connection: True -2024-02-20 12:11:39, INFO: Number of layers: 1 -2024-02-20 12:11:39, INFO: Similarity_func: concatenation -2024-02-20 12:11:39, INFO: Layerwise_graph: False -2024-02-20 12:11:39, INFO: Skip_connection: True -2024-02-20 12:11:39, INFO: Number of layers: 1 -2024-02-20 12:11:39, INFO: Planning depth: 1 -2024-02-20 12:11:39, INFO: Planning width: 10 -2024-02-20 12:11:39, INFO: Sparse search: None -2024-02-20 12:11:42, INFO: human number: 10 -2024-02-20 12:11:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:46, INFO: Using device: cpu -2024-02-20 12:11:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:46, INFO: Similarity_func: concatenation -2024-02-20 12:11:46, INFO: Layerwise_graph: False -2024-02-20 12:11:46, INFO: Skip_connection: True -2024-02-20 12:11:46, INFO: Number of layers: 1 -2024-02-20 12:11:46, INFO: Similarity_func: concatenation -2024-02-20 12:11:46, INFO: Layerwise_graph: False -2024-02-20 12:11:46, INFO: Skip_connection: True -2024-02-20 12:11:46, INFO: Number of layers: 1 -2024-02-20 12:11:46, INFO: Planning depth: 1 -2024-02-20 12:11:46, INFO: Planning width: 10 -2024-02-20 12:11:46, INFO: Sparse search: None -2024-02-20 12:11:49, INFO: human number: 10 -2024-02-20 12:11:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:11:54, INFO: Using device: cpu -2024-02-20 12:11:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:11:54, INFO: Similarity_func: concatenation -2024-02-20 12:11:54, INFO: Layerwise_graph: False -2024-02-20 12:11:54, INFO: Skip_connection: True -2024-02-20 12:11:54, INFO: Number of layers: 1 -2024-02-20 12:11:54, INFO: Similarity_func: concatenation -2024-02-20 12:11:54, INFO: Layerwise_graph: False -2024-02-20 12:11:54, INFO: Skip_connection: True -2024-02-20 12:11:54, INFO: Number of layers: 1 -2024-02-20 12:11:54, INFO: Planning depth: 1 -2024-02-20 12:11:54, INFO: Planning width: 10 -2024-02-20 12:11:54, INFO: Sparse search: None -2024-02-20 12:11:56, INFO: human number: 10 -2024-02-20 12:11:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:11:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:11:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:11:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:11:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:01, INFO: Using device: cpu -2024-02-20 12:12:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:01, INFO: Similarity_func: concatenation -2024-02-20 12:12:01, INFO: Layerwise_graph: False -2024-02-20 12:12:01, INFO: Skip_connection: True -2024-02-20 12:12:01, INFO: Number of layers: 1 -2024-02-20 12:12:01, INFO: Similarity_func: concatenation -2024-02-20 12:12:01, INFO: Layerwise_graph: False -2024-02-20 12:12:01, INFO: Skip_connection: True -2024-02-20 12:12:01, INFO: Number of layers: 1 -2024-02-20 12:12:01, INFO: Planning depth: 1 -2024-02-20 12:12:01, INFO: Planning width: 10 -2024-02-20 12:12:01, INFO: Sparse search: None -2024-02-20 12:12:04, INFO: human number: 10 -2024-02-20 12:12:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:09, INFO: Using device: cpu -2024-02-20 12:12:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:09, INFO: Similarity_func: concatenation -2024-02-20 12:12:09, INFO: Layerwise_graph: False -2024-02-20 12:12:09, INFO: Skip_connection: True -2024-02-20 12:12:09, INFO: Number of layers: 1 -2024-02-20 12:12:09, INFO: Similarity_func: concatenation -2024-02-20 12:12:09, INFO: Layerwise_graph: False -2024-02-20 12:12:09, INFO: Skip_connection: True -2024-02-20 12:12:09, INFO: Number of layers: 1 -2024-02-20 12:12:09, INFO: Planning depth: 1 -2024-02-20 12:12:09, INFO: Planning width: 10 -2024-02-20 12:12:09, INFO: Sparse search: None -2024-02-20 12:12:12, INFO: human number: 10 -2024-02-20 12:12:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:16, INFO: Using device: cpu -2024-02-20 12:12:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:16, INFO: Similarity_func: concatenation -2024-02-20 12:12:16, INFO: Layerwise_graph: False -2024-02-20 12:12:16, INFO: Skip_connection: True -2024-02-20 12:12:16, INFO: Number of layers: 1 -2024-02-20 12:12:16, INFO: Similarity_func: concatenation -2024-02-20 12:12:16, INFO: Layerwise_graph: False -2024-02-20 12:12:16, INFO: Skip_connection: True -2024-02-20 12:12:16, INFO: Number of layers: 1 -2024-02-20 12:12:16, INFO: Planning depth: 1 -2024-02-20 12:12:16, INFO: Planning width: 10 -2024-02-20 12:12:16, INFO: Sparse search: None -2024-02-20 12:12:19, INFO: human number: 10 -2024-02-20 12:12:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:24, INFO: Using device: cpu -2024-02-20 12:12:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:24, INFO: Similarity_func: concatenation -2024-02-20 12:12:24, INFO: Layerwise_graph: False -2024-02-20 12:12:24, INFO: Skip_connection: True -2024-02-20 12:12:24, INFO: Number of layers: 1 -2024-02-20 12:12:24, INFO: Similarity_func: concatenation -2024-02-20 12:12:24, INFO: Layerwise_graph: False -2024-02-20 12:12:24, INFO: Skip_connection: True -2024-02-20 12:12:24, INFO: Number of layers: 1 -2024-02-20 12:12:24, INFO: Planning depth: 1 -2024-02-20 12:12:24, INFO: Planning width: 10 -2024-02-20 12:12:24, INFO: Sparse search: None -2024-02-20 12:12:27, INFO: human number: 10 -2024-02-20 12:12:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:33, INFO: Using device: cpu -2024-02-20 12:12:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:33, INFO: Similarity_func: concatenation -2024-02-20 12:12:33, INFO: Layerwise_graph: False -2024-02-20 12:12:33, INFO: Skip_connection: True -2024-02-20 12:12:33, INFO: Number of layers: 1 -2024-02-20 12:12:33, INFO: Similarity_func: concatenation -2024-02-20 12:12:33, INFO: Layerwise_graph: False -2024-02-20 12:12:33, INFO: Skip_connection: True -2024-02-20 12:12:33, INFO: Number of layers: 1 -2024-02-20 12:12:33, INFO: Planning depth: 1 -2024-02-20 12:12:33, INFO: Planning width: 10 -2024-02-20 12:12:33, INFO: Sparse search: None -2024-02-20 12:12:36, INFO: human number: 10 -2024-02-20 12:12:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:36, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:41, INFO: Using device: cpu -2024-02-20 12:12:41, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:41, INFO: Similarity_func: concatenation -2024-02-20 12:12:41, INFO: Layerwise_graph: False -2024-02-20 12:12:41, INFO: Skip_connection: True -2024-02-20 12:12:41, INFO: Number of layers: 1 -2024-02-20 12:12:41, INFO: Similarity_func: concatenation -2024-02-20 12:12:41, INFO: Layerwise_graph: False -2024-02-20 12:12:41, INFO: Skip_connection: True -2024-02-20 12:12:41, INFO: Number of layers: 1 -2024-02-20 12:12:41, INFO: Planning depth: 1 -2024-02-20 12:12:41, INFO: Planning width: 10 -2024-02-20 12:12:41, INFO: Sparse search: None -2024-02-20 12:12:43, INFO: human number: 10 -2024-02-20 12:12:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:50, INFO: Using device: cpu -2024-02-20 12:12:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:50, INFO: Similarity_func: concatenation -2024-02-20 12:12:50, INFO: Layerwise_graph: False -2024-02-20 12:12:50, INFO: Skip_connection: True -2024-02-20 12:12:50, INFO: Number of layers: 1 -2024-02-20 12:12:50, INFO: Similarity_func: concatenation -2024-02-20 12:12:50, INFO: Layerwise_graph: False -2024-02-20 12:12:50, INFO: Skip_connection: True -2024-02-20 12:12:50, INFO: Number of layers: 1 -2024-02-20 12:12:50, INFO: Planning depth: 1 -2024-02-20 12:12:50, INFO: Planning width: 10 -2024-02-20 12:12:50, INFO: Sparse search: None -2024-02-20 12:12:52, INFO: human number: 10 -2024-02-20 12:12:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:12:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:12:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:12:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:12:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:12:58, INFO: Using device: cpu -2024-02-20 12:12:58, INFO: Loaded RL weights with best VAL -2024-02-20 12:12:58, INFO: Similarity_func: concatenation -2024-02-20 12:12:58, INFO: Layerwise_graph: False -2024-02-20 12:12:58, INFO: Skip_connection: True -2024-02-20 12:12:58, INFO: Number of layers: 1 -2024-02-20 12:12:58, INFO: Similarity_func: concatenation -2024-02-20 12:12:58, INFO: Layerwise_graph: False -2024-02-20 12:12:58, INFO: Skip_connection: True -2024-02-20 12:12:58, INFO: Number of layers: 1 -2024-02-20 12:12:58, INFO: Planning depth: 1 -2024-02-20 12:12:58, INFO: Planning width: 10 -2024-02-20 12:12:58, INFO: Sparse search: None -2024-02-20 12:13:00, INFO: human number: 10 -2024-02-20 12:13:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:06, INFO: Using device: cpu -2024-02-20 12:13:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:06, INFO: Similarity_func: concatenation -2024-02-20 12:13:06, INFO: Layerwise_graph: False -2024-02-20 12:13:06, INFO: Skip_connection: True -2024-02-20 12:13:06, INFO: Number of layers: 1 -2024-02-20 12:13:06, INFO: Similarity_func: concatenation -2024-02-20 12:13:06, INFO: Layerwise_graph: False -2024-02-20 12:13:06, INFO: Skip_connection: True -2024-02-20 12:13:06, INFO: Number of layers: 1 -2024-02-20 12:13:06, INFO: Planning depth: 1 -2024-02-20 12:13:06, INFO: Planning width: 10 -2024-02-20 12:13:06, INFO: Sparse search: None -2024-02-20 12:13:09, INFO: human number: 10 -2024-02-20 12:13:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:13, INFO: Using device: cpu -2024-02-20 12:13:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:13, INFO: Similarity_func: concatenation -2024-02-20 12:13:13, INFO: Layerwise_graph: False -2024-02-20 12:13:13, INFO: Skip_connection: True -2024-02-20 12:13:13, INFO: Number of layers: 1 -2024-02-20 12:13:13, INFO: Similarity_func: concatenation -2024-02-20 12:13:13, INFO: Layerwise_graph: False -2024-02-20 12:13:13, INFO: Skip_connection: True -2024-02-20 12:13:13, INFO: Number of layers: 1 -2024-02-20 12:13:13, INFO: Planning depth: 1 -2024-02-20 12:13:13, INFO: Planning width: 10 -2024-02-20 12:13:13, INFO: Sparse search: None -2024-02-20 12:13:16, INFO: human number: 10 -2024-02-20 12:13:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:21, INFO: Using device: cpu -2024-02-20 12:13:21, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:21, INFO: Similarity_func: concatenation -2024-02-20 12:13:21, INFO: Layerwise_graph: False -2024-02-20 12:13:21, INFO: Skip_connection: True -2024-02-20 12:13:21, INFO: Number of layers: 1 -2024-02-20 12:13:21, INFO: Similarity_func: concatenation -2024-02-20 12:13:21, INFO: Layerwise_graph: False -2024-02-20 12:13:21, INFO: Skip_connection: True -2024-02-20 12:13:21, INFO: Number of layers: 1 -2024-02-20 12:13:21, INFO: Planning depth: 1 -2024-02-20 12:13:21, INFO: Planning width: 10 -2024-02-20 12:13:21, INFO: Sparse search: None -2024-02-20 12:13:24, INFO: human number: 10 -2024-02-20 12:13:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:28, INFO: Using device: cpu -2024-02-20 12:13:28, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:28, INFO: Similarity_func: concatenation -2024-02-20 12:13:28, INFO: Layerwise_graph: False -2024-02-20 12:13:28, INFO: Skip_connection: True -2024-02-20 12:13:28, INFO: Number of layers: 1 -2024-02-20 12:13:28, INFO: Similarity_func: concatenation -2024-02-20 12:13:28, INFO: Layerwise_graph: False -2024-02-20 12:13:28, INFO: Skip_connection: True -2024-02-20 12:13:28, INFO: Number of layers: 1 -2024-02-20 12:13:28, INFO: Planning depth: 1 -2024-02-20 12:13:28, INFO: Planning width: 10 -2024-02-20 12:13:28, INFO: Sparse search: None -2024-02-20 12:13:31, INFO: human number: 10 -2024-02-20 12:13:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:31, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:36, INFO: Using device: cpu -2024-02-20 12:13:36, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:36, INFO: Similarity_func: concatenation -2024-02-20 12:13:36, INFO: Layerwise_graph: False -2024-02-20 12:13:36, INFO: Skip_connection: True -2024-02-20 12:13:36, INFO: Number of layers: 1 -2024-02-20 12:13:36, INFO: Similarity_func: concatenation -2024-02-20 12:13:36, INFO: Layerwise_graph: False -2024-02-20 12:13:36, INFO: Skip_connection: True -2024-02-20 12:13:36, INFO: Number of layers: 1 -2024-02-20 12:13:36, INFO: Planning depth: 1 -2024-02-20 12:13:36, INFO: Planning width: 10 -2024-02-20 12:13:36, INFO: Sparse search: None -2024-02-20 12:13:38, INFO: human number: 10 -2024-02-20 12:13:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:44, INFO: Using device: cpu -2024-02-20 12:13:44, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:44, INFO: Similarity_func: concatenation -2024-02-20 12:13:44, INFO: Layerwise_graph: False -2024-02-20 12:13:44, INFO: Skip_connection: True -2024-02-20 12:13:44, INFO: Number of layers: 1 -2024-02-20 12:13:44, INFO: Similarity_func: concatenation -2024-02-20 12:13:44, INFO: Layerwise_graph: False -2024-02-20 12:13:44, INFO: Skip_connection: True -2024-02-20 12:13:44, INFO: Number of layers: 1 -2024-02-20 12:13:44, INFO: Planning depth: 1 -2024-02-20 12:13:44, INFO: Planning width: 10 -2024-02-20 12:13:44, INFO: Sparse search: None -2024-02-20 12:13:47, INFO: human number: 10 -2024-02-20 12:13:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:13:51, INFO: Using device: cpu -2024-02-20 12:13:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:13:51, INFO: Similarity_func: concatenation -2024-02-20 12:13:51, INFO: Layerwise_graph: False -2024-02-20 12:13:51, INFO: Skip_connection: True -2024-02-20 12:13:51, INFO: Number of layers: 1 -2024-02-20 12:13:51, INFO: Similarity_func: concatenation -2024-02-20 12:13:51, INFO: Layerwise_graph: False -2024-02-20 12:13:51, INFO: Skip_connection: True -2024-02-20 12:13:51, INFO: Number of layers: 1 -2024-02-20 12:13:51, INFO: Planning depth: 1 -2024-02-20 12:13:51, INFO: Planning width: 10 -2024-02-20 12:13:51, INFO: Sparse search: None -2024-02-20 12:13:54, INFO: human number: 10 -2024-02-20 12:13:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:13:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:13:54, INFO: Square width: 10, circle width: 4 -2024-02-20 12:13:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:13:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:00, INFO: Using device: cpu -2024-02-20 12:14:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:00, INFO: Similarity_func: concatenation -2024-02-20 12:14:00, INFO: Layerwise_graph: False -2024-02-20 12:14:00, INFO: Skip_connection: True -2024-02-20 12:14:00, INFO: Number of layers: 1 -2024-02-20 12:14:00, INFO: Similarity_func: concatenation -2024-02-20 12:14:00, INFO: Layerwise_graph: False -2024-02-20 12:14:00, INFO: Skip_connection: True -2024-02-20 12:14:00, INFO: Number of layers: 1 -2024-02-20 12:14:00, INFO: Planning depth: 1 -2024-02-20 12:14:00, INFO: Planning width: 10 -2024-02-20 12:14:00, INFO: Sparse search: None -2024-02-20 12:14:02, INFO: human number: 10 -2024-02-20 12:14:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:09, INFO: Using device: cpu -2024-02-20 12:14:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:09, INFO: Similarity_func: concatenation -2024-02-20 12:14:09, INFO: Layerwise_graph: False -2024-02-20 12:14:09, INFO: Skip_connection: True -2024-02-20 12:14:09, INFO: Number of layers: 1 -2024-02-20 12:14:09, INFO: Similarity_func: concatenation -2024-02-20 12:14:09, INFO: Layerwise_graph: False -2024-02-20 12:14:09, INFO: Skip_connection: True -2024-02-20 12:14:09, INFO: Number of layers: 1 -2024-02-20 12:14:09, INFO: Planning depth: 1 -2024-02-20 12:14:09, INFO: Planning width: 10 -2024-02-20 12:14:09, INFO: Sparse search: None -2024-02-20 12:14:12, INFO: human number: 10 -2024-02-20 12:14:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:17, INFO: Using device: cpu -2024-02-20 12:14:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:17, INFO: Similarity_func: concatenation -2024-02-20 12:14:17, INFO: Layerwise_graph: False -2024-02-20 12:14:17, INFO: Skip_connection: True -2024-02-20 12:14:17, INFO: Number of layers: 1 -2024-02-20 12:14:17, INFO: Similarity_func: concatenation -2024-02-20 12:14:17, INFO: Layerwise_graph: False -2024-02-20 12:14:17, INFO: Skip_connection: True -2024-02-20 12:14:17, INFO: Number of layers: 1 -2024-02-20 12:14:17, INFO: Planning depth: 1 -2024-02-20 12:14:17, INFO: Planning width: 10 -2024-02-20 12:14:17, INFO: Sparse search: None -2024-02-20 12:14:19, INFO: human number: 10 -2024-02-20 12:14:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:24, INFO: Using device: cpu -2024-02-20 12:14:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:24, INFO: Similarity_func: concatenation -2024-02-20 12:14:24, INFO: Layerwise_graph: False -2024-02-20 12:14:24, INFO: Skip_connection: True -2024-02-20 12:14:24, INFO: Number of layers: 1 -2024-02-20 12:14:24, INFO: Similarity_func: concatenation -2024-02-20 12:14:24, INFO: Layerwise_graph: False -2024-02-20 12:14:24, INFO: Skip_connection: True -2024-02-20 12:14:24, INFO: Number of layers: 1 -2024-02-20 12:14:24, INFO: Planning depth: 1 -2024-02-20 12:14:24, INFO: Planning width: 10 -2024-02-20 12:14:24, INFO: Sparse search: None -2024-02-20 12:14:27, INFO: human number: 10 -2024-02-20 12:14:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:31, INFO: Using device: cpu -2024-02-20 12:14:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:31, INFO: Similarity_func: concatenation -2024-02-20 12:14:31, INFO: Layerwise_graph: False -2024-02-20 12:14:31, INFO: Skip_connection: True -2024-02-20 12:14:31, INFO: Number of layers: 1 -2024-02-20 12:14:31, INFO: Similarity_func: concatenation -2024-02-20 12:14:31, INFO: Layerwise_graph: False -2024-02-20 12:14:31, INFO: Skip_connection: True -2024-02-20 12:14:31, INFO: Number of layers: 1 -2024-02-20 12:14:31, INFO: Planning depth: 1 -2024-02-20 12:14:31, INFO: Planning width: 10 -2024-02-20 12:14:31, INFO: Sparse search: None -2024-02-20 12:14:33, INFO: human number: 10 -2024-02-20 12:14:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:39, INFO: Using device: cpu -2024-02-20 12:14:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:39, INFO: Similarity_func: concatenation -2024-02-20 12:14:39, INFO: Layerwise_graph: False -2024-02-20 12:14:39, INFO: Skip_connection: True -2024-02-20 12:14:39, INFO: Number of layers: 1 -2024-02-20 12:14:39, INFO: Similarity_func: concatenation -2024-02-20 12:14:39, INFO: Layerwise_graph: False -2024-02-20 12:14:39, INFO: Skip_connection: True -2024-02-20 12:14:39, INFO: Number of layers: 1 -2024-02-20 12:14:39, INFO: Planning depth: 1 -2024-02-20 12:14:39, INFO: Planning width: 10 -2024-02-20 12:14:39, INFO: Sparse search: None -2024-02-20 12:14:42, INFO: human number: 10 -2024-02-20 12:14:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:47, INFO: Using device: cpu -2024-02-20 12:14:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:47, INFO: Similarity_func: concatenation -2024-02-20 12:14:47, INFO: Layerwise_graph: False -2024-02-20 12:14:47, INFO: Skip_connection: True -2024-02-20 12:14:47, INFO: Number of layers: 1 -2024-02-20 12:14:47, INFO: Similarity_func: concatenation -2024-02-20 12:14:47, INFO: Layerwise_graph: False -2024-02-20 12:14:47, INFO: Skip_connection: True -2024-02-20 12:14:47, INFO: Number of layers: 1 -2024-02-20 12:14:47, INFO: Planning depth: 1 -2024-02-20 12:14:47, INFO: Planning width: 10 -2024-02-20 12:14:47, INFO: Sparse search: None -2024-02-20 12:14:50, INFO: human number: 10 -2024-02-20 12:14:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:14:55, INFO: Using device: cpu -2024-02-20 12:14:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:14:55, INFO: Similarity_func: concatenation -2024-02-20 12:14:55, INFO: Layerwise_graph: False -2024-02-20 12:14:55, INFO: Skip_connection: True -2024-02-20 12:14:55, INFO: Number of layers: 1 -2024-02-20 12:14:55, INFO: Similarity_func: concatenation -2024-02-20 12:14:55, INFO: Layerwise_graph: False -2024-02-20 12:14:55, INFO: Skip_connection: True -2024-02-20 12:14:55, INFO: Number of layers: 1 -2024-02-20 12:14:55, INFO: Planning depth: 1 -2024-02-20 12:14:55, INFO: Planning width: 10 -2024-02-20 12:14:55, INFO: Sparse search: None -2024-02-20 12:14:58, INFO: human number: 10 -2024-02-20 12:14:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:14:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:14:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:14:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:14:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:03, INFO: Using device: cpu -2024-02-20 12:15:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:03, INFO: Similarity_func: concatenation -2024-02-20 12:15:03, INFO: Layerwise_graph: False -2024-02-20 12:15:03, INFO: Skip_connection: True -2024-02-20 12:15:03, INFO: Number of layers: 1 -2024-02-20 12:15:03, INFO: Similarity_func: concatenation -2024-02-20 12:15:03, INFO: Layerwise_graph: False -2024-02-20 12:15:03, INFO: Skip_connection: True -2024-02-20 12:15:03, INFO: Number of layers: 1 -2024-02-20 12:15:03, INFO: Planning depth: 1 -2024-02-20 12:15:03, INFO: Planning width: 10 -2024-02-20 12:15:03, INFO: Sparse search: None -2024-02-20 12:15:06, INFO: human number: 10 -2024-02-20 12:15:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:10, INFO: Using device: cpu -2024-02-20 12:15:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:10, INFO: Similarity_func: concatenation -2024-02-20 12:15:10, INFO: Layerwise_graph: False -2024-02-20 12:15:10, INFO: Skip_connection: True -2024-02-20 12:15:10, INFO: Number of layers: 1 -2024-02-20 12:15:10, INFO: Similarity_func: concatenation -2024-02-20 12:15:10, INFO: Layerwise_graph: False -2024-02-20 12:15:10, INFO: Skip_connection: True -2024-02-20 12:15:10, INFO: Number of layers: 1 -2024-02-20 12:15:10, INFO: Planning depth: 1 -2024-02-20 12:15:10, INFO: Planning width: 10 -2024-02-20 12:15:10, INFO: Sparse search: None -2024-02-20 12:15:13, INFO: human number: 10 -2024-02-20 12:15:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:17, INFO: Using device: cpu -2024-02-20 12:15:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:17, INFO: Similarity_func: concatenation -2024-02-20 12:15:17, INFO: Layerwise_graph: False -2024-02-20 12:15:17, INFO: Skip_connection: True -2024-02-20 12:15:17, INFO: Number of layers: 1 -2024-02-20 12:15:17, INFO: Similarity_func: concatenation -2024-02-20 12:15:17, INFO: Layerwise_graph: False -2024-02-20 12:15:17, INFO: Skip_connection: True -2024-02-20 12:15:17, INFO: Number of layers: 1 -2024-02-20 12:15:17, INFO: Planning depth: 1 -2024-02-20 12:15:17, INFO: Planning width: 10 -2024-02-20 12:15:17, INFO: Sparse search: None -2024-02-20 12:15:20, INFO: human number: 10 -2024-02-20 12:15:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:27, INFO: Using device: cpu -2024-02-20 12:15:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:27, INFO: Similarity_func: concatenation -2024-02-20 12:15:27, INFO: Layerwise_graph: False -2024-02-20 12:15:27, INFO: Skip_connection: True -2024-02-20 12:15:27, INFO: Number of layers: 1 -2024-02-20 12:15:27, INFO: Similarity_func: concatenation -2024-02-20 12:15:27, INFO: Layerwise_graph: False -2024-02-20 12:15:27, INFO: Skip_connection: True -2024-02-20 12:15:27, INFO: Number of layers: 1 -2024-02-20 12:15:27, INFO: Planning depth: 1 -2024-02-20 12:15:27, INFO: Planning width: 10 -2024-02-20 12:15:27, INFO: Sparse search: None -2024-02-20 12:15:29, INFO: human number: 10 -2024-02-20 12:15:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:34, INFO: Using device: cpu -2024-02-20 12:15:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:34, INFO: Similarity_func: concatenation -2024-02-20 12:15:34, INFO: Layerwise_graph: False -2024-02-20 12:15:34, INFO: Skip_connection: True -2024-02-20 12:15:34, INFO: Number of layers: 1 -2024-02-20 12:15:34, INFO: Similarity_func: concatenation -2024-02-20 12:15:34, INFO: Layerwise_graph: False -2024-02-20 12:15:34, INFO: Skip_connection: True -2024-02-20 12:15:34, INFO: Number of layers: 1 -2024-02-20 12:15:34, INFO: Planning depth: 1 -2024-02-20 12:15:34, INFO: Planning width: 10 -2024-02-20 12:15:34, INFO: Sparse search: None -2024-02-20 12:15:37, INFO: human number: 10 -2024-02-20 12:15:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:41, INFO: Using device: cpu -2024-02-20 12:15:41, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:41, INFO: Similarity_func: concatenation -2024-02-20 12:15:41, INFO: Layerwise_graph: False -2024-02-20 12:15:41, INFO: Skip_connection: True -2024-02-20 12:15:41, INFO: Number of layers: 1 -2024-02-20 12:15:41, INFO: Similarity_func: concatenation -2024-02-20 12:15:41, INFO: Layerwise_graph: False -2024-02-20 12:15:41, INFO: Skip_connection: True -2024-02-20 12:15:41, INFO: Number of layers: 1 -2024-02-20 12:15:41, INFO: Planning depth: 1 -2024-02-20 12:15:41, INFO: Planning width: 10 -2024-02-20 12:15:41, INFO: Sparse search: None -2024-02-20 12:15:44, INFO: human number: 10 -2024-02-20 12:15:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:49, INFO: Using device: cpu -2024-02-20 12:15:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:49, INFO: Similarity_func: concatenation -2024-02-20 12:15:49, INFO: Layerwise_graph: False -2024-02-20 12:15:49, INFO: Skip_connection: True -2024-02-20 12:15:49, INFO: Number of layers: 1 -2024-02-20 12:15:49, INFO: Similarity_func: concatenation -2024-02-20 12:15:49, INFO: Layerwise_graph: False -2024-02-20 12:15:49, INFO: Skip_connection: True -2024-02-20 12:15:49, INFO: Number of layers: 1 -2024-02-20 12:15:49, INFO: Planning depth: 1 -2024-02-20 12:15:49, INFO: Planning width: 10 -2024-02-20 12:15:49, INFO: Sparse search: None -2024-02-20 12:15:52, INFO: human number: 10 -2024-02-20 12:15:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:15:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:15:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:15:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:15:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:15:57, INFO: Using device: cpu -2024-02-20 12:15:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:15:57, INFO: Similarity_func: concatenation -2024-02-20 12:15:57, INFO: Layerwise_graph: False -2024-02-20 12:15:57, INFO: Skip_connection: True -2024-02-20 12:15:57, INFO: Number of layers: 1 -2024-02-20 12:15:57, INFO: Similarity_func: concatenation -2024-02-20 12:15:57, INFO: Layerwise_graph: False -2024-02-20 12:15:57, INFO: Skip_connection: True -2024-02-20 12:15:57, INFO: Number of layers: 1 -2024-02-20 12:15:57, INFO: Planning depth: 1 -2024-02-20 12:15:57, INFO: Planning width: 10 -2024-02-20 12:15:57, INFO: Sparse search: None -2024-02-20 12:16:00, INFO: human number: 10 -2024-02-20 12:16:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:05, INFO: Using device: cpu -2024-02-20 12:16:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:05, INFO: Similarity_func: concatenation -2024-02-20 12:16:05, INFO: Layerwise_graph: False -2024-02-20 12:16:05, INFO: Skip_connection: True -2024-02-20 12:16:05, INFO: Number of layers: 1 -2024-02-20 12:16:05, INFO: Similarity_func: concatenation -2024-02-20 12:16:05, INFO: Layerwise_graph: False -2024-02-20 12:16:05, INFO: Skip_connection: True -2024-02-20 12:16:05, INFO: Number of layers: 1 -2024-02-20 12:16:05, INFO: Planning depth: 1 -2024-02-20 12:16:05, INFO: Planning width: 10 -2024-02-20 12:16:05, INFO: Sparse search: None -2024-02-20 12:16:08, INFO: human number: 10 -2024-02-20 12:16:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:12, INFO: Using device: cpu -2024-02-20 12:16:12, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:12, INFO: Similarity_func: concatenation -2024-02-20 12:16:12, INFO: Layerwise_graph: False -2024-02-20 12:16:12, INFO: Skip_connection: True -2024-02-20 12:16:12, INFO: Number of layers: 1 -2024-02-20 12:16:12, INFO: Similarity_func: concatenation -2024-02-20 12:16:12, INFO: Layerwise_graph: False -2024-02-20 12:16:12, INFO: Skip_connection: True -2024-02-20 12:16:12, INFO: Number of layers: 1 -2024-02-20 12:16:12, INFO: Planning depth: 1 -2024-02-20 12:16:12, INFO: Planning width: 10 -2024-02-20 12:16:12, INFO: Sparse search: None -2024-02-20 12:16:15, INFO: human number: 10 -2024-02-20 12:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:15, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:21, INFO: Using device: cpu -2024-02-20 12:16:21, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:21, INFO: Similarity_func: concatenation -2024-02-20 12:16:21, INFO: Layerwise_graph: False -2024-02-20 12:16:21, INFO: Skip_connection: True -2024-02-20 12:16:21, INFO: Number of layers: 1 -2024-02-20 12:16:21, INFO: Similarity_func: concatenation -2024-02-20 12:16:21, INFO: Layerwise_graph: False -2024-02-20 12:16:21, INFO: Skip_connection: True -2024-02-20 12:16:21, INFO: Number of layers: 1 -2024-02-20 12:16:21, INFO: Planning depth: 1 -2024-02-20 12:16:21, INFO: Planning width: 10 -2024-02-20 12:16:21, INFO: Sparse search: None -2024-02-20 12:16:24, INFO: human number: 10 -2024-02-20 12:16:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:29, INFO: Using device: cpu -2024-02-20 12:16:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:29, INFO: Similarity_func: concatenation -2024-02-20 12:16:29, INFO: Layerwise_graph: False -2024-02-20 12:16:29, INFO: Skip_connection: True -2024-02-20 12:16:29, INFO: Number of layers: 1 -2024-02-20 12:16:29, INFO: Similarity_func: concatenation -2024-02-20 12:16:29, INFO: Layerwise_graph: False -2024-02-20 12:16:29, INFO: Skip_connection: True -2024-02-20 12:16:29, INFO: Number of layers: 1 -2024-02-20 12:16:29, INFO: Planning depth: 1 -2024-02-20 12:16:29, INFO: Planning width: 10 -2024-02-20 12:16:29, INFO: Sparse search: None -2024-02-20 12:16:32, INFO: human number: 10 -2024-02-20 12:16:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:37, INFO: Using device: cpu -2024-02-20 12:16:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:37, INFO: Similarity_func: concatenation -2024-02-20 12:16:37, INFO: Layerwise_graph: False -2024-02-20 12:16:37, INFO: Skip_connection: True -2024-02-20 12:16:37, INFO: Number of layers: 1 -2024-02-20 12:16:37, INFO: Similarity_func: concatenation -2024-02-20 12:16:37, INFO: Layerwise_graph: False -2024-02-20 12:16:37, INFO: Skip_connection: True -2024-02-20 12:16:37, INFO: Number of layers: 1 -2024-02-20 12:16:37, INFO: Planning depth: 1 -2024-02-20 12:16:37, INFO: Planning width: 10 -2024-02-20 12:16:37, INFO: Sparse search: None -2024-02-20 12:16:40, INFO: human number: 10 -2024-02-20 12:16:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:45, INFO: Using device: cpu -2024-02-20 12:16:45, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:45, INFO: Similarity_func: concatenation -2024-02-20 12:16:45, INFO: Layerwise_graph: False -2024-02-20 12:16:45, INFO: Skip_connection: True -2024-02-20 12:16:45, INFO: Number of layers: 1 -2024-02-20 12:16:45, INFO: Similarity_func: concatenation -2024-02-20 12:16:45, INFO: Layerwise_graph: False -2024-02-20 12:16:45, INFO: Skip_connection: True -2024-02-20 12:16:45, INFO: Number of layers: 1 -2024-02-20 12:16:45, INFO: Planning depth: 1 -2024-02-20 12:16:45, INFO: Planning width: 10 -2024-02-20 12:16:45, INFO: Sparse search: None -2024-02-20 12:16:47, INFO: human number: 10 -2024-02-20 12:16:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:52, INFO: Using device: cpu -2024-02-20 12:16:52, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:52, INFO: Similarity_func: concatenation -2024-02-20 12:16:52, INFO: Layerwise_graph: False -2024-02-20 12:16:52, INFO: Skip_connection: True -2024-02-20 12:16:52, INFO: Number of layers: 1 -2024-02-20 12:16:52, INFO: Similarity_func: concatenation -2024-02-20 12:16:52, INFO: Layerwise_graph: False -2024-02-20 12:16:52, INFO: Skip_connection: True -2024-02-20 12:16:52, INFO: Number of layers: 1 -2024-02-20 12:16:52, INFO: Planning depth: 1 -2024-02-20 12:16:52, INFO: Planning width: 10 -2024-02-20 12:16:52, INFO: Sparse search: None -2024-02-20 12:16:55, INFO: human number: 10 -2024-02-20 12:16:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:16:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:16:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:16:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:16:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:16:59, INFO: Using device: cpu -2024-02-20 12:16:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:16:59, INFO: Similarity_func: concatenation -2024-02-20 12:16:59, INFO: Layerwise_graph: False -2024-02-20 12:16:59, INFO: Skip_connection: True -2024-02-20 12:16:59, INFO: Number of layers: 1 -2024-02-20 12:16:59, INFO: Similarity_func: concatenation -2024-02-20 12:16:59, INFO: Layerwise_graph: False -2024-02-20 12:16:59, INFO: Skip_connection: True -2024-02-20 12:16:59, INFO: Number of layers: 1 -2024-02-20 12:16:59, INFO: Planning depth: 1 -2024-02-20 12:16:59, INFO: Planning width: 10 -2024-02-20 12:16:59, INFO: Sparse search: None -2024-02-20 12:17:02, INFO: human number: 10 -2024-02-20 12:17:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:07, INFO: Using device: cpu -2024-02-20 12:17:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:07, INFO: Similarity_func: concatenation -2024-02-20 12:17:07, INFO: Layerwise_graph: False -2024-02-20 12:17:07, INFO: Skip_connection: True -2024-02-20 12:17:07, INFO: Number of layers: 1 -2024-02-20 12:17:07, INFO: Similarity_func: concatenation -2024-02-20 12:17:07, INFO: Layerwise_graph: False -2024-02-20 12:17:07, INFO: Skip_connection: True -2024-02-20 12:17:07, INFO: Number of layers: 1 -2024-02-20 12:17:07, INFO: Planning depth: 1 -2024-02-20 12:17:07, INFO: Planning width: 10 -2024-02-20 12:17:07, INFO: Sparse search: None -2024-02-20 12:17:10, INFO: human number: 10 -2024-02-20 12:17:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:10, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:17, INFO: Using device: cpu -2024-02-20 12:17:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:17, INFO: Similarity_func: concatenation -2024-02-20 12:17:17, INFO: Layerwise_graph: False -2024-02-20 12:17:17, INFO: Skip_connection: True -2024-02-20 12:17:17, INFO: Number of layers: 1 -2024-02-20 12:17:17, INFO: Similarity_func: concatenation -2024-02-20 12:17:17, INFO: Layerwise_graph: False -2024-02-20 12:17:17, INFO: Skip_connection: True -2024-02-20 12:17:17, INFO: Number of layers: 1 -2024-02-20 12:17:17, INFO: Planning depth: 1 -2024-02-20 12:17:17, INFO: Planning width: 10 -2024-02-20 12:17:17, INFO: Sparse search: None -2024-02-20 12:17:20, INFO: human number: 10 -2024-02-20 12:17:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:25, INFO: Using device: cpu -2024-02-20 12:17:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:25, INFO: Similarity_func: concatenation -2024-02-20 12:17:25, INFO: Layerwise_graph: False -2024-02-20 12:17:25, INFO: Skip_connection: True -2024-02-20 12:17:25, INFO: Number of layers: 1 -2024-02-20 12:17:25, INFO: Similarity_func: concatenation -2024-02-20 12:17:25, INFO: Layerwise_graph: False -2024-02-20 12:17:25, INFO: Skip_connection: True -2024-02-20 12:17:25, INFO: Number of layers: 1 -2024-02-20 12:17:25, INFO: Planning depth: 1 -2024-02-20 12:17:25, INFO: Planning width: 10 -2024-02-20 12:17:25, INFO: Sparse search: None -2024-02-20 12:17:28, INFO: human number: 10 -2024-02-20 12:17:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:33, INFO: Using device: cpu -2024-02-20 12:17:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:33, INFO: Similarity_func: concatenation -2024-02-20 12:17:33, INFO: Layerwise_graph: False -2024-02-20 12:17:33, INFO: Skip_connection: True -2024-02-20 12:17:33, INFO: Number of layers: 1 -2024-02-20 12:17:33, INFO: Similarity_func: concatenation -2024-02-20 12:17:33, INFO: Layerwise_graph: False -2024-02-20 12:17:33, INFO: Skip_connection: True -2024-02-20 12:17:33, INFO: Number of layers: 1 -2024-02-20 12:17:33, INFO: Planning depth: 1 -2024-02-20 12:17:33, INFO: Planning width: 10 -2024-02-20 12:17:33, INFO: Sparse search: None -2024-02-20 12:17:35, INFO: human number: 10 -2024-02-20 12:17:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:40, INFO: Using device: cpu -2024-02-20 12:17:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:40, INFO: Similarity_func: concatenation -2024-02-20 12:17:40, INFO: Layerwise_graph: False -2024-02-20 12:17:40, INFO: Skip_connection: True -2024-02-20 12:17:40, INFO: Number of layers: 1 -2024-02-20 12:17:40, INFO: Similarity_func: concatenation -2024-02-20 12:17:40, INFO: Layerwise_graph: False -2024-02-20 12:17:40, INFO: Skip_connection: True -2024-02-20 12:17:40, INFO: Number of layers: 1 -2024-02-20 12:17:40, INFO: Planning depth: 1 -2024-02-20 12:17:40, INFO: Planning width: 10 -2024-02-20 12:17:40, INFO: Sparse search: None -2024-02-20 12:17:43, INFO: human number: 10 -2024-02-20 12:17:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:48, INFO: Using device: cpu -2024-02-20 12:17:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:48, INFO: Similarity_func: concatenation -2024-02-20 12:17:48, INFO: Layerwise_graph: False -2024-02-20 12:17:48, INFO: Skip_connection: True -2024-02-20 12:17:48, INFO: Number of layers: 1 -2024-02-20 12:17:48, INFO: Similarity_func: concatenation -2024-02-20 12:17:48, INFO: Layerwise_graph: False -2024-02-20 12:17:48, INFO: Skip_connection: True -2024-02-20 12:17:48, INFO: Number of layers: 1 -2024-02-20 12:17:48, INFO: Planning depth: 1 -2024-02-20 12:17:48, INFO: Planning width: 10 -2024-02-20 12:17:48, INFO: Sparse search: None -2024-02-20 12:17:51, INFO: human number: 10 -2024-02-20 12:17:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:17:55, INFO: Using device: cpu -2024-02-20 12:17:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:17:55, INFO: Similarity_func: concatenation -2024-02-20 12:17:55, INFO: Layerwise_graph: False -2024-02-20 12:17:55, INFO: Skip_connection: True -2024-02-20 12:17:55, INFO: Number of layers: 1 -2024-02-20 12:17:55, INFO: Similarity_func: concatenation -2024-02-20 12:17:55, INFO: Layerwise_graph: False -2024-02-20 12:17:55, INFO: Skip_connection: True -2024-02-20 12:17:55, INFO: Number of layers: 1 -2024-02-20 12:17:55, INFO: Planning depth: 1 -2024-02-20 12:17:55, INFO: Planning width: 10 -2024-02-20 12:17:55, INFO: Sparse search: None -2024-02-20 12:17:58, INFO: human number: 10 -2024-02-20 12:17:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:17:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:17:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:17:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:17:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:03, INFO: Using device: cpu -2024-02-20 12:18:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:03, INFO: Similarity_func: concatenation -2024-02-20 12:18:03, INFO: Layerwise_graph: False -2024-02-20 12:18:03, INFO: Skip_connection: True -2024-02-20 12:18:03, INFO: Number of layers: 1 -2024-02-20 12:18:03, INFO: Similarity_func: concatenation -2024-02-20 12:18:03, INFO: Layerwise_graph: False -2024-02-20 12:18:03, INFO: Skip_connection: True -2024-02-20 12:18:03, INFO: Number of layers: 1 -2024-02-20 12:18:03, INFO: Planning depth: 1 -2024-02-20 12:18:03, INFO: Planning width: 10 -2024-02-20 12:18:03, INFO: Sparse search: None -2024-02-20 12:18:06, INFO: human number: 10 -2024-02-20 12:18:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:13, INFO: Using device: cpu -2024-02-20 12:18:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:13, INFO: Similarity_func: concatenation -2024-02-20 12:18:13, INFO: Layerwise_graph: False -2024-02-20 12:18:13, INFO: Skip_connection: True -2024-02-20 12:18:13, INFO: Number of layers: 1 -2024-02-20 12:18:13, INFO: Similarity_func: concatenation -2024-02-20 12:18:13, INFO: Layerwise_graph: False -2024-02-20 12:18:13, INFO: Skip_connection: True -2024-02-20 12:18:13, INFO: Number of layers: 1 -2024-02-20 12:18:13, INFO: Planning depth: 1 -2024-02-20 12:18:13, INFO: Planning width: 10 -2024-02-20 12:18:13, INFO: Sparse search: None -2024-02-20 12:18:16, INFO: human number: 10 -2024-02-20 12:18:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:21, INFO: Using device: cpu -2024-02-20 12:18:21, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:21, INFO: Similarity_func: concatenation -2024-02-20 12:18:21, INFO: Layerwise_graph: False -2024-02-20 12:18:21, INFO: Skip_connection: True -2024-02-20 12:18:21, INFO: Number of layers: 1 -2024-02-20 12:18:21, INFO: Similarity_func: concatenation -2024-02-20 12:18:21, INFO: Layerwise_graph: False -2024-02-20 12:18:21, INFO: Skip_connection: True -2024-02-20 12:18:21, INFO: Number of layers: 1 -2024-02-20 12:18:21, INFO: Planning depth: 1 -2024-02-20 12:18:21, INFO: Planning width: 10 -2024-02-20 12:18:21, INFO: Sparse search: None -2024-02-20 12:18:24, INFO: human number: 10 -2024-02-20 12:18:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:29, INFO: Using device: cpu -2024-02-20 12:18:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:29, INFO: Similarity_func: concatenation -2024-02-20 12:18:29, INFO: Layerwise_graph: False -2024-02-20 12:18:29, INFO: Skip_connection: True -2024-02-20 12:18:29, INFO: Number of layers: 1 -2024-02-20 12:18:29, INFO: Similarity_func: concatenation -2024-02-20 12:18:29, INFO: Layerwise_graph: False -2024-02-20 12:18:29, INFO: Skip_connection: True -2024-02-20 12:18:29, INFO: Number of layers: 1 -2024-02-20 12:18:29, INFO: Planning depth: 1 -2024-02-20 12:18:29, INFO: Planning width: 10 -2024-02-20 12:18:29, INFO: Sparse search: None -2024-02-20 12:18:31, INFO: human number: 10 -2024-02-20 12:18:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:31, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:37, INFO: Using device: cpu -2024-02-20 12:18:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:37, INFO: Similarity_func: concatenation -2024-02-20 12:18:37, INFO: Layerwise_graph: False -2024-02-20 12:18:37, INFO: Skip_connection: True -2024-02-20 12:18:37, INFO: Number of layers: 1 -2024-02-20 12:18:37, INFO: Similarity_func: concatenation -2024-02-20 12:18:37, INFO: Layerwise_graph: False -2024-02-20 12:18:37, INFO: Skip_connection: True -2024-02-20 12:18:37, INFO: Number of layers: 1 -2024-02-20 12:18:37, INFO: Planning depth: 1 -2024-02-20 12:18:37, INFO: Planning width: 10 -2024-02-20 12:18:37, INFO: Sparse search: None -2024-02-20 12:18:40, INFO: human number: 10 -2024-02-20 12:18:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:46, INFO: Using device: cpu -2024-02-20 12:18:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:46, INFO: Similarity_func: concatenation -2024-02-20 12:18:46, INFO: Layerwise_graph: False -2024-02-20 12:18:46, INFO: Skip_connection: True -2024-02-20 12:18:46, INFO: Number of layers: 1 -2024-02-20 12:18:46, INFO: Similarity_func: concatenation -2024-02-20 12:18:46, INFO: Layerwise_graph: False -2024-02-20 12:18:46, INFO: Skip_connection: True -2024-02-20 12:18:46, INFO: Number of layers: 1 -2024-02-20 12:18:46, INFO: Planning depth: 1 -2024-02-20 12:18:46, INFO: Planning width: 10 -2024-02-20 12:18:46, INFO: Sparse search: None -2024-02-20 12:18:49, INFO: human number: 10 -2024-02-20 12:18:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:18:54, INFO: Using device: cpu -2024-02-20 12:18:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:18:54, INFO: Similarity_func: concatenation -2024-02-20 12:18:54, INFO: Layerwise_graph: False -2024-02-20 12:18:54, INFO: Skip_connection: True -2024-02-20 12:18:54, INFO: Number of layers: 1 -2024-02-20 12:18:54, INFO: Similarity_func: concatenation -2024-02-20 12:18:54, INFO: Layerwise_graph: False -2024-02-20 12:18:54, INFO: Skip_connection: True -2024-02-20 12:18:54, INFO: Number of layers: 1 -2024-02-20 12:18:54, INFO: Planning depth: 1 -2024-02-20 12:18:54, INFO: Planning width: 10 -2024-02-20 12:18:54, INFO: Sparse search: None -2024-02-20 12:18:57, INFO: human number: 10 -2024-02-20 12:18:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:18:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:18:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:18:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:18:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:02, INFO: Using device: cpu -2024-02-20 12:19:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:02, INFO: Similarity_func: concatenation -2024-02-20 12:19:02, INFO: Layerwise_graph: False -2024-02-20 12:19:02, INFO: Skip_connection: True -2024-02-20 12:19:02, INFO: Number of layers: 1 -2024-02-20 12:19:02, INFO: Similarity_func: concatenation -2024-02-20 12:19:02, INFO: Layerwise_graph: False -2024-02-20 12:19:02, INFO: Skip_connection: True -2024-02-20 12:19:02, INFO: Number of layers: 1 -2024-02-20 12:19:02, INFO: Planning depth: 1 -2024-02-20 12:19:02, INFO: Planning width: 10 -2024-02-20 12:19:02, INFO: Sparse search: None -2024-02-20 12:19:05, INFO: human number: 10 -2024-02-20 12:19:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:11, INFO: Using device: cpu -2024-02-20 12:19:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:11, INFO: Similarity_func: concatenation -2024-02-20 12:19:11, INFO: Layerwise_graph: False -2024-02-20 12:19:11, INFO: Skip_connection: True -2024-02-20 12:19:11, INFO: Number of layers: 1 -2024-02-20 12:19:11, INFO: Similarity_func: concatenation -2024-02-20 12:19:11, INFO: Layerwise_graph: False -2024-02-20 12:19:11, INFO: Skip_connection: True -2024-02-20 12:19:11, INFO: Number of layers: 1 -2024-02-20 12:19:11, INFO: Planning depth: 1 -2024-02-20 12:19:11, INFO: Planning width: 10 -2024-02-20 12:19:11, INFO: Sparse search: None -2024-02-20 12:19:14, INFO: human number: 10 -2024-02-20 12:19:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:19, INFO: Using device: cpu -2024-02-20 12:19:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:19, INFO: Similarity_func: concatenation -2024-02-20 12:19:19, INFO: Layerwise_graph: False -2024-02-20 12:19:19, INFO: Skip_connection: True -2024-02-20 12:19:19, INFO: Number of layers: 1 -2024-02-20 12:19:19, INFO: Similarity_func: concatenation -2024-02-20 12:19:19, INFO: Layerwise_graph: False -2024-02-20 12:19:19, INFO: Skip_connection: True -2024-02-20 12:19:19, INFO: Number of layers: 1 -2024-02-20 12:19:19, INFO: Planning depth: 1 -2024-02-20 12:19:19, INFO: Planning width: 10 -2024-02-20 12:19:19, INFO: Sparse search: None -2024-02-20 12:19:22, INFO: human number: 10 -2024-02-20 12:19:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:27, INFO: Using device: cpu -2024-02-20 12:19:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:27, INFO: Similarity_func: concatenation -2024-02-20 12:19:27, INFO: Layerwise_graph: False -2024-02-20 12:19:27, INFO: Skip_connection: True -2024-02-20 12:19:27, INFO: Number of layers: 1 -2024-02-20 12:19:27, INFO: Similarity_func: concatenation -2024-02-20 12:19:27, INFO: Layerwise_graph: False -2024-02-20 12:19:27, INFO: Skip_connection: True -2024-02-20 12:19:27, INFO: Number of layers: 1 -2024-02-20 12:19:27, INFO: Planning depth: 1 -2024-02-20 12:19:27, INFO: Planning width: 10 -2024-02-20 12:19:27, INFO: Sparse search: None -2024-02-20 12:19:29, INFO: human number: 10 -2024-02-20 12:19:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:34, INFO: Using device: cpu -2024-02-20 12:19:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:34, INFO: Similarity_func: concatenation -2024-02-20 12:19:34, INFO: Layerwise_graph: False -2024-02-20 12:19:34, INFO: Skip_connection: True -2024-02-20 12:19:34, INFO: Number of layers: 1 -2024-02-20 12:19:34, INFO: Similarity_func: concatenation -2024-02-20 12:19:34, INFO: Layerwise_graph: False -2024-02-20 12:19:34, INFO: Skip_connection: True -2024-02-20 12:19:34, INFO: Number of layers: 1 -2024-02-20 12:19:34, INFO: Planning depth: 1 -2024-02-20 12:19:34, INFO: Planning width: 10 -2024-02-20 12:19:34, INFO: Sparse search: None -2024-02-20 12:19:37, INFO: human number: 10 -2024-02-20 12:19:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:43, INFO: Using device: cpu -2024-02-20 12:19:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:43, INFO: Similarity_func: concatenation -2024-02-20 12:19:43, INFO: Layerwise_graph: False -2024-02-20 12:19:43, INFO: Skip_connection: True -2024-02-20 12:19:43, INFO: Number of layers: 1 -2024-02-20 12:19:43, INFO: Similarity_func: concatenation -2024-02-20 12:19:43, INFO: Layerwise_graph: False -2024-02-20 12:19:43, INFO: Skip_connection: True -2024-02-20 12:19:43, INFO: Number of layers: 1 -2024-02-20 12:19:43, INFO: Planning depth: 1 -2024-02-20 12:19:43, INFO: Planning width: 10 -2024-02-20 12:19:43, INFO: Sparse search: None -2024-02-20 12:19:46, INFO: human number: 10 -2024-02-20 12:19:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:19:51, INFO: Using device: cpu -2024-02-20 12:19:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:19:51, INFO: Similarity_func: concatenation -2024-02-20 12:19:51, INFO: Layerwise_graph: False -2024-02-20 12:19:51, INFO: Skip_connection: True -2024-02-20 12:19:51, INFO: Number of layers: 1 -2024-02-20 12:19:51, INFO: Similarity_func: concatenation -2024-02-20 12:19:51, INFO: Layerwise_graph: False -2024-02-20 12:19:51, INFO: Skip_connection: True -2024-02-20 12:19:51, INFO: Number of layers: 1 -2024-02-20 12:19:51, INFO: Planning depth: 1 -2024-02-20 12:19:51, INFO: Planning width: 10 -2024-02-20 12:19:51, INFO: Sparse search: None -2024-02-20 12:19:53, INFO: human number: 10 -2024-02-20 12:19:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:19:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:19:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:19:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:19:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:05, INFO: Using device: cpu -2024-02-20 12:20:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:05, INFO: Similarity_func: concatenation -2024-02-20 12:20:05, INFO: Layerwise_graph: False -2024-02-20 12:20:05, INFO: Skip_connection: True -2024-02-20 12:20:05, INFO: Number of layers: 1 -2024-02-20 12:20:05, INFO: Similarity_func: concatenation -2024-02-20 12:20:05, INFO: Layerwise_graph: False -2024-02-20 12:20:05, INFO: Skip_connection: True -2024-02-20 12:20:05, INFO: Number of layers: 1 -2024-02-20 12:20:05, INFO: Planning depth: 1 -2024-02-20 12:20:05, INFO: Planning width: 10 -2024-02-20 12:20:05, INFO: Sparse search: None -2024-02-20 12:20:08, INFO: human number: 10 -2024-02-20 12:20:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:14, INFO: Using device: cpu -2024-02-20 12:20:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:14, INFO: Similarity_func: concatenation -2024-02-20 12:20:14, INFO: Layerwise_graph: False -2024-02-20 12:20:14, INFO: Skip_connection: True -2024-02-20 12:20:14, INFO: Number of layers: 1 -2024-02-20 12:20:14, INFO: Similarity_func: concatenation -2024-02-20 12:20:14, INFO: Layerwise_graph: False -2024-02-20 12:20:14, INFO: Skip_connection: True -2024-02-20 12:20:14, INFO: Number of layers: 1 -2024-02-20 12:20:14, INFO: Planning depth: 1 -2024-02-20 12:20:14, INFO: Planning width: 10 -2024-02-20 12:20:14, INFO: Sparse search: None -2024-02-20 12:20:17, INFO: human number: 10 -2024-02-20 12:20:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:22, INFO: Using device: cpu -2024-02-20 12:20:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:22, INFO: Similarity_func: concatenation -2024-02-20 12:20:22, INFO: Layerwise_graph: False -2024-02-20 12:20:22, INFO: Skip_connection: True -2024-02-20 12:20:22, INFO: Number of layers: 1 -2024-02-20 12:20:22, INFO: Similarity_func: concatenation -2024-02-20 12:20:22, INFO: Layerwise_graph: False -2024-02-20 12:20:22, INFO: Skip_connection: True -2024-02-20 12:20:22, INFO: Number of layers: 1 -2024-02-20 12:20:22, INFO: Planning depth: 1 -2024-02-20 12:20:22, INFO: Planning width: 10 -2024-02-20 12:20:22, INFO: Sparse search: None -2024-02-20 12:20:25, INFO: human number: 10 -2024-02-20 12:20:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:30, INFO: Using device: cpu -2024-02-20 12:20:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:30, INFO: Similarity_func: concatenation -2024-02-20 12:20:30, INFO: Layerwise_graph: False -2024-02-20 12:20:30, INFO: Skip_connection: True -2024-02-20 12:20:30, INFO: Number of layers: 1 -2024-02-20 12:20:30, INFO: Similarity_func: concatenation -2024-02-20 12:20:30, INFO: Layerwise_graph: False -2024-02-20 12:20:30, INFO: Skip_connection: True -2024-02-20 12:20:30, INFO: Number of layers: 1 -2024-02-20 12:20:30, INFO: Planning depth: 1 -2024-02-20 12:20:30, INFO: Planning width: 10 -2024-02-20 12:20:30, INFO: Sparse search: None -2024-02-20 12:20:33, INFO: human number: 10 -2024-02-20 12:20:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:38, INFO: Using device: cpu -2024-02-20 12:20:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:38, INFO: Similarity_func: concatenation -2024-02-20 12:20:38, INFO: Layerwise_graph: False -2024-02-20 12:20:38, INFO: Skip_connection: True -2024-02-20 12:20:38, INFO: Number of layers: 1 -2024-02-20 12:20:38, INFO: Similarity_func: concatenation -2024-02-20 12:20:38, INFO: Layerwise_graph: False -2024-02-20 12:20:38, INFO: Skip_connection: True -2024-02-20 12:20:38, INFO: Number of layers: 1 -2024-02-20 12:20:38, INFO: Planning depth: 1 -2024-02-20 12:20:38, INFO: Planning width: 10 -2024-02-20 12:20:38, INFO: Sparse search: None -2024-02-20 12:20:40, INFO: human number: 10 -2024-02-20 12:20:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:46, INFO: Using device: cpu -2024-02-20 12:20:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:46, INFO: Similarity_func: concatenation -2024-02-20 12:20:46, INFO: Layerwise_graph: False -2024-02-20 12:20:46, INFO: Skip_connection: True -2024-02-20 12:20:46, INFO: Number of layers: 1 -2024-02-20 12:20:46, INFO: Similarity_func: concatenation -2024-02-20 12:20:46, INFO: Layerwise_graph: False -2024-02-20 12:20:46, INFO: Skip_connection: True -2024-02-20 12:20:46, INFO: Number of layers: 1 -2024-02-20 12:20:46, INFO: Planning depth: 1 -2024-02-20 12:20:46, INFO: Planning width: 10 -2024-02-20 12:20:46, INFO: Sparse search: None -2024-02-20 12:20:49, INFO: human number: 10 -2024-02-20 12:20:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:20:53, INFO: Using device: cpu -2024-02-20 12:20:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:20:53, INFO: Similarity_func: concatenation -2024-02-20 12:20:53, INFO: Layerwise_graph: False -2024-02-20 12:20:53, INFO: Skip_connection: True -2024-02-20 12:20:53, INFO: Number of layers: 1 -2024-02-20 12:20:53, INFO: Similarity_func: concatenation -2024-02-20 12:20:53, INFO: Layerwise_graph: False -2024-02-20 12:20:53, INFO: Skip_connection: True -2024-02-20 12:20:53, INFO: Number of layers: 1 -2024-02-20 12:20:53, INFO: Planning depth: 1 -2024-02-20 12:20:53, INFO: Planning width: 10 -2024-02-20 12:20:53, INFO: Sparse search: None -2024-02-20 12:20:56, INFO: human number: 10 -2024-02-20 12:20:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:20:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:20:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:20:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:20:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:01, INFO: Using device: cpu -2024-02-20 12:21:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:01, INFO: Similarity_func: concatenation -2024-02-20 12:21:01, INFO: Layerwise_graph: False -2024-02-20 12:21:01, INFO: Skip_connection: True -2024-02-20 12:21:01, INFO: Number of layers: 1 -2024-02-20 12:21:01, INFO: Similarity_func: concatenation -2024-02-20 12:21:01, INFO: Layerwise_graph: False -2024-02-20 12:21:01, INFO: Skip_connection: True -2024-02-20 12:21:01, INFO: Number of layers: 1 -2024-02-20 12:21:01, INFO: Planning depth: 1 -2024-02-20 12:21:01, INFO: Planning width: 10 -2024-02-20 12:21:01, INFO: Sparse search: None -2024-02-20 12:21:04, INFO: human number: 10 -2024-02-20 12:21:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:09, INFO: Using device: cpu -2024-02-20 12:21:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:09, INFO: Similarity_func: concatenation -2024-02-20 12:21:09, INFO: Layerwise_graph: False -2024-02-20 12:21:09, INFO: Skip_connection: True -2024-02-20 12:21:09, INFO: Number of layers: 1 -2024-02-20 12:21:09, INFO: Similarity_func: concatenation -2024-02-20 12:21:09, INFO: Layerwise_graph: False -2024-02-20 12:21:09, INFO: Skip_connection: True -2024-02-20 12:21:09, INFO: Number of layers: 1 -2024-02-20 12:21:09, INFO: Planning depth: 1 -2024-02-20 12:21:09, INFO: Planning width: 10 -2024-02-20 12:21:09, INFO: Sparse search: None -2024-02-20 12:21:12, INFO: human number: 10 -2024-02-20 12:21:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:17, INFO: Using device: cpu -2024-02-20 12:21:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:17, INFO: Similarity_func: concatenation -2024-02-20 12:21:17, INFO: Layerwise_graph: False -2024-02-20 12:21:17, INFO: Skip_connection: True -2024-02-20 12:21:17, INFO: Number of layers: 1 -2024-02-20 12:21:17, INFO: Similarity_func: concatenation -2024-02-20 12:21:17, INFO: Layerwise_graph: False -2024-02-20 12:21:17, INFO: Skip_connection: True -2024-02-20 12:21:17, INFO: Number of layers: 1 -2024-02-20 12:21:17, INFO: Planning depth: 1 -2024-02-20 12:21:17, INFO: Planning width: 10 -2024-02-20 12:21:17, INFO: Sparse search: None -2024-02-20 12:21:19, INFO: human number: 10 -2024-02-20 12:21:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:24, INFO: Using device: cpu -2024-02-20 12:21:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:24, INFO: Similarity_func: concatenation -2024-02-20 12:21:24, INFO: Layerwise_graph: False -2024-02-20 12:21:24, INFO: Skip_connection: True -2024-02-20 12:21:24, INFO: Number of layers: 1 -2024-02-20 12:21:24, INFO: Similarity_func: concatenation -2024-02-20 12:21:24, INFO: Layerwise_graph: False -2024-02-20 12:21:24, INFO: Skip_connection: True -2024-02-20 12:21:24, INFO: Number of layers: 1 -2024-02-20 12:21:24, INFO: Planning depth: 1 -2024-02-20 12:21:24, INFO: Planning width: 10 -2024-02-20 12:21:24, INFO: Sparse search: None -2024-02-20 12:21:27, INFO: human number: 10 -2024-02-20 12:21:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:32, INFO: Using device: cpu -2024-02-20 12:21:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:32, INFO: Similarity_func: concatenation -2024-02-20 12:21:32, INFO: Layerwise_graph: False -2024-02-20 12:21:32, INFO: Skip_connection: True -2024-02-20 12:21:32, INFO: Number of layers: 1 -2024-02-20 12:21:32, INFO: Similarity_func: concatenation -2024-02-20 12:21:32, INFO: Layerwise_graph: False -2024-02-20 12:21:32, INFO: Skip_connection: True -2024-02-20 12:21:32, INFO: Number of layers: 1 -2024-02-20 12:21:32, INFO: Planning depth: 1 -2024-02-20 12:21:32, INFO: Planning width: 10 -2024-02-20 12:21:32, INFO: Sparse search: None -2024-02-20 12:21:34, INFO: human number: 10 -2024-02-20 12:21:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:40, INFO: Using device: cpu -2024-02-20 12:21:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:40, INFO: Similarity_func: concatenation -2024-02-20 12:21:40, INFO: Layerwise_graph: False -2024-02-20 12:21:40, INFO: Skip_connection: True -2024-02-20 12:21:40, INFO: Number of layers: 1 -2024-02-20 12:21:40, INFO: Similarity_func: concatenation -2024-02-20 12:21:40, INFO: Layerwise_graph: False -2024-02-20 12:21:40, INFO: Skip_connection: True -2024-02-20 12:21:40, INFO: Number of layers: 1 -2024-02-20 12:21:40, INFO: Planning depth: 1 -2024-02-20 12:21:40, INFO: Planning width: 10 -2024-02-20 12:21:40, INFO: Sparse search: None -2024-02-20 12:21:43, INFO: human number: 10 -2024-02-20 12:21:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:48, INFO: Using device: cpu -2024-02-20 12:21:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:48, INFO: Similarity_func: concatenation -2024-02-20 12:21:48, INFO: Layerwise_graph: False -2024-02-20 12:21:48, INFO: Skip_connection: True -2024-02-20 12:21:48, INFO: Number of layers: 1 -2024-02-20 12:21:48, INFO: Similarity_func: concatenation -2024-02-20 12:21:48, INFO: Layerwise_graph: False -2024-02-20 12:21:48, INFO: Skip_connection: True -2024-02-20 12:21:48, INFO: Number of layers: 1 -2024-02-20 12:21:48, INFO: Planning depth: 1 -2024-02-20 12:21:48, INFO: Planning width: 10 -2024-02-20 12:21:48, INFO: Sparse search: None -2024-02-20 12:21:51, INFO: human number: 10 -2024-02-20 12:21:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:21:55, INFO: Using device: cpu -2024-02-20 12:21:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:21:55, INFO: Similarity_func: concatenation -2024-02-20 12:21:55, INFO: Layerwise_graph: False -2024-02-20 12:21:55, INFO: Skip_connection: True -2024-02-20 12:21:55, INFO: Number of layers: 1 -2024-02-20 12:21:55, INFO: Similarity_func: concatenation -2024-02-20 12:21:55, INFO: Layerwise_graph: False -2024-02-20 12:21:55, INFO: Skip_connection: True -2024-02-20 12:21:55, INFO: Number of layers: 1 -2024-02-20 12:21:55, INFO: Planning depth: 1 -2024-02-20 12:21:55, INFO: Planning width: 10 -2024-02-20 12:21:55, INFO: Sparse search: None -2024-02-20 12:21:58, INFO: human number: 10 -2024-02-20 12:21:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:21:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:21:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:21:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:21:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:02, INFO: Using device: cpu -2024-02-20 12:22:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:02, INFO: Similarity_func: concatenation -2024-02-20 12:22:02, INFO: Layerwise_graph: False -2024-02-20 12:22:02, INFO: Skip_connection: True -2024-02-20 12:22:02, INFO: Number of layers: 1 -2024-02-20 12:22:02, INFO: Similarity_func: concatenation -2024-02-20 12:22:02, INFO: Layerwise_graph: False -2024-02-20 12:22:02, INFO: Skip_connection: True -2024-02-20 12:22:02, INFO: Number of layers: 1 -2024-02-20 12:22:02, INFO: Planning depth: 1 -2024-02-20 12:22:02, INFO: Planning width: 10 -2024-02-20 12:22:02, INFO: Sparse search: None -2024-02-20 12:22:05, INFO: human number: 10 -2024-02-20 12:22:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:10, INFO: Using device: cpu -2024-02-20 12:22:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:10, INFO: Similarity_func: concatenation -2024-02-20 12:22:10, INFO: Layerwise_graph: False -2024-02-20 12:22:10, INFO: Skip_connection: True -2024-02-20 12:22:10, INFO: Number of layers: 1 -2024-02-20 12:22:10, INFO: Similarity_func: concatenation -2024-02-20 12:22:10, INFO: Layerwise_graph: False -2024-02-20 12:22:10, INFO: Skip_connection: True -2024-02-20 12:22:10, INFO: Number of layers: 1 -2024-02-20 12:22:10, INFO: Planning depth: 1 -2024-02-20 12:22:10, INFO: Planning width: 10 -2024-02-20 12:22:10, INFO: Sparse search: None -2024-02-20 12:22:13, INFO: human number: 10 -2024-02-20 12:22:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:18, INFO: Using device: cpu -2024-02-20 12:22:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:18, INFO: Similarity_func: concatenation -2024-02-20 12:22:18, INFO: Layerwise_graph: False -2024-02-20 12:22:18, INFO: Skip_connection: True -2024-02-20 12:22:18, INFO: Number of layers: 1 -2024-02-20 12:22:18, INFO: Similarity_func: concatenation -2024-02-20 12:22:18, INFO: Layerwise_graph: False -2024-02-20 12:22:18, INFO: Skip_connection: True -2024-02-20 12:22:18, INFO: Number of layers: 1 -2024-02-20 12:22:18, INFO: Planning depth: 1 -2024-02-20 12:22:18, INFO: Planning width: 10 -2024-02-20 12:22:18, INFO: Sparse search: None -2024-02-20 12:22:21, INFO: human number: 10 -2024-02-20 12:22:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:26, INFO: Using device: cpu -2024-02-20 12:22:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:26, INFO: Similarity_func: concatenation -2024-02-20 12:22:26, INFO: Layerwise_graph: False -2024-02-20 12:22:26, INFO: Skip_connection: True -2024-02-20 12:22:26, INFO: Number of layers: 1 -2024-02-20 12:22:26, INFO: Similarity_func: concatenation -2024-02-20 12:22:26, INFO: Layerwise_graph: False -2024-02-20 12:22:26, INFO: Skip_connection: True -2024-02-20 12:22:26, INFO: Number of layers: 1 -2024-02-20 12:22:26, INFO: Planning depth: 1 -2024-02-20 12:22:26, INFO: Planning width: 10 -2024-02-20 12:22:26, INFO: Sparse search: None -2024-02-20 12:22:29, INFO: human number: 10 -2024-02-20 12:22:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:34, INFO: Using device: cpu -2024-02-20 12:22:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:34, INFO: Similarity_func: concatenation -2024-02-20 12:22:34, INFO: Layerwise_graph: False -2024-02-20 12:22:34, INFO: Skip_connection: True -2024-02-20 12:22:34, INFO: Number of layers: 1 -2024-02-20 12:22:34, INFO: Similarity_func: concatenation -2024-02-20 12:22:34, INFO: Layerwise_graph: False -2024-02-20 12:22:34, INFO: Skip_connection: True -2024-02-20 12:22:34, INFO: Number of layers: 1 -2024-02-20 12:22:34, INFO: Planning depth: 1 -2024-02-20 12:22:34, INFO: Planning width: 10 -2024-02-20 12:22:34, INFO: Sparse search: None -2024-02-20 12:22:37, INFO: human number: 10 -2024-02-20 12:22:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:42, INFO: Using device: cpu -2024-02-20 12:22:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:42, INFO: Similarity_func: concatenation -2024-02-20 12:22:42, INFO: Layerwise_graph: False -2024-02-20 12:22:42, INFO: Skip_connection: True -2024-02-20 12:22:42, INFO: Number of layers: 1 -2024-02-20 12:22:42, INFO: Similarity_func: concatenation -2024-02-20 12:22:42, INFO: Layerwise_graph: False -2024-02-20 12:22:42, INFO: Skip_connection: True -2024-02-20 12:22:42, INFO: Number of layers: 1 -2024-02-20 12:22:42, INFO: Planning depth: 1 -2024-02-20 12:22:42, INFO: Planning width: 10 -2024-02-20 12:22:42, INFO: Sparse search: None -2024-02-20 12:22:44, INFO: human number: 10 -2024-02-20 12:22:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:50, INFO: Using device: cpu -2024-02-20 12:22:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:50, INFO: Similarity_func: concatenation -2024-02-20 12:22:50, INFO: Layerwise_graph: False -2024-02-20 12:22:50, INFO: Skip_connection: True -2024-02-20 12:22:50, INFO: Number of layers: 1 -2024-02-20 12:22:50, INFO: Similarity_func: concatenation -2024-02-20 12:22:50, INFO: Layerwise_graph: False -2024-02-20 12:22:50, INFO: Skip_connection: True -2024-02-20 12:22:50, INFO: Number of layers: 1 -2024-02-20 12:22:50, INFO: Planning depth: 1 -2024-02-20 12:22:50, INFO: Planning width: 10 -2024-02-20 12:22:50, INFO: Sparse search: None -2024-02-20 12:22:53, INFO: human number: 10 -2024-02-20 12:22:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:22:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:22:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:22:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:22:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:22:57, INFO: Using device: cpu -2024-02-20 12:22:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:22:57, INFO: Similarity_func: concatenation -2024-02-20 12:22:57, INFO: Layerwise_graph: False -2024-02-20 12:22:57, INFO: Skip_connection: True -2024-02-20 12:22:57, INFO: Number of layers: 1 -2024-02-20 12:22:57, INFO: Similarity_func: concatenation -2024-02-20 12:22:57, INFO: Layerwise_graph: False -2024-02-20 12:22:57, INFO: Skip_connection: True -2024-02-20 12:22:57, INFO: Number of layers: 1 -2024-02-20 12:22:57, INFO: Planning depth: 1 -2024-02-20 12:22:57, INFO: Planning width: 10 -2024-02-20 12:22:57, INFO: Sparse search: None -2024-02-20 12:23:00, INFO: human number: 10 -2024-02-20 12:23:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:05, INFO: Using device: cpu -2024-02-20 12:23:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:05, INFO: Similarity_func: concatenation -2024-02-20 12:23:05, INFO: Layerwise_graph: False -2024-02-20 12:23:05, INFO: Skip_connection: True -2024-02-20 12:23:05, INFO: Number of layers: 1 -2024-02-20 12:23:05, INFO: Similarity_func: concatenation -2024-02-20 12:23:05, INFO: Layerwise_graph: False -2024-02-20 12:23:05, INFO: Skip_connection: True -2024-02-20 12:23:05, INFO: Number of layers: 1 -2024-02-20 12:23:05, INFO: Planning depth: 1 -2024-02-20 12:23:05, INFO: Planning width: 10 -2024-02-20 12:23:05, INFO: Sparse search: None -2024-02-20 12:23:08, INFO: human number: 10 -2024-02-20 12:23:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:13, INFO: Using device: cpu -2024-02-20 12:23:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:14, INFO: Similarity_func: concatenation -2024-02-20 12:23:14, INFO: Layerwise_graph: False -2024-02-20 12:23:14, INFO: Skip_connection: True -2024-02-20 12:23:14, INFO: Number of layers: 1 -2024-02-20 12:23:14, INFO: Similarity_func: concatenation -2024-02-20 12:23:14, INFO: Layerwise_graph: False -2024-02-20 12:23:14, INFO: Skip_connection: True -2024-02-20 12:23:14, INFO: Number of layers: 1 -2024-02-20 12:23:14, INFO: Planning depth: 1 -2024-02-20 12:23:14, INFO: Planning width: 10 -2024-02-20 12:23:14, INFO: Sparse search: None -2024-02-20 12:23:16, INFO: human number: 10 -2024-02-20 12:23:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:22, INFO: Using device: cpu -2024-02-20 12:23:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:22, INFO: Similarity_func: concatenation -2024-02-20 12:23:22, INFO: Layerwise_graph: False -2024-02-20 12:23:22, INFO: Skip_connection: True -2024-02-20 12:23:22, INFO: Number of layers: 1 -2024-02-20 12:23:22, INFO: Similarity_func: concatenation -2024-02-20 12:23:22, INFO: Layerwise_graph: False -2024-02-20 12:23:22, INFO: Skip_connection: True -2024-02-20 12:23:22, INFO: Number of layers: 1 -2024-02-20 12:23:22, INFO: Planning depth: 1 -2024-02-20 12:23:22, INFO: Planning width: 10 -2024-02-20 12:23:22, INFO: Sparse search: None -2024-02-20 12:23:25, INFO: human number: 10 -2024-02-20 12:23:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:29, INFO: Using device: cpu -2024-02-20 12:23:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:29, INFO: Similarity_func: concatenation -2024-02-20 12:23:29, INFO: Layerwise_graph: False -2024-02-20 12:23:29, INFO: Skip_connection: True -2024-02-20 12:23:29, INFO: Number of layers: 1 -2024-02-20 12:23:29, INFO: Similarity_func: concatenation -2024-02-20 12:23:29, INFO: Layerwise_graph: False -2024-02-20 12:23:29, INFO: Skip_connection: True -2024-02-20 12:23:29, INFO: Number of layers: 1 -2024-02-20 12:23:29, INFO: Planning depth: 1 -2024-02-20 12:23:29, INFO: Planning width: 10 -2024-02-20 12:23:29, INFO: Sparse search: None -2024-02-20 12:23:32, INFO: human number: 10 -2024-02-20 12:23:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:37, INFO: Using device: cpu -2024-02-20 12:23:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:37, INFO: Similarity_func: concatenation -2024-02-20 12:23:37, INFO: Layerwise_graph: False -2024-02-20 12:23:37, INFO: Skip_connection: True -2024-02-20 12:23:37, INFO: Number of layers: 1 -2024-02-20 12:23:37, INFO: Similarity_func: concatenation -2024-02-20 12:23:37, INFO: Layerwise_graph: False -2024-02-20 12:23:37, INFO: Skip_connection: True -2024-02-20 12:23:37, INFO: Number of layers: 1 -2024-02-20 12:23:37, INFO: Planning depth: 1 -2024-02-20 12:23:37, INFO: Planning width: 10 -2024-02-20 12:23:37, INFO: Sparse search: None -2024-02-20 12:23:40, INFO: human number: 10 -2024-02-20 12:23:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:45, INFO: Using device: cpu -2024-02-20 12:23:45, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:45, INFO: Similarity_func: concatenation -2024-02-20 12:23:45, INFO: Layerwise_graph: False -2024-02-20 12:23:45, INFO: Skip_connection: True -2024-02-20 12:23:45, INFO: Number of layers: 1 -2024-02-20 12:23:45, INFO: Similarity_func: concatenation -2024-02-20 12:23:45, INFO: Layerwise_graph: False -2024-02-20 12:23:45, INFO: Skip_connection: True -2024-02-20 12:23:45, INFO: Number of layers: 1 -2024-02-20 12:23:45, INFO: Planning depth: 1 -2024-02-20 12:23:45, INFO: Planning width: 10 -2024-02-20 12:23:45, INFO: Sparse search: None -2024-02-20 12:23:47, INFO: human number: 10 -2024-02-20 12:23:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:23:52, INFO: Using device: cpu -2024-02-20 12:23:52, INFO: Loaded RL weights with best VAL -2024-02-20 12:23:52, INFO: Similarity_func: concatenation -2024-02-20 12:23:52, INFO: Layerwise_graph: False -2024-02-20 12:23:52, INFO: Skip_connection: True -2024-02-20 12:23:52, INFO: Number of layers: 1 -2024-02-20 12:23:52, INFO: Similarity_func: concatenation -2024-02-20 12:23:52, INFO: Layerwise_graph: False -2024-02-20 12:23:52, INFO: Skip_connection: True -2024-02-20 12:23:52, INFO: Number of layers: 1 -2024-02-20 12:23:52, INFO: Planning depth: 1 -2024-02-20 12:23:52, INFO: Planning width: 10 -2024-02-20 12:23:52, INFO: Sparse search: None -2024-02-20 12:23:55, INFO: human number: 10 -2024-02-20 12:23:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:23:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:23:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:23:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:23:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:00, INFO: Using device: cpu -2024-02-20 12:24:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:00, INFO: Similarity_func: concatenation -2024-02-20 12:24:00, INFO: Layerwise_graph: False -2024-02-20 12:24:00, INFO: Skip_connection: True -2024-02-20 12:24:00, INFO: Number of layers: 1 -2024-02-20 12:24:00, INFO: Similarity_func: concatenation -2024-02-20 12:24:00, INFO: Layerwise_graph: False -2024-02-20 12:24:00, INFO: Skip_connection: True -2024-02-20 12:24:00, INFO: Number of layers: 1 -2024-02-20 12:24:00, INFO: Planning depth: 1 -2024-02-20 12:24:00, INFO: Planning width: 10 -2024-02-20 12:24:00, INFO: Sparse search: None -2024-02-20 12:24:03, INFO: human number: 10 -2024-02-20 12:24:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:03, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:08, INFO: Using device: cpu -2024-02-20 12:24:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:08, INFO: Similarity_func: concatenation -2024-02-20 12:24:08, INFO: Layerwise_graph: False -2024-02-20 12:24:08, INFO: Skip_connection: True -2024-02-20 12:24:08, INFO: Number of layers: 1 -2024-02-20 12:24:08, INFO: Similarity_func: concatenation -2024-02-20 12:24:08, INFO: Layerwise_graph: False -2024-02-20 12:24:08, INFO: Skip_connection: True -2024-02-20 12:24:08, INFO: Number of layers: 1 -2024-02-20 12:24:08, INFO: Planning depth: 1 -2024-02-20 12:24:08, INFO: Planning width: 10 -2024-02-20 12:24:08, INFO: Sparse search: None -2024-02-20 12:24:11, INFO: human number: 10 -2024-02-20 12:24:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:16, INFO: Using device: cpu -2024-02-20 12:24:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:16, INFO: Similarity_func: concatenation -2024-02-20 12:24:16, INFO: Layerwise_graph: False -2024-02-20 12:24:16, INFO: Skip_connection: True -2024-02-20 12:24:16, INFO: Number of layers: 1 -2024-02-20 12:24:16, INFO: Similarity_func: concatenation -2024-02-20 12:24:16, INFO: Layerwise_graph: False -2024-02-20 12:24:16, INFO: Skip_connection: True -2024-02-20 12:24:16, INFO: Number of layers: 1 -2024-02-20 12:24:16, INFO: Planning depth: 1 -2024-02-20 12:24:16, INFO: Planning width: 10 -2024-02-20 12:24:16, INFO: Sparse search: None -2024-02-20 12:24:19, INFO: human number: 10 -2024-02-20 12:24:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:23, INFO: Using device: cpu -2024-02-20 12:24:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:23, INFO: Similarity_func: concatenation -2024-02-20 12:24:23, INFO: Layerwise_graph: False -2024-02-20 12:24:23, INFO: Skip_connection: True -2024-02-20 12:24:23, INFO: Number of layers: 1 -2024-02-20 12:24:23, INFO: Similarity_func: concatenation -2024-02-20 12:24:23, INFO: Layerwise_graph: False -2024-02-20 12:24:23, INFO: Skip_connection: True -2024-02-20 12:24:23, INFO: Number of layers: 1 -2024-02-20 12:24:23, INFO: Planning depth: 1 -2024-02-20 12:24:23, INFO: Planning width: 10 -2024-02-20 12:24:23, INFO: Sparse search: None -2024-02-20 12:24:26, INFO: human number: 10 -2024-02-20 12:24:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:31, INFO: Using device: cpu -2024-02-20 12:24:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:31, INFO: Similarity_func: concatenation -2024-02-20 12:24:31, INFO: Layerwise_graph: False -2024-02-20 12:24:31, INFO: Skip_connection: True -2024-02-20 12:24:31, INFO: Number of layers: 1 -2024-02-20 12:24:31, INFO: Similarity_func: concatenation -2024-02-20 12:24:31, INFO: Layerwise_graph: False -2024-02-20 12:24:31, INFO: Skip_connection: True -2024-02-20 12:24:31, INFO: Number of layers: 1 -2024-02-20 12:24:31, INFO: Planning depth: 1 -2024-02-20 12:24:31, INFO: Planning width: 10 -2024-02-20 12:24:31, INFO: Sparse search: None -2024-02-20 12:24:34, INFO: human number: 10 -2024-02-20 12:24:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:39, INFO: Using device: cpu -2024-02-20 12:24:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:39, INFO: Similarity_func: concatenation -2024-02-20 12:24:39, INFO: Layerwise_graph: False -2024-02-20 12:24:39, INFO: Skip_connection: True -2024-02-20 12:24:39, INFO: Number of layers: 1 -2024-02-20 12:24:39, INFO: Similarity_func: concatenation -2024-02-20 12:24:39, INFO: Layerwise_graph: False -2024-02-20 12:24:39, INFO: Skip_connection: True -2024-02-20 12:24:39, INFO: Number of layers: 1 -2024-02-20 12:24:39, INFO: Planning depth: 1 -2024-02-20 12:24:39, INFO: Planning width: 10 -2024-02-20 12:24:39, INFO: Sparse search: None -2024-02-20 12:24:42, INFO: human number: 10 -2024-02-20 12:24:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:47, INFO: Using device: cpu -2024-02-20 12:24:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:47, INFO: Similarity_func: concatenation -2024-02-20 12:24:47, INFO: Layerwise_graph: False -2024-02-20 12:24:47, INFO: Skip_connection: True -2024-02-20 12:24:47, INFO: Number of layers: 1 -2024-02-20 12:24:47, INFO: Similarity_func: concatenation -2024-02-20 12:24:47, INFO: Layerwise_graph: False -2024-02-20 12:24:47, INFO: Skip_connection: True -2024-02-20 12:24:47, INFO: Number of layers: 1 -2024-02-20 12:24:47, INFO: Planning depth: 1 -2024-02-20 12:24:47, INFO: Planning width: 10 -2024-02-20 12:24:47, INFO: Sparse search: None -2024-02-20 12:24:49, INFO: human number: 10 -2024-02-20 12:24:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:24:54, INFO: Using device: cpu -2024-02-20 12:24:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:24:54, INFO: Similarity_func: concatenation -2024-02-20 12:24:54, INFO: Layerwise_graph: False -2024-02-20 12:24:54, INFO: Skip_connection: True -2024-02-20 12:24:54, INFO: Number of layers: 1 -2024-02-20 12:24:54, INFO: Similarity_func: concatenation -2024-02-20 12:24:54, INFO: Layerwise_graph: False -2024-02-20 12:24:54, INFO: Skip_connection: True -2024-02-20 12:24:54, INFO: Number of layers: 1 -2024-02-20 12:24:54, INFO: Planning depth: 1 -2024-02-20 12:24:54, INFO: Planning width: 10 -2024-02-20 12:24:54, INFO: Sparse search: None -2024-02-20 12:24:57, INFO: human number: 10 -2024-02-20 12:24:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:24:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:24:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:24:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:24:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:01, INFO: Using device: cpu -2024-02-20 12:25:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:01, INFO: Similarity_func: concatenation -2024-02-20 12:25:01, INFO: Layerwise_graph: False -2024-02-20 12:25:01, INFO: Skip_connection: True -2024-02-20 12:25:01, INFO: Number of layers: 1 -2024-02-20 12:25:01, INFO: Similarity_func: concatenation -2024-02-20 12:25:01, INFO: Layerwise_graph: False -2024-02-20 12:25:01, INFO: Skip_connection: True -2024-02-20 12:25:01, INFO: Number of layers: 1 -2024-02-20 12:25:01, INFO: Planning depth: 1 -2024-02-20 12:25:01, INFO: Planning width: 10 -2024-02-20 12:25:01, INFO: Sparse search: None -2024-02-20 12:25:04, INFO: human number: 10 -2024-02-20 12:25:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:08, INFO: Using device: cpu -2024-02-20 12:25:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:08, INFO: Similarity_func: concatenation -2024-02-20 12:25:08, INFO: Layerwise_graph: False -2024-02-20 12:25:08, INFO: Skip_connection: True -2024-02-20 12:25:08, INFO: Number of layers: 1 -2024-02-20 12:25:08, INFO: Similarity_func: concatenation -2024-02-20 12:25:08, INFO: Layerwise_graph: False -2024-02-20 12:25:08, INFO: Skip_connection: True -2024-02-20 12:25:08, INFO: Number of layers: 1 -2024-02-20 12:25:08, INFO: Planning depth: 1 -2024-02-20 12:25:08, INFO: Planning width: 10 -2024-02-20 12:25:08, INFO: Sparse search: None -2024-02-20 12:25:11, INFO: human number: 10 -2024-02-20 12:25:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:16, INFO: Using device: cpu -2024-02-20 12:25:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:16, INFO: Similarity_func: concatenation -2024-02-20 12:25:16, INFO: Layerwise_graph: False -2024-02-20 12:25:16, INFO: Skip_connection: True -2024-02-20 12:25:16, INFO: Number of layers: 1 -2024-02-20 12:25:16, INFO: Similarity_func: concatenation -2024-02-20 12:25:16, INFO: Layerwise_graph: False -2024-02-20 12:25:16, INFO: Skip_connection: True -2024-02-20 12:25:16, INFO: Number of layers: 1 -2024-02-20 12:25:16, INFO: Planning depth: 1 -2024-02-20 12:25:16, INFO: Planning width: 10 -2024-02-20 12:25:16, INFO: Sparse search: None -2024-02-20 12:25:19, INFO: human number: 10 -2024-02-20 12:25:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:24, INFO: Using device: cpu -2024-02-20 12:25:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:24, INFO: Similarity_func: concatenation -2024-02-20 12:25:24, INFO: Layerwise_graph: False -2024-02-20 12:25:24, INFO: Skip_connection: True -2024-02-20 12:25:24, INFO: Number of layers: 1 -2024-02-20 12:25:24, INFO: Similarity_func: concatenation -2024-02-20 12:25:24, INFO: Layerwise_graph: False -2024-02-20 12:25:24, INFO: Skip_connection: True -2024-02-20 12:25:24, INFO: Number of layers: 1 -2024-02-20 12:25:24, INFO: Planning depth: 1 -2024-02-20 12:25:24, INFO: Planning width: 10 -2024-02-20 12:25:24, INFO: Sparse search: None -2024-02-20 12:25:27, INFO: human number: 10 -2024-02-20 12:25:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:32, INFO: Using device: cpu -2024-02-20 12:25:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:32, INFO: Similarity_func: concatenation -2024-02-20 12:25:32, INFO: Layerwise_graph: False -2024-02-20 12:25:32, INFO: Skip_connection: True -2024-02-20 12:25:32, INFO: Number of layers: 1 -2024-02-20 12:25:32, INFO: Similarity_func: concatenation -2024-02-20 12:25:32, INFO: Layerwise_graph: False -2024-02-20 12:25:32, INFO: Skip_connection: True -2024-02-20 12:25:32, INFO: Number of layers: 1 -2024-02-20 12:25:32, INFO: Planning depth: 1 -2024-02-20 12:25:32, INFO: Planning width: 10 -2024-02-20 12:25:32, INFO: Sparse search: None -2024-02-20 12:25:35, INFO: human number: 10 -2024-02-20 12:25:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:40, INFO: Using device: cpu -2024-02-20 12:25:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:40, INFO: Similarity_func: concatenation -2024-02-20 12:25:40, INFO: Layerwise_graph: False -2024-02-20 12:25:40, INFO: Skip_connection: True -2024-02-20 12:25:40, INFO: Number of layers: 1 -2024-02-20 12:25:40, INFO: Similarity_func: concatenation -2024-02-20 12:25:40, INFO: Layerwise_graph: False -2024-02-20 12:25:40, INFO: Skip_connection: True -2024-02-20 12:25:40, INFO: Number of layers: 1 -2024-02-20 12:25:40, INFO: Planning depth: 1 -2024-02-20 12:25:40, INFO: Planning width: 10 -2024-02-20 12:25:40, INFO: Sparse search: None -2024-02-20 12:25:43, INFO: human number: 10 -2024-02-20 12:25:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:47, INFO: Using device: cpu -2024-02-20 12:25:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:47, INFO: Similarity_func: concatenation -2024-02-20 12:25:47, INFO: Layerwise_graph: False -2024-02-20 12:25:47, INFO: Skip_connection: True -2024-02-20 12:25:47, INFO: Number of layers: 1 -2024-02-20 12:25:47, INFO: Similarity_func: concatenation -2024-02-20 12:25:47, INFO: Layerwise_graph: False -2024-02-20 12:25:47, INFO: Skip_connection: True -2024-02-20 12:25:47, INFO: Number of layers: 1 -2024-02-20 12:25:47, INFO: Planning depth: 1 -2024-02-20 12:25:47, INFO: Planning width: 10 -2024-02-20 12:25:47, INFO: Sparse search: None -2024-02-20 12:25:50, INFO: human number: 10 -2024-02-20 12:25:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:25:55, INFO: Using device: cpu -2024-02-20 12:25:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:25:55, INFO: Similarity_func: concatenation -2024-02-20 12:25:55, INFO: Layerwise_graph: False -2024-02-20 12:25:55, INFO: Skip_connection: True -2024-02-20 12:25:55, INFO: Number of layers: 1 -2024-02-20 12:25:55, INFO: Similarity_func: concatenation -2024-02-20 12:25:55, INFO: Layerwise_graph: False -2024-02-20 12:25:55, INFO: Skip_connection: True -2024-02-20 12:25:55, INFO: Number of layers: 1 -2024-02-20 12:25:55, INFO: Planning depth: 1 -2024-02-20 12:25:55, INFO: Planning width: 10 -2024-02-20 12:25:55, INFO: Sparse search: None -2024-02-20 12:25:58, INFO: human number: 10 -2024-02-20 12:25:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:25:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:25:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:25:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:25:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:02, INFO: Using device: cpu -2024-02-20 12:26:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:02, INFO: Similarity_func: concatenation -2024-02-20 12:26:02, INFO: Layerwise_graph: False -2024-02-20 12:26:02, INFO: Skip_connection: True -2024-02-20 12:26:02, INFO: Number of layers: 1 -2024-02-20 12:26:02, INFO: Similarity_func: concatenation -2024-02-20 12:26:02, INFO: Layerwise_graph: False -2024-02-20 12:26:02, INFO: Skip_connection: True -2024-02-20 12:26:02, INFO: Number of layers: 1 -2024-02-20 12:26:02, INFO: Planning depth: 1 -2024-02-20 12:26:02, INFO: Planning width: 10 -2024-02-20 12:26:02, INFO: Sparse search: None -2024-02-20 12:26:05, INFO: human number: 10 -2024-02-20 12:26:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:10, INFO: Using device: cpu -2024-02-20 12:26:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:10, INFO: Similarity_func: concatenation -2024-02-20 12:26:10, INFO: Layerwise_graph: False -2024-02-20 12:26:10, INFO: Skip_connection: True -2024-02-20 12:26:10, INFO: Number of layers: 1 -2024-02-20 12:26:10, INFO: Similarity_func: concatenation -2024-02-20 12:26:10, INFO: Layerwise_graph: False -2024-02-20 12:26:10, INFO: Skip_connection: True -2024-02-20 12:26:10, INFO: Number of layers: 1 -2024-02-20 12:26:10, INFO: Planning depth: 1 -2024-02-20 12:26:10, INFO: Planning width: 10 -2024-02-20 12:26:10, INFO: Sparse search: None -2024-02-20 12:26:12, INFO: human number: 10 -2024-02-20 12:26:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:18, INFO: Using device: cpu -2024-02-20 12:26:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:18, INFO: Similarity_func: concatenation -2024-02-20 12:26:18, INFO: Layerwise_graph: False -2024-02-20 12:26:18, INFO: Skip_connection: True -2024-02-20 12:26:18, INFO: Number of layers: 1 -2024-02-20 12:26:18, INFO: Similarity_func: concatenation -2024-02-20 12:26:18, INFO: Layerwise_graph: False -2024-02-20 12:26:18, INFO: Skip_connection: True -2024-02-20 12:26:18, INFO: Number of layers: 1 -2024-02-20 12:26:18, INFO: Planning depth: 1 -2024-02-20 12:26:18, INFO: Planning width: 10 -2024-02-20 12:26:18, INFO: Sparse search: None -2024-02-20 12:26:21, INFO: human number: 10 -2024-02-20 12:26:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:25, INFO: Using device: cpu -2024-02-20 12:26:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:25, INFO: Similarity_func: concatenation -2024-02-20 12:26:25, INFO: Layerwise_graph: False -2024-02-20 12:26:25, INFO: Skip_connection: True -2024-02-20 12:26:25, INFO: Number of layers: 1 -2024-02-20 12:26:25, INFO: Similarity_func: concatenation -2024-02-20 12:26:25, INFO: Layerwise_graph: False -2024-02-20 12:26:25, INFO: Skip_connection: True -2024-02-20 12:26:25, INFO: Number of layers: 1 -2024-02-20 12:26:25, INFO: Planning depth: 1 -2024-02-20 12:26:25, INFO: Planning width: 10 -2024-02-20 12:26:25, INFO: Sparse search: None -2024-02-20 12:26:28, INFO: human number: 10 -2024-02-20 12:26:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:33, INFO: Using device: cpu -2024-02-20 12:26:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:33, INFO: Similarity_func: concatenation -2024-02-20 12:26:33, INFO: Layerwise_graph: False -2024-02-20 12:26:33, INFO: Skip_connection: True -2024-02-20 12:26:33, INFO: Number of layers: 1 -2024-02-20 12:26:33, INFO: Similarity_func: concatenation -2024-02-20 12:26:33, INFO: Layerwise_graph: False -2024-02-20 12:26:33, INFO: Skip_connection: True -2024-02-20 12:26:33, INFO: Number of layers: 1 -2024-02-20 12:26:33, INFO: Planning depth: 1 -2024-02-20 12:26:33, INFO: Planning width: 10 -2024-02-20 12:26:33, INFO: Sparse search: None -2024-02-20 12:26:36, INFO: human number: 10 -2024-02-20 12:26:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:36, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:41, INFO: Using device: cpu -2024-02-20 12:26:41, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:41, INFO: Similarity_func: concatenation -2024-02-20 12:26:41, INFO: Layerwise_graph: False -2024-02-20 12:26:41, INFO: Skip_connection: True -2024-02-20 12:26:41, INFO: Number of layers: 1 -2024-02-20 12:26:41, INFO: Similarity_func: concatenation -2024-02-20 12:26:41, INFO: Layerwise_graph: False -2024-02-20 12:26:41, INFO: Skip_connection: True -2024-02-20 12:26:41, INFO: Number of layers: 1 -2024-02-20 12:26:41, INFO: Planning depth: 1 -2024-02-20 12:26:41, INFO: Planning width: 10 -2024-02-20 12:26:41, INFO: Sparse search: None -2024-02-20 12:26:44, INFO: human number: 10 -2024-02-20 12:26:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:48, INFO: Using device: cpu -2024-02-20 12:26:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:48, INFO: Similarity_func: concatenation -2024-02-20 12:26:48, INFO: Layerwise_graph: False -2024-02-20 12:26:48, INFO: Skip_connection: True -2024-02-20 12:26:48, INFO: Number of layers: 1 -2024-02-20 12:26:48, INFO: Similarity_func: concatenation -2024-02-20 12:26:48, INFO: Layerwise_graph: False -2024-02-20 12:26:48, INFO: Skip_connection: True -2024-02-20 12:26:48, INFO: Number of layers: 1 -2024-02-20 12:26:48, INFO: Planning depth: 1 -2024-02-20 12:26:48, INFO: Planning width: 10 -2024-02-20 12:26:48, INFO: Sparse search: None -2024-02-20 12:26:51, INFO: human number: 10 -2024-02-20 12:26:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:26:55, INFO: Using device: cpu -2024-02-20 12:26:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:26:55, INFO: Similarity_func: concatenation -2024-02-20 12:26:55, INFO: Layerwise_graph: False -2024-02-20 12:26:55, INFO: Skip_connection: True -2024-02-20 12:26:55, INFO: Number of layers: 1 -2024-02-20 12:26:55, INFO: Similarity_func: concatenation -2024-02-20 12:26:55, INFO: Layerwise_graph: False -2024-02-20 12:26:55, INFO: Skip_connection: True -2024-02-20 12:26:55, INFO: Number of layers: 1 -2024-02-20 12:26:55, INFO: Planning depth: 1 -2024-02-20 12:26:55, INFO: Planning width: 10 -2024-02-20 12:26:55, INFO: Sparse search: None -2024-02-20 12:26:58, INFO: human number: 10 -2024-02-20 12:26:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:26:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:26:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:26:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:26:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:05, INFO: Using device: cpu -2024-02-20 12:27:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:05, INFO: Similarity_func: concatenation -2024-02-20 12:27:05, INFO: Layerwise_graph: False -2024-02-20 12:27:05, INFO: Skip_connection: True -2024-02-20 12:27:05, INFO: Number of layers: 1 -2024-02-20 12:27:05, INFO: Similarity_func: concatenation -2024-02-20 12:27:05, INFO: Layerwise_graph: False -2024-02-20 12:27:05, INFO: Skip_connection: True -2024-02-20 12:27:05, INFO: Number of layers: 1 -2024-02-20 12:27:05, INFO: Planning depth: 1 -2024-02-20 12:27:05, INFO: Planning width: 10 -2024-02-20 12:27:05, INFO: Sparse search: None -2024-02-20 12:27:08, INFO: human number: 10 -2024-02-20 12:27:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:13, INFO: Using device: cpu -2024-02-20 12:27:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:13, INFO: Similarity_func: concatenation -2024-02-20 12:27:13, INFO: Layerwise_graph: False -2024-02-20 12:27:13, INFO: Skip_connection: True -2024-02-20 12:27:13, INFO: Number of layers: 1 -2024-02-20 12:27:13, INFO: Similarity_func: concatenation -2024-02-20 12:27:13, INFO: Layerwise_graph: False -2024-02-20 12:27:13, INFO: Skip_connection: True -2024-02-20 12:27:13, INFO: Number of layers: 1 -2024-02-20 12:27:13, INFO: Planning depth: 1 -2024-02-20 12:27:13, INFO: Planning width: 10 -2024-02-20 12:27:13, INFO: Sparse search: None -2024-02-20 12:27:16, INFO: human number: 10 -2024-02-20 12:27:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:20, INFO: Using device: cpu -2024-02-20 12:27:20, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:20, INFO: Similarity_func: concatenation -2024-02-20 12:27:20, INFO: Layerwise_graph: False -2024-02-20 12:27:20, INFO: Skip_connection: True -2024-02-20 12:27:20, INFO: Number of layers: 1 -2024-02-20 12:27:20, INFO: Similarity_func: concatenation -2024-02-20 12:27:20, INFO: Layerwise_graph: False -2024-02-20 12:27:20, INFO: Skip_connection: True -2024-02-20 12:27:20, INFO: Number of layers: 1 -2024-02-20 12:27:20, INFO: Planning depth: 1 -2024-02-20 12:27:20, INFO: Planning width: 10 -2024-02-20 12:27:20, INFO: Sparse search: None -2024-02-20 12:27:23, INFO: human number: 10 -2024-02-20 12:27:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:23, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:30, INFO: Using device: cpu -2024-02-20 12:27:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:30, INFO: Similarity_func: concatenation -2024-02-20 12:27:30, INFO: Layerwise_graph: False -2024-02-20 12:27:30, INFO: Skip_connection: True -2024-02-20 12:27:30, INFO: Number of layers: 1 -2024-02-20 12:27:30, INFO: Similarity_func: concatenation -2024-02-20 12:27:30, INFO: Layerwise_graph: False -2024-02-20 12:27:30, INFO: Skip_connection: True -2024-02-20 12:27:30, INFO: Number of layers: 1 -2024-02-20 12:27:30, INFO: Planning depth: 1 -2024-02-20 12:27:30, INFO: Planning width: 10 -2024-02-20 12:27:30, INFO: Sparse search: None -2024-02-20 12:27:33, INFO: human number: 10 -2024-02-20 12:27:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:38, INFO: Using device: cpu -2024-02-20 12:27:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:38, INFO: Similarity_func: concatenation -2024-02-20 12:27:38, INFO: Layerwise_graph: False -2024-02-20 12:27:38, INFO: Skip_connection: True -2024-02-20 12:27:38, INFO: Number of layers: 1 -2024-02-20 12:27:38, INFO: Similarity_func: concatenation -2024-02-20 12:27:38, INFO: Layerwise_graph: False -2024-02-20 12:27:38, INFO: Skip_connection: True -2024-02-20 12:27:38, INFO: Number of layers: 1 -2024-02-20 12:27:38, INFO: Planning depth: 1 -2024-02-20 12:27:38, INFO: Planning width: 10 -2024-02-20 12:27:38, INFO: Sparse search: None -2024-02-20 12:27:41, INFO: human number: 10 -2024-02-20 12:27:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:46, INFO: Using device: cpu -2024-02-20 12:27:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:46, INFO: Similarity_func: concatenation -2024-02-20 12:27:46, INFO: Layerwise_graph: False -2024-02-20 12:27:46, INFO: Skip_connection: True -2024-02-20 12:27:46, INFO: Number of layers: 1 -2024-02-20 12:27:46, INFO: Similarity_func: concatenation -2024-02-20 12:27:46, INFO: Layerwise_graph: False -2024-02-20 12:27:46, INFO: Skip_connection: True -2024-02-20 12:27:46, INFO: Number of layers: 1 -2024-02-20 12:27:46, INFO: Planning depth: 1 -2024-02-20 12:27:46, INFO: Planning width: 10 -2024-02-20 12:27:46, INFO: Sparse search: None -2024-02-20 12:27:48, INFO: human number: 10 -2024-02-20 12:27:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:48, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:27:55, INFO: Using device: cpu -2024-02-20 12:27:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:27:55, INFO: Similarity_func: concatenation -2024-02-20 12:27:55, INFO: Layerwise_graph: False -2024-02-20 12:27:55, INFO: Skip_connection: True -2024-02-20 12:27:55, INFO: Number of layers: 1 -2024-02-20 12:27:55, INFO: Similarity_func: concatenation -2024-02-20 12:27:55, INFO: Layerwise_graph: False -2024-02-20 12:27:55, INFO: Skip_connection: True -2024-02-20 12:27:55, INFO: Number of layers: 1 -2024-02-20 12:27:55, INFO: Planning depth: 1 -2024-02-20 12:27:55, INFO: Planning width: 10 -2024-02-20 12:27:55, INFO: Sparse search: None -2024-02-20 12:27:58, INFO: human number: 10 -2024-02-20 12:27:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:27:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:27:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:27:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:27:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:03, INFO: Using device: cpu -2024-02-20 12:28:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:03, INFO: Similarity_func: concatenation -2024-02-20 12:28:03, INFO: Layerwise_graph: False -2024-02-20 12:28:03, INFO: Skip_connection: True -2024-02-20 12:28:03, INFO: Number of layers: 1 -2024-02-20 12:28:03, INFO: Similarity_func: concatenation -2024-02-20 12:28:03, INFO: Layerwise_graph: False -2024-02-20 12:28:03, INFO: Skip_connection: True -2024-02-20 12:28:03, INFO: Number of layers: 1 -2024-02-20 12:28:03, INFO: Planning depth: 1 -2024-02-20 12:28:03, INFO: Planning width: 10 -2024-02-20 12:28:03, INFO: Sparse search: None -2024-02-20 12:28:05, INFO: human number: 10 -2024-02-20 12:28:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:10, INFO: Using device: cpu -2024-02-20 12:28:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:10, INFO: Similarity_func: concatenation -2024-02-20 12:28:10, INFO: Layerwise_graph: False -2024-02-20 12:28:10, INFO: Skip_connection: True -2024-02-20 12:28:10, INFO: Number of layers: 1 -2024-02-20 12:28:10, INFO: Similarity_func: concatenation -2024-02-20 12:28:10, INFO: Layerwise_graph: False -2024-02-20 12:28:10, INFO: Skip_connection: True -2024-02-20 12:28:10, INFO: Number of layers: 1 -2024-02-20 12:28:10, INFO: Planning depth: 1 -2024-02-20 12:28:10, INFO: Planning width: 10 -2024-02-20 12:28:10, INFO: Sparse search: None -2024-02-20 12:28:12, INFO: human number: 10 -2024-02-20 12:28:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:17, INFO: Using device: cpu -2024-02-20 12:28:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:17, INFO: Similarity_func: concatenation -2024-02-20 12:28:17, INFO: Layerwise_graph: False -2024-02-20 12:28:17, INFO: Skip_connection: True -2024-02-20 12:28:17, INFO: Number of layers: 1 -2024-02-20 12:28:17, INFO: Similarity_func: concatenation -2024-02-20 12:28:17, INFO: Layerwise_graph: False -2024-02-20 12:28:17, INFO: Skip_connection: True -2024-02-20 12:28:17, INFO: Number of layers: 1 -2024-02-20 12:28:17, INFO: Planning depth: 1 -2024-02-20 12:28:17, INFO: Planning width: 10 -2024-02-20 12:28:17, INFO: Sparse search: None -2024-02-20 12:28:20, INFO: human number: 10 -2024-02-20 12:28:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:24, INFO: Using device: cpu -2024-02-20 12:28:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:24, INFO: Similarity_func: concatenation -2024-02-20 12:28:24, INFO: Layerwise_graph: False -2024-02-20 12:28:24, INFO: Skip_connection: True -2024-02-20 12:28:24, INFO: Number of layers: 1 -2024-02-20 12:28:24, INFO: Similarity_func: concatenation -2024-02-20 12:28:24, INFO: Layerwise_graph: False -2024-02-20 12:28:24, INFO: Skip_connection: True -2024-02-20 12:28:24, INFO: Number of layers: 1 -2024-02-20 12:28:24, INFO: Planning depth: 1 -2024-02-20 12:28:24, INFO: Planning width: 10 -2024-02-20 12:28:24, INFO: Sparse search: None -2024-02-20 12:28:27, INFO: human number: 10 -2024-02-20 12:28:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:33, INFO: Using device: cpu -2024-02-20 12:28:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:33, INFO: Similarity_func: concatenation -2024-02-20 12:28:33, INFO: Layerwise_graph: False -2024-02-20 12:28:33, INFO: Skip_connection: True -2024-02-20 12:28:33, INFO: Number of layers: 1 -2024-02-20 12:28:33, INFO: Similarity_func: concatenation -2024-02-20 12:28:33, INFO: Layerwise_graph: False -2024-02-20 12:28:33, INFO: Skip_connection: True -2024-02-20 12:28:33, INFO: Number of layers: 1 -2024-02-20 12:28:33, INFO: Planning depth: 1 -2024-02-20 12:28:33, INFO: Planning width: 10 -2024-02-20 12:28:33, INFO: Sparse search: None -2024-02-20 12:28:36, INFO: human number: 10 -2024-02-20 12:28:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:36, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:40, INFO: Using device: cpu -2024-02-20 12:28:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:40, INFO: Similarity_func: concatenation -2024-02-20 12:28:40, INFO: Layerwise_graph: False -2024-02-20 12:28:40, INFO: Skip_connection: True -2024-02-20 12:28:40, INFO: Number of layers: 1 -2024-02-20 12:28:40, INFO: Similarity_func: concatenation -2024-02-20 12:28:40, INFO: Layerwise_graph: False -2024-02-20 12:28:40, INFO: Skip_connection: True -2024-02-20 12:28:40, INFO: Number of layers: 1 -2024-02-20 12:28:40, INFO: Planning depth: 1 -2024-02-20 12:28:40, INFO: Planning width: 10 -2024-02-20 12:28:40, INFO: Sparse search: None -2024-02-20 12:28:43, INFO: human number: 10 -2024-02-20 12:28:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:47, INFO: Using device: cpu -2024-02-20 12:28:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:47, INFO: Similarity_func: concatenation -2024-02-20 12:28:47, INFO: Layerwise_graph: False -2024-02-20 12:28:47, INFO: Skip_connection: True -2024-02-20 12:28:47, INFO: Number of layers: 1 -2024-02-20 12:28:47, INFO: Similarity_func: concatenation -2024-02-20 12:28:47, INFO: Layerwise_graph: False -2024-02-20 12:28:47, INFO: Skip_connection: True -2024-02-20 12:28:47, INFO: Number of layers: 1 -2024-02-20 12:28:47, INFO: Planning depth: 1 -2024-02-20 12:28:47, INFO: Planning width: 10 -2024-02-20 12:28:47, INFO: Sparse search: None -2024-02-20 12:28:50, INFO: human number: 10 -2024-02-20 12:28:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:28:54, INFO: Using device: cpu -2024-02-20 12:28:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:28:54, INFO: Similarity_func: concatenation -2024-02-20 12:28:54, INFO: Layerwise_graph: False -2024-02-20 12:28:54, INFO: Skip_connection: True -2024-02-20 12:28:54, INFO: Number of layers: 1 -2024-02-20 12:28:54, INFO: Similarity_func: concatenation -2024-02-20 12:28:54, INFO: Layerwise_graph: False -2024-02-20 12:28:54, INFO: Skip_connection: True -2024-02-20 12:28:54, INFO: Number of layers: 1 -2024-02-20 12:28:54, INFO: Planning depth: 1 -2024-02-20 12:28:54, INFO: Planning width: 10 -2024-02-20 12:28:54, INFO: Sparse search: None -2024-02-20 12:28:57, INFO: human number: 10 -2024-02-20 12:28:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:28:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:28:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:28:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:28:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:03, INFO: Using device: cpu -2024-02-20 12:29:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:03, INFO: Similarity_func: concatenation -2024-02-20 12:29:03, INFO: Layerwise_graph: False -2024-02-20 12:29:03, INFO: Skip_connection: True -2024-02-20 12:29:03, INFO: Number of layers: 1 -2024-02-20 12:29:03, INFO: Similarity_func: concatenation -2024-02-20 12:29:03, INFO: Layerwise_graph: False -2024-02-20 12:29:03, INFO: Skip_connection: True -2024-02-20 12:29:03, INFO: Number of layers: 1 -2024-02-20 12:29:03, INFO: Planning depth: 1 -2024-02-20 12:29:03, INFO: Planning width: 10 -2024-02-20 12:29:03, INFO: Sparse search: None -2024-02-20 12:29:06, INFO: human number: 10 -2024-02-20 12:29:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:10, INFO: Using device: cpu -2024-02-20 12:29:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:10, INFO: Similarity_func: concatenation -2024-02-20 12:29:10, INFO: Layerwise_graph: False -2024-02-20 12:29:10, INFO: Skip_connection: True -2024-02-20 12:29:10, INFO: Number of layers: 1 -2024-02-20 12:29:10, INFO: Similarity_func: concatenation -2024-02-20 12:29:10, INFO: Layerwise_graph: False -2024-02-20 12:29:10, INFO: Skip_connection: True -2024-02-20 12:29:10, INFO: Number of layers: 1 -2024-02-20 12:29:10, INFO: Planning depth: 1 -2024-02-20 12:29:10, INFO: Planning width: 10 -2024-02-20 12:29:10, INFO: Sparse search: None -2024-02-20 12:29:13, INFO: human number: 10 -2024-02-20 12:29:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:17, INFO: Using device: cpu -2024-02-20 12:29:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:17, INFO: Similarity_func: concatenation -2024-02-20 12:29:17, INFO: Layerwise_graph: False -2024-02-20 12:29:17, INFO: Skip_connection: True -2024-02-20 12:29:17, INFO: Number of layers: 1 -2024-02-20 12:29:17, INFO: Similarity_func: concatenation -2024-02-20 12:29:17, INFO: Layerwise_graph: False -2024-02-20 12:29:17, INFO: Skip_connection: True -2024-02-20 12:29:17, INFO: Number of layers: 1 -2024-02-20 12:29:17, INFO: Planning depth: 1 -2024-02-20 12:29:17, INFO: Planning width: 10 -2024-02-20 12:29:17, INFO: Sparse search: None -2024-02-20 12:29:20, INFO: human number: 10 -2024-02-20 12:29:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:25, INFO: Using device: cpu -2024-02-20 12:29:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:25, INFO: Similarity_func: concatenation -2024-02-20 12:29:25, INFO: Layerwise_graph: False -2024-02-20 12:29:25, INFO: Skip_connection: True -2024-02-20 12:29:25, INFO: Number of layers: 1 -2024-02-20 12:29:25, INFO: Similarity_func: concatenation -2024-02-20 12:29:25, INFO: Layerwise_graph: False -2024-02-20 12:29:25, INFO: Skip_connection: True -2024-02-20 12:29:25, INFO: Number of layers: 1 -2024-02-20 12:29:25, INFO: Planning depth: 1 -2024-02-20 12:29:25, INFO: Planning width: 10 -2024-02-20 12:29:25, INFO: Sparse search: None -2024-02-20 12:29:28, INFO: human number: 10 -2024-02-20 12:29:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:33, INFO: Using device: cpu -2024-02-20 12:29:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:33, INFO: Similarity_func: concatenation -2024-02-20 12:29:33, INFO: Layerwise_graph: False -2024-02-20 12:29:33, INFO: Skip_connection: True -2024-02-20 12:29:33, INFO: Number of layers: 1 -2024-02-20 12:29:33, INFO: Similarity_func: concatenation -2024-02-20 12:29:33, INFO: Layerwise_graph: False -2024-02-20 12:29:33, INFO: Skip_connection: True -2024-02-20 12:29:33, INFO: Number of layers: 1 -2024-02-20 12:29:33, INFO: Planning depth: 1 -2024-02-20 12:29:33, INFO: Planning width: 10 -2024-02-20 12:29:33, INFO: Sparse search: None -2024-02-20 12:29:35, INFO: human number: 10 -2024-02-20 12:29:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:40, INFO: Using device: cpu -2024-02-20 12:29:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:40, INFO: Similarity_func: concatenation -2024-02-20 12:29:40, INFO: Layerwise_graph: False -2024-02-20 12:29:40, INFO: Skip_connection: True -2024-02-20 12:29:40, INFO: Number of layers: 1 -2024-02-20 12:29:40, INFO: Similarity_func: concatenation -2024-02-20 12:29:40, INFO: Layerwise_graph: False -2024-02-20 12:29:40, INFO: Skip_connection: True -2024-02-20 12:29:40, INFO: Number of layers: 1 -2024-02-20 12:29:40, INFO: Planning depth: 1 -2024-02-20 12:29:40, INFO: Planning width: 10 -2024-02-20 12:29:40, INFO: Sparse search: None -2024-02-20 12:29:43, INFO: human number: 10 -2024-02-20 12:29:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:48, INFO: Using device: cpu -2024-02-20 12:29:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:48, INFO: Similarity_func: concatenation -2024-02-20 12:29:48, INFO: Layerwise_graph: False -2024-02-20 12:29:48, INFO: Skip_connection: True -2024-02-20 12:29:48, INFO: Number of layers: 1 -2024-02-20 12:29:48, INFO: Similarity_func: concatenation -2024-02-20 12:29:48, INFO: Layerwise_graph: False -2024-02-20 12:29:48, INFO: Skip_connection: True -2024-02-20 12:29:48, INFO: Number of layers: 1 -2024-02-20 12:29:48, INFO: Planning depth: 1 -2024-02-20 12:29:48, INFO: Planning width: 10 -2024-02-20 12:29:48, INFO: Sparse search: None -2024-02-20 12:29:51, INFO: human number: 10 -2024-02-20 12:29:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:29:55, INFO: Using device: cpu -2024-02-20 12:29:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:29:55, INFO: Similarity_func: concatenation -2024-02-20 12:29:55, INFO: Layerwise_graph: False -2024-02-20 12:29:55, INFO: Skip_connection: True -2024-02-20 12:29:55, INFO: Number of layers: 1 -2024-02-20 12:29:55, INFO: Similarity_func: concatenation -2024-02-20 12:29:55, INFO: Layerwise_graph: False -2024-02-20 12:29:55, INFO: Skip_connection: True -2024-02-20 12:29:55, INFO: Number of layers: 1 -2024-02-20 12:29:55, INFO: Planning depth: 1 -2024-02-20 12:29:55, INFO: Planning width: 10 -2024-02-20 12:29:55, INFO: Sparse search: None -2024-02-20 12:29:58, INFO: human number: 10 -2024-02-20 12:29:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:29:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:29:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:29:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:29:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:04, INFO: Using device: cpu -2024-02-20 12:30:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:04, INFO: Similarity_func: concatenation -2024-02-20 12:30:04, INFO: Layerwise_graph: False -2024-02-20 12:30:04, INFO: Skip_connection: True -2024-02-20 12:30:04, INFO: Number of layers: 1 -2024-02-20 12:30:04, INFO: Similarity_func: concatenation -2024-02-20 12:30:04, INFO: Layerwise_graph: False -2024-02-20 12:30:04, INFO: Skip_connection: True -2024-02-20 12:30:04, INFO: Number of layers: 1 -2024-02-20 12:30:04, INFO: Planning depth: 1 -2024-02-20 12:30:04, INFO: Planning width: 10 -2024-02-20 12:30:04, INFO: Sparse search: None -2024-02-20 12:30:07, INFO: human number: 10 -2024-02-20 12:30:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:11, INFO: Using device: cpu -2024-02-20 12:30:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:11, INFO: Similarity_func: concatenation -2024-02-20 12:30:11, INFO: Layerwise_graph: False -2024-02-20 12:30:11, INFO: Skip_connection: True -2024-02-20 12:30:11, INFO: Number of layers: 1 -2024-02-20 12:30:11, INFO: Similarity_func: concatenation -2024-02-20 12:30:11, INFO: Layerwise_graph: False -2024-02-20 12:30:11, INFO: Skip_connection: True -2024-02-20 12:30:11, INFO: Number of layers: 1 -2024-02-20 12:30:11, INFO: Planning depth: 1 -2024-02-20 12:30:11, INFO: Planning width: 10 -2024-02-20 12:30:11, INFO: Sparse search: None -2024-02-20 12:30:14, INFO: human number: 10 -2024-02-20 12:30:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:19, INFO: Using device: cpu -2024-02-20 12:30:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:19, INFO: Similarity_func: concatenation -2024-02-20 12:30:19, INFO: Layerwise_graph: False -2024-02-20 12:30:19, INFO: Skip_connection: True -2024-02-20 12:30:19, INFO: Number of layers: 1 -2024-02-20 12:30:19, INFO: Similarity_func: concatenation -2024-02-20 12:30:19, INFO: Layerwise_graph: False -2024-02-20 12:30:19, INFO: Skip_connection: True -2024-02-20 12:30:19, INFO: Number of layers: 1 -2024-02-20 12:30:19, INFO: Planning depth: 1 -2024-02-20 12:30:19, INFO: Planning width: 10 -2024-02-20 12:30:19, INFO: Sparse search: None -2024-02-20 12:30:22, INFO: human number: 10 -2024-02-20 12:30:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:26, INFO: Using device: cpu -2024-02-20 12:30:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:26, INFO: Similarity_func: concatenation -2024-02-20 12:30:26, INFO: Layerwise_graph: False -2024-02-20 12:30:26, INFO: Skip_connection: True -2024-02-20 12:30:26, INFO: Number of layers: 1 -2024-02-20 12:30:26, INFO: Similarity_func: concatenation -2024-02-20 12:30:26, INFO: Layerwise_graph: False -2024-02-20 12:30:26, INFO: Skip_connection: True -2024-02-20 12:30:26, INFO: Number of layers: 1 -2024-02-20 12:30:26, INFO: Planning depth: 1 -2024-02-20 12:30:26, INFO: Planning width: 10 -2024-02-20 12:30:26, INFO: Sparse search: None -2024-02-20 12:30:29, INFO: human number: 10 -2024-02-20 12:30:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:34, INFO: Using device: cpu -2024-02-20 12:30:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:34, INFO: Similarity_func: concatenation -2024-02-20 12:30:34, INFO: Layerwise_graph: False -2024-02-20 12:30:34, INFO: Skip_connection: True -2024-02-20 12:30:34, INFO: Number of layers: 1 -2024-02-20 12:30:34, INFO: Similarity_func: concatenation -2024-02-20 12:30:34, INFO: Layerwise_graph: False -2024-02-20 12:30:34, INFO: Skip_connection: True -2024-02-20 12:30:34, INFO: Number of layers: 1 -2024-02-20 12:30:34, INFO: Planning depth: 1 -2024-02-20 12:30:34, INFO: Planning width: 10 -2024-02-20 12:30:34, INFO: Sparse search: None -2024-02-20 12:30:37, INFO: human number: 10 -2024-02-20 12:30:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:42, INFO: Using device: cpu -2024-02-20 12:30:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:42, INFO: Similarity_func: concatenation -2024-02-20 12:30:42, INFO: Layerwise_graph: False -2024-02-20 12:30:42, INFO: Skip_connection: True -2024-02-20 12:30:42, INFO: Number of layers: 1 -2024-02-20 12:30:42, INFO: Similarity_func: concatenation -2024-02-20 12:30:42, INFO: Layerwise_graph: False -2024-02-20 12:30:42, INFO: Skip_connection: True -2024-02-20 12:30:42, INFO: Number of layers: 1 -2024-02-20 12:30:42, INFO: Planning depth: 1 -2024-02-20 12:30:42, INFO: Planning width: 10 -2024-02-20 12:30:42, INFO: Sparse search: None -2024-02-20 12:30:45, INFO: human number: 10 -2024-02-20 12:30:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:50, INFO: Using device: cpu -2024-02-20 12:30:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:50, INFO: Similarity_func: concatenation -2024-02-20 12:30:50, INFO: Layerwise_graph: False -2024-02-20 12:30:50, INFO: Skip_connection: True -2024-02-20 12:30:50, INFO: Number of layers: 1 -2024-02-20 12:30:50, INFO: Similarity_func: concatenation -2024-02-20 12:30:50, INFO: Layerwise_graph: False -2024-02-20 12:30:50, INFO: Skip_connection: True -2024-02-20 12:30:50, INFO: Number of layers: 1 -2024-02-20 12:30:50, INFO: Planning depth: 1 -2024-02-20 12:30:50, INFO: Planning width: 10 -2024-02-20 12:30:50, INFO: Sparse search: None -2024-02-20 12:30:52, INFO: human number: 10 -2024-02-20 12:30:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:30:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:30:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:30:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:30:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:30:57, INFO: Using device: cpu -2024-02-20 12:30:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:30:57, INFO: Similarity_func: concatenation -2024-02-20 12:30:57, INFO: Layerwise_graph: False -2024-02-20 12:30:57, INFO: Skip_connection: True -2024-02-20 12:30:57, INFO: Number of layers: 1 -2024-02-20 12:30:57, INFO: Similarity_func: concatenation -2024-02-20 12:30:57, INFO: Layerwise_graph: False -2024-02-20 12:30:57, INFO: Skip_connection: True -2024-02-20 12:30:57, INFO: Number of layers: 1 -2024-02-20 12:30:57, INFO: Planning depth: 1 -2024-02-20 12:30:57, INFO: Planning width: 10 -2024-02-20 12:30:57, INFO: Sparse search: None -2024-02-20 12:31:00, INFO: human number: 10 -2024-02-20 12:31:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:05, INFO: Using device: cpu -2024-02-20 12:31:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:05, INFO: Similarity_func: concatenation -2024-02-20 12:31:05, INFO: Layerwise_graph: False -2024-02-20 12:31:05, INFO: Skip_connection: True -2024-02-20 12:31:05, INFO: Number of layers: 1 -2024-02-20 12:31:05, INFO: Similarity_func: concatenation -2024-02-20 12:31:05, INFO: Layerwise_graph: False -2024-02-20 12:31:05, INFO: Skip_connection: True -2024-02-20 12:31:05, INFO: Number of layers: 1 -2024-02-20 12:31:05, INFO: Planning depth: 1 -2024-02-20 12:31:05, INFO: Planning width: 10 -2024-02-20 12:31:05, INFO: Sparse search: None -2024-02-20 12:31:08, INFO: human number: 10 -2024-02-20 12:31:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:13, INFO: Using device: cpu -2024-02-20 12:31:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:13, INFO: Similarity_func: concatenation -2024-02-20 12:31:13, INFO: Layerwise_graph: False -2024-02-20 12:31:13, INFO: Skip_connection: True -2024-02-20 12:31:13, INFO: Number of layers: 1 -2024-02-20 12:31:13, INFO: Similarity_func: concatenation -2024-02-20 12:31:13, INFO: Layerwise_graph: False -2024-02-20 12:31:13, INFO: Skip_connection: True -2024-02-20 12:31:13, INFO: Number of layers: 1 -2024-02-20 12:31:13, INFO: Planning depth: 1 -2024-02-20 12:31:13, INFO: Planning width: 10 -2024-02-20 12:31:13, INFO: Sparse search: None -2024-02-20 12:31:16, INFO: human number: 10 -2024-02-20 12:31:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:21, INFO: Using device: cpu -2024-02-20 12:31:21, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:21, INFO: Similarity_func: concatenation -2024-02-20 12:31:21, INFO: Layerwise_graph: False -2024-02-20 12:31:21, INFO: Skip_connection: True -2024-02-20 12:31:21, INFO: Number of layers: 1 -2024-02-20 12:31:21, INFO: Similarity_func: concatenation -2024-02-20 12:31:21, INFO: Layerwise_graph: False -2024-02-20 12:31:21, INFO: Skip_connection: True -2024-02-20 12:31:21, INFO: Number of layers: 1 -2024-02-20 12:31:21, INFO: Planning depth: 1 -2024-02-20 12:31:21, INFO: Planning width: 10 -2024-02-20 12:31:21, INFO: Sparse search: None -2024-02-20 12:31:24, INFO: human number: 10 -2024-02-20 12:31:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:28, INFO: Using device: cpu -2024-02-20 12:31:28, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:28, INFO: Similarity_func: concatenation -2024-02-20 12:31:28, INFO: Layerwise_graph: False -2024-02-20 12:31:28, INFO: Skip_connection: True -2024-02-20 12:31:28, INFO: Number of layers: 1 -2024-02-20 12:31:28, INFO: Similarity_func: concatenation -2024-02-20 12:31:28, INFO: Layerwise_graph: False -2024-02-20 12:31:28, INFO: Skip_connection: True -2024-02-20 12:31:28, INFO: Number of layers: 1 -2024-02-20 12:31:28, INFO: Planning depth: 1 -2024-02-20 12:31:28, INFO: Planning width: 10 -2024-02-20 12:31:28, INFO: Sparse search: None -2024-02-20 12:31:31, INFO: human number: 10 -2024-02-20 12:31:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:31, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:35, INFO: Using device: cpu -2024-02-20 12:31:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:35, INFO: Similarity_func: concatenation -2024-02-20 12:31:35, INFO: Layerwise_graph: False -2024-02-20 12:31:35, INFO: Skip_connection: True -2024-02-20 12:31:35, INFO: Number of layers: 1 -2024-02-20 12:31:35, INFO: Similarity_func: concatenation -2024-02-20 12:31:35, INFO: Layerwise_graph: False -2024-02-20 12:31:35, INFO: Skip_connection: True -2024-02-20 12:31:35, INFO: Number of layers: 1 -2024-02-20 12:31:35, INFO: Planning depth: 1 -2024-02-20 12:31:35, INFO: Planning width: 10 -2024-02-20 12:31:35, INFO: Sparse search: None -2024-02-20 12:31:38, INFO: human number: 10 -2024-02-20 12:31:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:42, INFO: Using device: cpu -2024-02-20 12:31:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:42, INFO: Similarity_func: concatenation -2024-02-20 12:31:42, INFO: Layerwise_graph: False -2024-02-20 12:31:42, INFO: Skip_connection: True -2024-02-20 12:31:42, INFO: Number of layers: 1 -2024-02-20 12:31:42, INFO: Similarity_func: concatenation -2024-02-20 12:31:42, INFO: Layerwise_graph: False -2024-02-20 12:31:42, INFO: Skip_connection: True -2024-02-20 12:31:42, INFO: Number of layers: 1 -2024-02-20 12:31:42, INFO: Planning depth: 1 -2024-02-20 12:31:42, INFO: Planning width: 10 -2024-02-20 12:31:42, INFO: Sparse search: None -2024-02-20 12:31:45, INFO: human number: 10 -2024-02-20 12:31:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:50, INFO: Using device: cpu -2024-02-20 12:31:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:50, INFO: Similarity_func: concatenation -2024-02-20 12:31:50, INFO: Layerwise_graph: False -2024-02-20 12:31:50, INFO: Skip_connection: True -2024-02-20 12:31:50, INFO: Number of layers: 1 -2024-02-20 12:31:50, INFO: Similarity_func: concatenation -2024-02-20 12:31:50, INFO: Layerwise_graph: False -2024-02-20 12:31:50, INFO: Skip_connection: True -2024-02-20 12:31:50, INFO: Number of layers: 1 -2024-02-20 12:31:50, INFO: Planning depth: 1 -2024-02-20 12:31:50, INFO: Planning width: 10 -2024-02-20 12:31:50, INFO: Sparse search: None -2024-02-20 12:31:53, INFO: human number: 10 -2024-02-20 12:31:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:31:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:31:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:31:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:31:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:31:58, INFO: Using device: cpu -2024-02-20 12:31:58, INFO: Loaded RL weights with best VAL -2024-02-20 12:31:58, INFO: Similarity_func: concatenation -2024-02-20 12:31:58, INFO: Layerwise_graph: False -2024-02-20 12:31:58, INFO: Skip_connection: True -2024-02-20 12:31:58, INFO: Number of layers: 1 -2024-02-20 12:31:58, INFO: Similarity_func: concatenation -2024-02-20 12:31:58, INFO: Layerwise_graph: False -2024-02-20 12:31:58, INFO: Skip_connection: True -2024-02-20 12:31:58, INFO: Number of layers: 1 -2024-02-20 12:31:58, INFO: Planning depth: 1 -2024-02-20 12:31:58, INFO: Planning width: 10 -2024-02-20 12:31:58, INFO: Sparse search: None -2024-02-20 12:32:01, INFO: human number: 10 -2024-02-20 12:32:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:01, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:06, INFO: Using device: cpu -2024-02-20 12:32:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:06, INFO: Similarity_func: concatenation -2024-02-20 12:32:06, INFO: Layerwise_graph: False -2024-02-20 12:32:06, INFO: Skip_connection: True -2024-02-20 12:32:06, INFO: Number of layers: 1 -2024-02-20 12:32:06, INFO: Similarity_func: concatenation -2024-02-20 12:32:06, INFO: Layerwise_graph: False -2024-02-20 12:32:06, INFO: Skip_connection: True -2024-02-20 12:32:06, INFO: Number of layers: 1 -2024-02-20 12:32:06, INFO: Planning depth: 1 -2024-02-20 12:32:06, INFO: Planning width: 10 -2024-02-20 12:32:06, INFO: Sparse search: None -2024-02-20 12:32:09, INFO: human number: 10 -2024-02-20 12:32:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:14, INFO: Using device: cpu -2024-02-20 12:32:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:14, INFO: Similarity_func: concatenation -2024-02-20 12:32:14, INFO: Layerwise_graph: False -2024-02-20 12:32:14, INFO: Skip_connection: True -2024-02-20 12:32:14, INFO: Number of layers: 1 -2024-02-20 12:32:14, INFO: Similarity_func: concatenation -2024-02-20 12:32:14, INFO: Layerwise_graph: False -2024-02-20 12:32:14, INFO: Skip_connection: True -2024-02-20 12:32:14, INFO: Number of layers: 1 -2024-02-20 12:32:14, INFO: Planning depth: 1 -2024-02-20 12:32:14, INFO: Planning width: 10 -2024-02-20 12:32:14, INFO: Sparse search: None -2024-02-20 12:32:17, INFO: human number: 10 -2024-02-20 12:32:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:22, INFO: Using device: cpu -2024-02-20 12:32:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:22, INFO: Similarity_func: concatenation -2024-02-20 12:32:22, INFO: Layerwise_graph: False -2024-02-20 12:32:22, INFO: Skip_connection: True -2024-02-20 12:32:22, INFO: Number of layers: 1 -2024-02-20 12:32:22, INFO: Similarity_func: concatenation -2024-02-20 12:32:22, INFO: Layerwise_graph: False -2024-02-20 12:32:22, INFO: Skip_connection: True -2024-02-20 12:32:22, INFO: Number of layers: 1 -2024-02-20 12:32:22, INFO: Planning depth: 1 -2024-02-20 12:32:22, INFO: Planning width: 10 -2024-02-20 12:32:22, INFO: Sparse search: None -2024-02-20 12:32:25, INFO: human number: 10 -2024-02-20 12:32:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:30, INFO: Using device: cpu -2024-02-20 12:32:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:30, INFO: Similarity_func: concatenation -2024-02-20 12:32:30, INFO: Layerwise_graph: False -2024-02-20 12:32:30, INFO: Skip_connection: True -2024-02-20 12:32:30, INFO: Number of layers: 1 -2024-02-20 12:32:30, INFO: Similarity_func: concatenation -2024-02-20 12:32:30, INFO: Layerwise_graph: False -2024-02-20 12:32:30, INFO: Skip_connection: True -2024-02-20 12:32:30, INFO: Number of layers: 1 -2024-02-20 12:32:30, INFO: Planning depth: 1 -2024-02-20 12:32:30, INFO: Planning width: 10 -2024-02-20 12:32:30, INFO: Sparse search: None -2024-02-20 12:32:33, INFO: human number: 10 -2024-02-20 12:32:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:38, INFO: Using device: cpu -2024-02-20 12:32:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:38, INFO: Similarity_func: concatenation -2024-02-20 12:32:38, INFO: Layerwise_graph: False -2024-02-20 12:32:38, INFO: Skip_connection: True -2024-02-20 12:32:38, INFO: Number of layers: 1 -2024-02-20 12:32:38, INFO: Similarity_func: concatenation -2024-02-20 12:32:38, INFO: Layerwise_graph: False -2024-02-20 12:32:38, INFO: Skip_connection: True -2024-02-20 12:32:38, INFO: Number of layers: 1 -2024-02-20 12:32:38, INFO: Planning depth: 1 -2024-02-20 12:32:38, INFO: Planning width: 10 -2024-02-20 12:32:38, INFO: Sparse search: None -2024-02-20 12:32:41, INFO: human number: 10 -2024-02-20 12:32:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:46, INFO: Using device: cpu -2024-02-20 12:32:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:46, INFO: Similarity_func: concatenation -2024-02-20 12:32:46, INFO: Layerwise_graph: False -2024-02-20 12:32:46, INFO: Skip_connection: True -2024-02-20 12:32:46, INFO: Number of layers: 1 -2024-02-20 12:32:46, INFO: Similarity_func: concatenation -2024-02-20 12:32:46, INFO: Layerwise_graph: False -2024-02-20 12:32:46, INFO: Skip_connection: True -2024-02-20 12:32:46, INFO: Number of layers: 1 -2024-02-20 12:32:46, INFO: Planning depth: 1 -2024-02-20 12:32:46, INFO: Planning width: 10 -2024-02-20 12:32:46, INFO: Sparse search: None -2024-02-20 12:32:49, INFO: human number: 10 -2024-02-20 12:32:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:32:54, INFO: Using device: cpu -2024-02-20 12:32:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:32:54, INFO: Similarity_func: concatenation -2024-02-20 12:32:54, INFO: Layerwise_graph: False -2024-02-20 12:32:54, INFO: Skip_connection: True -2024-02-20 12:32:54, INFO: Number of layers: 1 -2024-02-20 12:32:54, INFO: Similarity_func: concatenation -2024-02-20 12:32:54, INFO: Layerwise_graph: False -2024-02-20 12:32:54, INFO: Skip_connection: True -2024-02-20 12:32:54, INFO: Number of layers: 1 -2024-02-20 12:32:54, INFO: Planning depth: 1 -2024-02-20 12:32:54, INFO: Planning width: 10 -2024-02-20 12:32:54, INFO: Sparse search: None -2024-02-20 12:32:57, INFO: human number: 10 -2024-02-20 12:32:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:32:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:32:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:32:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:32:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:02, INFO: Using device: cpu -2024-02-20 12:33:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:02, INFO: Similarity_func: concatenation -2024-02-20 12:33:02, INFO: Layerwise_graph: False -2024-02-20 12:33:02, INFO: Skip_connection: True -2024-02-20 12:33:02, INFO: Number of layers: 1 -2024-02-20 12:33:02, INFO: Similarity_func: concatenation -2024-02-20 12:33:02, INFO: Layerwise_graph: False -2024-02-20 12:33:02, INFO: Skip_connection: True -2024-02-20 12:33:02, INFO: Number of layers: 1 -2024-02-20 12:33:02, INFO: Planning depth: 1 -2024-02-20 12:33:02, INFO: Planning width: 10 -2024-02-20 12:33:02, INFO: Sparse search: None -2024-02-20 12:33:05, INFO: human number: 10 -2024-02-20 12:33:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:10, INFO: Using device: cpu -2024-02-20 12:33:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:10, INFO: Similarity_func: concatenation -2024-02-20 12:33:10, INFO: Layerwise_graph: False -2024-02-20 12:33:10, INFO: Skip_connection: True -2024-02-20 12:33:10, INFO: Number of layers: 1 -2024-02-20 12:33:10, INFO: Similarity_func: concatenation -2024-02-20 12:33:10, INFO: Layerwise_graph: False -2024-02-20 12:33:10, INFO: Skip_connection: True -2024-02-20 12:33:10, INFO: Number of layers: 1 -2024-02-20 12:33:10, INFO: Planning depth: 1 -2024-02-20 12:33:10, INFO: Planning width: 10 -2024-02-20 12:33:10, INFO: Sparse search: None -2024-02-20 12:33:12, INFO: human number: 10 -2024-02-20 12:33:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:18, INFO: Using device: cpu -2024-02-20 12:33:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:18, INFO: Similarity_func: concatenation -2024-02-20 12:33:18, INFO: Layerwise_graph: False -2024-02-20 12:33:18, INFO: Skip_connection: True -2024-02-20 12:33:18, INFO: Number of layers: 1 -2024-02-20 12:33:18, INFO: Similarity_func: concatenation -2024-02-20 12:33:18, INFO: Layerwise_graph: False -2024-02-20 12:33:18, INFO: Skip_connection: True -2024-02-20 12:33:18, INFO: Number of layers: 1 -2024-02-20 12:33:18, INFO: Planning depth: 1 -2024-02-20 12:33:18, INFO: Planning width: 10 -2024-02-20 12:33:18, INFO: Sparse search: None -2024-02-20 12:33:20, INFO: human number: 10 -2024-02-20 12:33:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:25, INFO: Using device: cpu -2024-02-20 12:33:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:25, INFO: Similarity_func: concatenation -2024-02-20 12:33:25, INFO: Layerwise_graph: False -2024-02-20 12:33:25, INFO: Skip_connection: True -2024-02-20 12:33:25, INFO: Number of layers: 1 -2024-02-20 12:33:25, INFO: Similarity_func: concatenation -2024-02-20 12:33:25, INFO: Layerwise_graph: False -2024-02-20 12:33:25, INFO: Skip_connection: True -2024-02-20 12:33:25, INFO: Number of layers: 1 -2024-02-20 12:33:25, INFO: Planning depth: 1 -2024-02-20 12:33:25, INFO: Planning width: 10 -2024-02-20 12:33:25, INFO: Sparse search: None -2024-02-20 12:33:28, INFO: human number: 10 -2024-02-20 12:33:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:33, INFO: Using device: cpu -2024-02-20 12:33:33, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:33, INFO: Similarity_func: concatenation -2024-02-20 12:33:33, INFO: Layerwise_graph: False -2024-02-20 12:33:33, INFO: Skip_connection: True -2024-02-20 12:33:33, INFO: Number of layers: 1 -2024-02-20 12:33:33, INFO: Similarity_func: concatenation -2024-02-20 12:33:33, INFO: Layerwise_graph: False -2024-02-20 12:33:33, INFO: Skip_connection: True -2024-02-20 12:33:33, INFO: Number of layers: 1 -2024-02-20 12:33:33, INFO: Planning depth: 1 -2024-02-20 12:33:33, INFO: Planning width: 10 -2024-02-20 12:33:33, INFO: Sparse search: None -2024-02-20 12:33:36, INFO: human number: 10 -2024-02-20 12:33:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:36, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:41, INFO: Using device: cpu -2024-02-20 12:33:41, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:41, INFO: Similarity_func: concatenation -2024-02-20 12:33:41, INFO: Layerwise_graph: False -2024-02-20 12:33:41, INFO: Skip_connection: True -2024-02-20 12:33:41, INFO: Number of layers: 1 -2024-02-20 12:33:41, INFO: Similarity_func: concatenation -2024-02-20 12:33:41, INFO: Layerwise_graph: False -2024-02-20 12:33:41, INFO: Skip_connection: True -2024-02-20 12:33:41, INFO: Number of layers: 1 -2024-02-20 12:33:41, INFO: Planning depth: 1 -2024-02-20 12:33:41, INFO: Planning width: 10 -2024-02-20 12:33:41, INFO: Sparse search: None -2024-02-20 12:33:44, INFO: human number: 10 -2024-02-20 12:33:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:49, INFO: Using device: cpu -2024-02-20 12:33:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:49, INFO: Similarity_func: concatenation -2024-02-20 12:33:49, INFO: Layerwise_graph: False -2024-02-20 12:33:49, INFO: Skip_connection: True -2024-02-20 12:33:49, INFO: Number of layers: 1 -2024-02-20 12:33:49, INFO: Similarity_func: concatenation -2024-02-20 12:33:49, INFO: Layerwise_graph: False -2024-02-20 12:33:49, INFO: Skip_connection: True -2024-02-20 12:33:49, INFO: Number of layers: 1 -2024-02-20 12:33:49, INFO: Planning depth: 1 -2024-02-20 12:33:49, INFO: Planning width: 10 -2024-02-20 12:33:49, INFO: Sparse search: None -2024-02-20 12:33:51, INFO: human number: 10 -2024-02-20 12:33:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:33:57, INFO: Using device: cpu -2024-02-20 12:33:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:33:57, INFO: Similarity_func: concatenation -2024-02-20 12:33:57, INFO: Layerwise_graph: False -2024-02-20 12:33:57, INFO: Skip_connection: True -2024-02-20 12:33:57, INFO: Number of layers: 1 -2024-02-20 12:33:57, INFO: Similarity_func: concatenation -2024-02-20 12:33:57, INFO: Layerwise_graph: False -2024-02-20 12:33:57, INFO: Skip_connection: True -2024-02-20 12:33:57, INFO: Number of layers: 1 -2024-02-20 12:33:57, INFO: Planning depth: 1 -2024-02-20 12:33:57, INFO: Planning width: 10 -2024-02-20 12:33:57, INFO: Sparse search: None -2024-02-20 12:33:59, INFO: human number: 10 -2024-02-20 12:33:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:33:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:33:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:33:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:33:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:04, INFO: Using device: cpu -2024-02-20 12:34:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:04, INFO: Similarity_func: concatenation -2024-02-20 12:34:04, INFO: Layerwise_graph: False -2024-02-20 12:34:04, INFO: Skip_connection: True -2024-02-20 12:34:04, INFO: Number of layers: 1 -2024-02-20 12:34:04, INFO: Similarity_func: concatenation -2024-02-20 12:34:04, INFO: Layerwise_graph: False -2024-02-20 12:34:04, INFO: Skip_connection: True -2024-02-20 12:34:04, INFO: Number of layers: 1 -2024-02-20 12:34:04, INFO: Planning depth: 1 -2024-02-20 12:34:04, INFO: Planning width: 10 -2024-02-20 12:34:04, INFO: Sparse search: None -2024-02-20 12:34:07, INFO: human number: 10 -2024-02-20 12:34:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:11, INFO: Using device: cpu -2024-02-20 12:34:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:11, INFO: Similarity_func: concatenation -2024-02-20 12:34:11, INFO: Layerwise_graph: False -2024-02-20 12:34:11, INFO: Skip_connection: True -2024-02-20 12:34:11, INFO: Number of layers: 1 -2024-02-20 12:34:11, INFO: Similarity_func: concatenation -2024-02-20 12:34:11, INFO: Layerwise_graph: False -2024-02-20 12:34:11, INFO: Skip_connection: True -2024-02-20 12:34:11, INFO: Number of layers: 1 -2024-02-20 12:34:11, INFO: Planning depth: 1 -2024-02-20 12:34:11, INFO: Planning width: 10 -2024-02-20 12:34:11, INFO: Sparse search: None -2024-02-20 12:34:14, INFO: human number: 10 -2024-02-20 12:34:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:19, INFO: Using device: cpu -2024-02-20 12:34:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:19, INFO: Similarity_func: concatenation -2024-02-20 12:34:19, INFO: Layerwise_graph: False -2024-02-20 12:34:19, INFO: Skip_connection: True -2024-02-20 12:34:19, INFO: Number of layers: 1 -2024-02-20 12:34:19, INFO: Similarity_func: concatenation -2024-02-20 12:34:19, INFO: Layerwise_graph: False -2024-02-20 12:34:19, INFO: Skip_connection: True -2024-02-20 12:34:19, INFO: Number of layers: 1 -2024-02-20 12:34:19, INFO: Planning depth: 1 -2024-02-20 12:34:19, INFO: Planning width: 10 -2024-02-20 12:34:19, INFO: Sparse search: None -2024-02-20 12:34:21, INFO: human number: 10 -2024-02-20 12:34:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:26, INFO: Using device: cpu -2024-02-20 12:34:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:26, INFO: Similarity_func: concatenation -2024-02-20 12:34:26, INFO: Layerwise_graph: False -2024-02-20 12:34:26, INFO: Skip_connection: True -2024-02-20 12:34:26, INFO: Number of layers: 1 -2024-02-20 12:34:26, INFO: Similarity_func: concatenation -2024-02-20 12:34:26, INFO: Layerwise_graph: False -2024-02-20 12:34:26, INFO: Skip_connection: True -2024-02-20 12:34:26, INFO: Number of layers: 1 -2024-02-20 12:34:26, INFO: Planning depth: 1 -2024-02-20 12:34:26, INFO: Planning width: 10 -2024-02-20 12:34:26, INFO: Sparse search: None -2024-02-20 12:34:29, INFO: human number: 10 -2024-02-20 12:34:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:35, INFO: Using device: cpu -2024-02-20 12:34:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:35, INFO: Similarity_func: concatenation -2024-02-20 12:34:35, INFO: Layerwise_graph: False -2024-02-20 12:34:35, INFO: Skip_connection: True -2024-02-20 12:34:35, INFO: Number of layers: 1 -2024-02-20 12:34:35, INFO: Similarity_func: concatenation -2024-02-20 12:34:35, INFO: Layerwise_graph: False -2024-02-20 12:34:35, INFO: Skip_connection: True -2024-02-20 12:34:35, INFO: Number of layers: 1 -2024-02-20 12:34:35, INFO: Planning depth: 1 -2024-02-20 12:34:35, INFO: Planning width: 10 -2024-02-20 12:34:35, INFO: Sparse search: None -2024-02-20 12:34:38, INFO: human number: 10 -2024-02-20 12:34:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:42, INFO: Using device: cpu -2024-02-20 12:34:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:42, INFO: Similarity_func: concatenation -2024-02-20 12:34:42, INFO: Layerwise_graph: False -2024-02-20 12:34:42, INFO: Skip_connection: True -2024-02-20 12:34:42, INFO: Number of layers: 1 -2024-02-20 12:34:42, INFO: Similarity_func: concatenation -2024-02-20 12:34:42, INFO: Layerwise_graph: False -2024-02-20 12:34:42, INFO: Skip_connection: True -2024-02-20 12:34:42, INFO: Number of layers: 1 -2024-02-20 12:34:42, INFO: Planning depth: 1 -2024-02-20 12:34:42, INFO: Planning width: 10 -2024-02-20 12:34:42, INFO: Sparse search: None -2024-02-20 12:34:45, INFO: human number: 10 -2024-02-20 12:34:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:50, INFO: Using device: cpu -2024-02-20 12:34:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:50, INFO: Similarity_func: concatenation -2024-02-20 12:34:50, INFO: Layerwise_graph: False -2024-02-20 12:34:50, INFO: Skip_connection: True -2024-02-20 12:34:50, INFO: Number of layers: 1 -2024-02-20 12:34:50, INFO: Similarity_func: concatenation -2024-02-20 12:34:50, INFO: Layerwise_graph: False -2024-02-20 12:34:50, INFO: Skip_connection: True -2024-02-20 12:34:50, INFO: Number of layers: 1 -2024-02-20 12:34:50, INFO: Planning depth: 1 -2024-02-20 12:34:50, INFO: Planning width: 10 -2024-02-20 12:34:50, INFO: Sparse search: None -2024-02-20 12:34:52, INFO: human number: 10 -2024-02-20 12:34:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:34:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:34:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:34:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:34:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:34:58, INFO: Using device: cpu -2024-02-20 12:34:58, INFO: Loaded RL weights with best VAL -2024-02-20 12:34:58, INFO: Similarity_func: concatenation -2024-02-20 12:34:58, INFO: Layerwise_graph: False -2024-02-20 12:34:58, INFO: Skip_connection: True -2024-02-20 12:34:58, INFO: Number of layers: 1 -2024-02-20 12:34:58, INFO: Similarity_func: concatenation -2024-02-20 12:34:58, INFO: Layerwise_graph: False -2024-02-20 12:34:58, INFO: Skip_connection: True -2024-02-20 12:34:58, INFO: Number of layers: 1 -2024-02-20 12:34:58, INFO: Planning depth: 1 -2024-02-20 12:34:58, INFO: Planning width: 10 -2024-02-20 12:34:58, INFO: Sparse search: None -2024-02-20 12:35:01, INFO: human number: 10 -2024-02-20 12:35:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:01, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:06, INFO: Using device: cpu -2024-02-20 12:35:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:06, INFO: Similarity_func: concatenation -2024-02-20 12:35:06, INFO: Layerwise_graph: False -2024-02-20 12:35:06, INFO: Skip_connection: True -2024-02-20 12:35:06, INFO: Number of layers: 1 -2024-02-20 12:35:06, INFO: Similarity_func: concatenation -2024-02-20 12:35:06, INFO: Layerwise_graph: False -2024-02-20 12:35:06, INFO: Skip_connection: True -2024-02-20 12:35:06, INFO: Number of layers: 1 -2024-02-20 12:35:06, INFO: Planning depth: 1 -2024-02-20 12:35:06, INFO: Planning width: 10 -2024-02-20 12:35:06, INFO: Sparse search: None -2024-02-20 12:35:08, INFO: human number: 10 -2024-02-20 12:35:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:08, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:13, INFO: Using device: cpu -2024-02-20 12:35:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:13, INFO: Similarity_func: concatenation -2024-02-20 12:35:13, INFO: Layerwise_graph: False -2024-02-20 12:35:13, INFO: Skip_connection: True -2024-02-20 12:35:13, INFO: Number of layers: 1 -2024-02-20 12:35:13, INFO: Similarity_func: concatenation -2024-02-20 12:35:13, INFO: Layerwise_graph: False -2024-02-20 12:35:13, INFO: Skip_connection: True -2024-02-20 12:35:13, INFO: Number of layers: 1 -2024-02-20 12:35:13, INFO: Planning depth: 1 -2024-02-20 12:35:13, INFO: Planning width: 10 -2024-02-20 12:35:13, INFO: Sparse search: None -2024-02-20 12:35:16, INFO: human number: 10 -2024-02-20 12:35:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:23, INFO: Using device: cpu -2024-02-20 12:35:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:23, INFO: Similarity_func: concatenation -2024-02-20 12:35:23, INFO: Layerwise_graph: False -2024-02-20 12:35:23, INFO: Skip_connection: True -2024-02-20 12:35:23, INFO: Number of layers: 1 -2024-02-20 12:35:23, INFO: Similarity_func: concatenation -2024-02-20 12:35:23, INFO: Layerwise_graph: False -2024-02-20 12:35:23, INFO: Skip_connection: True -2024-02-20 12:35:23, INFO: Number of layers: 1 -2024-02-20 12:35:23, INFO: Planning depth: 1 -2024-02-20 12:35:23, INFO: Planning width: 10 -2024-02-20 12:35:23, INFO: Sparse search: None -2024-02-20 12:35:26, INFO: human number: 10 -2024-02-20 12:35:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:30, INFO: Using device: cpu -2024-02-20 12:35:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:30, INFO: Similarity_func: concatenation -2024-02-20 12:35:30, INFO: Layerwise_graph: False -2024-02-20 12:35:30, INFO: Skip_connection: True -2024-02-20 12:35:30, INFO: Number of layers: 1 -2024-02-20 12:35:30, INFO: Similarity_func: concatenation -2024-02-20 12:35:30, INFO: Layerwise_graph: False -2024-02-20 12:35:30, INFO: Skip_connection: True -2024-02-20 12:35:30, INFO: Number of layers: 1 -2024-02-20 12:35:30, INFO: Planning depth: 1 -2024-02-20 12:35:30, INFO: Planning width: 10 -2024-02-20 12:35:30, INFO: Sparse search: None -2024-02-20 12:35:33, INFO: human number: 10 -2024-02-20 12:35:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:37, INFO: Using device: cpu -2024-02-20 12:35:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:37, INFO: Similarity_func: concatenation -2024-02-20 12:35:37, INFO: Layerwise_graph: False -2024-02-20 12:35:37, INFO: Skip_connection: True -2024-02-20 12:35:37, INFO: Number of layers: 1 -2024-02-20 12:35:37, INFO: Similarity_func: concatenation -2024-02-20 12:35:37, INFO: Layerwise_graph: False -2024-02-20 12:35:37, INFO: Skip_connection: True -2024-02-20 12:35:37, INFO: Number of layers: 1 -2024-02-20 12:35:37, INFO: Planning depth: 1 -2024-02-20 12:35:37, INFO: Planning width: 10 -2024-02-20 12:35:37, INFO: Sparse search: None -2024-02-20 12:35:40, INFO: human number: 10 -2024-02-20 12:35:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:45, INFO: Using device: cpu -2024-02-20 12:35:45, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:45, INFO: Similarity_func: concatenation -2024-02-20 12:35:45, INFO: Layerwise_graph: False -2024-02-20 12:35:45, INFO: Skip_connection: True -2024-02-20 12:35:45, INFO: Number of layers: 1 -2024-02-20 12:35:45, INFO: Similarity_func: concatenation -2024-02-20 12:35:45, INFO: Layerwise_graph: False -2024-02-20 12:35:45, INFO: Skip_connection: True -2024-02-20 12:35:45, INFO: Number of layers: 1 -2024-02-20 12:35:45, INFO: Planning depth: 1 -2024-02-20 12:35:45, INFO: Planning width: 10 -2024-02-20 12:35:45, INFO: Sparse search: None -2024-02-20 12:35:48, INFO: human number: 10 -2024-02-20 12:35:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:48, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:35:53, INFO: Using device: cpu -2024-02-20 12:35:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:35:53, INFO: Similarity_func: concatenation -2024-02-20 12:35:53, INFO: Layerwise_graph: False -2024-02-20 12:35:53, INFO: Skip_connection: True -2024-02-20 12:35:53, INFO: Number of layers: 1 -2024-02-20 12:35:53, INFO: Similarity_func: concatenation -2024-02-20 12:35:53, INFO: Layerwise_graph: False -2024-02-20 12:35:53, INFO: Skip_connection: True -2024-02-20 12:35:53, INFO: Number of layers: 1 -2024-02-20 12:35:53, INFO: Planning depth: 1 -2024-02-20 12:35:53, INFO: Planning width: 10 -2024-02-20 12:35:53, INFO: Sparse search: None -2024-02-20 12:35:55, INFO: human number: 10 -2024-02-20 12:35:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:35:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:35:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:35:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:35:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:00, INFO: Using device: cpu -2024-02-20 12:36:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:00, INFO: Similarity_func: concatenation -2024-02-20 12:36:00, INFO: Layerwise_graph: False -2024-02-20 12:36:00, INFO: Skip_connection: True -2024-02-20 12:36:00, INFO: Number of layers: 1 -2024-02-20 12:36:00, INFO: Similarity_func: concatenation -2024-02-20 12:36:00, INFO: Layerwise_graph: False -2024-02-20 12:36:00, INFO: Skip_connection: True -2024-02-20 12:36:00, INFO: Number of layers: 1 -2024-02-20 12:36:00, INFO: Planning depth: 1 -2024-02-20 12:36:00, INFO: Planning width: 10 -2024-02-20 12:36:00, INFO: Sparse search: None -2024-02-20 12:36:02, INFO: human number: 10 -2024-02-20 12:36:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:08, INFO: Using device: cpu -2024-02-20 12:36:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:08, INFO: Similarity_func: concatenation -2024-02-20 12:36:08, INFO: Layerwise_graph: False -2024-02-20 12:36:08, INFO: Skip_connection: True -2024-02-20 12:36:08, INFO: Number of layers: 1 -2024-02-20 12:36:08, INFO: Similarity_func: concatenation -2024-02-20 12:36:08, INFO: Layerwise_graph: False -2024-02-20 12:36:08, INFO: Skip_connection: True -2024-02-20 12:36:08, INFO: Number of layers: 1 -2024-02-20 12:36:08, INFO: Planning depth: 1 -2024-02-20 12:36:08, INFO: Planning width: 10 -2024-02-20 12:36:08, INFO: Sparse search: None -2024-02-20 12:36:10, INFO: human number: 10 -2024-02-20 12:36:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:10, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:15, INFO: Using device: cpu -2024-02-20 12:36:15, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:15, INFO: Similarity_func: concatenation -2024-02-20 12:36:15, INFO: Layerwise_graph: False -2024-02-20 12:36:15, INFO: Skip_connection: True -2024-02-20 12:36:15, INFO: Number of layers: 1 -2024-02-20 12:36:15, INFO: Similarity_func: concatenation -2024-02-20 12:36:15, INFO: Layerwise_graph: False -2024-02-20 12:36:15, INFO: Skip_connection: True -2024-02-20 12:36:15, INFO: Number of layers: 1 -2024-02-20 12:36:15, INFO: Planning depth: 1 -2024-02-20 12:36:15, INFO: Planning width: 10 -2024-02-20 12:36:15, INFO: Sparse search: None -2024-02-20 12:36:18, INFO: human number: 10 -2024-02-20 12:36:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:18, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:23, INFO: Using device: cpu -2024-02-20 12:36:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:23, INFO: Similarity_func: concatenation -2024-02-20 12:36:23, INFO: Layerwise_graph: False -2024-02-20 12:36:23, INFO: Skip_connection: True -2024-02-20 12:36:23, INFO: Number of layers: 1 -2024-02-20 12:36:23, INFO: Similarity_func: concatenation -2024-02-20 12:36:23, INFO: Layerwise_graph: False -2024-02-20 12:36:23, INFO: Skip_connection: True -2024-02-20 12:36:23, INFO: Number of layers: 1 -2024-02-20 12:36:23, INFO: Planning depth: 1 -2024-02-20 12:36:23, INFO: Planning width: 10 -2024-02-20 12:36:23, INFO: Sparse search: None -2024-02-20 12:36:26, INFO: human number: 10 -2024-02-20 12:36:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:32, INFO: Using device: cpu -2024-02-20 12:36:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:32, INFO: Similarity_func: concatenation -2024-02-20 12:36:32, INFO: Layerwise_graph: False -2024-02-20 12:36:32, INFO: Skip_connection: True -2024-02-20 12:36:32, INFO: Number of layers: 1 -2024-02-20 12:36:32, INFO: Similarity_func: concatenation -2024-02-20 12:36:32, INFO: Layerwise_graph: False -2024-02-20 12:36:32, INFO: Skip_connection: True -2024-02-20 12:36:32, INFO: Number of layers: 1 -2024-02-20 12:36:32, INFO: Planning depth: 1 -2024-02-20 12:36:32, INFO: Planning width: 10 -2024-02-20 12:36:32, INFO: Sparse search: None -2024-02-20 12:36:35, INFO: human number: 10 -2024-02-20 12:36:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:40, INFO: Using device: cpu -2024-02-20 12:36:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:40, INFO: Similarity_func: concatenation -2024-02-20 12:36:40, INFO: Layerwise_graph: False -2024-02-20 12:36:40, INFO: Skip_connection: True -2024-02-20 12:36:40, INFO: Number of layers: 1 -2024-02-20 12:36:40, INFO: Similarity_func: concatenation -2024-02-20 12:36:40, INFO: Layerwise_graph: False -2024-02-20 12:36:40, INFO: Skip_connection: True -2024-02-20 12:36:40, INFO: Number of layers: 1 -2024-02-20 12:36:40, INFO: Planning depth: 1 -2024-02-20 12:36:40, INFO: Planning width: 10 -2024-02-20 12:36:40, INFO: Sparse search: None -2024-02-20 12:36:43, INFO: human number: 10 -2024-02-20 12:36:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:47, INFO: Using device: cpu -2024-02-20 12:36:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:47, INFO: Similarity_func: concatenation -2024-02-20 12:36:47, INFO: Layerwise_graph: False -2024-02-20 12:36:47, INFO: Skip_connection: True -2024-02-20 12:36:47, INFO: Number of layers: 1 -2024-02-20 12:36:47, INFO: Similarity_func: concatenation -2024-02-20 12:36:47, INFO: Layerwise_graph: False -2024-02-20 12:36:47, INFO: Skip_connection: True -2024-02-20 12:36:47, INFO: Number of layers: 1 -2024-02-20 12:36:47, INFO: Planning depth: 1 -2024-02-20 12:36:47, INFO: Planning width: 10 -2024-02-20 12:36:47, INFO: Sparse search: None -2024-02-20 12:36:50, INFO: human number: 10 -2024-02-20 12:36:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:36:55, INFO: Using device: cpu -2024-02-20 12:36:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:36:55, INFO: Similarity_func: concatenation -2024-02-20 12:36:55, INFO: Layerwise_graph: False -2024-02-20 12:36:55, INFO: Skip_connection: True -2024-02-20 12:36:55, INFO: Number of layers: 1 -2024-02-20 12:36:55, INFO: Similarity_func: concatenation -2024-02-20 12:36:55, INFO: Layerwise_graph: False -2024-02-20 12:36:55, INFO: Skip_connection: True -2024-02-20 12:36:55, INFO: Number of layers: 1 -2024-02-20 12:36:55, INFO: Planning depth: 1 -2024-02-20 12:36:55, INFO: Planning width: 10 -2024-02-20 12:36:55, INFO: Sparse search: None -2024-02-20 12:36:58, INFO: human number: 10 -2024-02-20 12:36:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:36:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:36:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:36:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:36:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:02, INFO: Using device: cpu -2024-02-20 12:37:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:02, INFO: Similarity_func: concatenation -2024-02-20 12:37:02, INFO: Layerwise_graph: False -2024-02-20 12:37:02, INFO: Skip_connection: True -2024-02-20 12:37:02, INFO: Number of layers: 1 -2024-02-20 12:37:02, INFO: Similarity_func: concatenation -2024-02-20 12:37:02, INFO: Layerwise_graph: False -2024-02-20 12:37:02, INFO: Skip_connection: True -2024-02-20 12:37:02, INFO: Number of layers: 1 -2024-02-20 12:37:02, INFO: Planning depth: 1 -2024-02-20 12:37:02, INFO: Planning width: 10 -2024-02-20 12:37:02, INFO: Sparse search: None -2024-02-20 12:37:05, INFO: human number: 10 -2024-02-20 12:37:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:10, INFO: Using device: cpu -2024-02-20 12:37:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:10, INFO: Similarity_func: concatenation -2024-02-20 12:37:10, INFO: Layerwise_graph: False -2024-02-20 12:37:10, INFO: Skip_connection: True -2024-02-20 12:37:10, INFO: Number of layers: 1 -2024-02-20 12:37:10, INFO: Similarity_func: concatenation -2024-02-20 12:37:10, INFO: Layerwise_graph: False -2024-02-20 12:37:10, INFO: Skip_connection: True -2024-02-20 12:37:10, INFO: Number of layers: 1 -2024-02-20 12:37:10, INFO: Planning depth: 1 -2024-02-20 12:37:10, INFO: Planning width: 10 -2024-02-20 12:37:10, INFO: Sparse search: None -2024-02-20 12:37:13, INFO: human number: 10 -2024-02-20 12:37:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:17, INFO: Using device: cpu -2024-02-20 12:37:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:17, INFO: Similarity_func: concatenation -2024-02-20 12:37:17, INFO: Layerwise_graph: False -2024-02-20 12:37:17, INFO: Skip_connection: True -2024-02-20 12:37:17, INFO: Number of layers: 1 -2024-02-20 12:37:17, INFO: Similarity_func: concatenation -2024-02-20 12:37:17, INFO: Layerwise_graph: False -2024-02-20 12:37:17, INFO: Skip_connection: True -2024-02-20 12:37:17, INFO: Number of layers: 1 -2024-02-20 12:37:17, INFO: Planning depth: 1 -2024-02-20 12:37:17, INFO: Planning width: 10 -2024-02-20 12:37:17, INFO: Sparse search: None -2024-02-20 12:37:20, INFO: human number: 10 -2024-02-20 12:37:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:24, INFO: Using device: cpu -2024-02-20 12:37:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:24, INFO: Similarity_func: concatenation -2024-02-20 12:37:24, INFO: Layerwise_graph: False -2024-02-20 12:37:24, INFO: Skip_connection: True -2024-02-20 12:37:24, INFO: Number of layers: 1 -2024-02-20 12:37:24, INFO: Similarity_func: concatenation -2024-02-20 12:37:24, INFO: Layerwise_graph: False -2024-02-20 12:37:24, INFO: Skip_connection: True -2024-02-20 12:37:24, INFO: Number of layers: 1 -2024-02-20 12:37:24, INFO: Planning depth: 1 -2024-02-20 12:37:24, INFO: Planning width: 10 -2024-02-20 12:37:24, INFO: Sparse search: None -2024-02-20 12:37:27, INFO: human number: 10 -2024-02-20 12:37:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:32, INFO: Using device: cpu -2024-02-20 12:37:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:32, INFO: Similarity_func: concatenation -2024-02-20 12:37:32, INFO: Layerwise_graph: False -2024-02-20 12:37:32, INFO: Skip_connection: True -2024-02-20 12:37:32, INFO: Number of layers: 1 -2024-02-20 12:37:32, INFO: Similarity_func: concatenation -2024-02-20 12:37:32, INFO: Layerwise_graph: False -2024-02-20 12:37:32, INFO: Skip_connection: True -2024-02-20 12:37:32, INFO: Number of layers: 1 -2024-02-20 12:37:32, INFO: Planning depth: 1 -2024-02-20 12:37:32, INFO: Planning width: 10 -2024-02-20 12:37:32, INFO: Sparse search: None -2024-02-20 12:37:34, INFO: human number: 10 -2024-02-20 12:37:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:40, INFO: Using device: cpu -2024-02-20 12:37:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:40, INFO: Similarity_func: concatenation -2024-02-20 12:37:40, INFO: Layerwise_graph: False -2024-02-20 12:37:40, INFO: Skip_connection: True -2024-02-20 12:37:40, INFO: Number of layers: 1 -2024-02-20 12:37:40, INFO: Similarity_func: concatenation -2024-02-20 12:37:40, INFO: Layerwise_graph: False -2024-02-20 12:37:40, INFO: Skip_connection: True -2024-02-20 12:37:40, INFO: Number of layers: 1 -2024-02-20 12:37:40, INFO: Planning depth: 1 -2024-02-20 12:37:40, INFO: Planning width: 10 -2024-02-20 12:37:40, INFO: Sparse search: None -2024-02-20 12:37:43, INFO: human number: 10 -2024-02-20 12:37:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:48, INFO: Using device: cpu -2024-02-20 12:37:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:48, INFO: Similarity_func: concatenation -2024-02-20 12:37:48, INFO: Layerwise_graph: False -2024-02-20 12:37:48, INFO: Skip_connection: True -2024-02-20 12:37:48, INFO: Number of layers: 1 -2024-02-20 12:37:48, INFO: Similarity_func: concatenation -2024-02-20 12:37:48, INFO: Layerwise_graph: False -2024-02-20 12:37:48, INFO: Skip_connection: True -2024-02-20 12:37:48, INFO: Number of layers: 1 -2024-02-20 12:37:48, INFO: Planning depth: 1 -2024-02-20 12:37:48, INFO: Planning width: 10 -2024-02-20 12:37:48, INFO: Sparse search: None -2024-02-20 12:37:51, INFO: human number: 10 -2024-02-20 12:37:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:37:56, INFO: Using device: cpu -2024-02-20 12:37:56, INFO: Loaded RL weights with best VAL -2024-02-20 12:37:56, INFO: Similarity_func: concatenation -2024-02-20 12:37:56, INFO: Layerwise_graph: False -2024-02-20 12:37:56, INFO: Skip_connection: True -2024-02-20 12:37:56, INFO: Number of layers: 1 -2024-02-20 12:37:56, INFO: Similarity_func: concatenation -2024-02-20 12:37:56, INFO: Layerwise_graph: False -2024-02-20 12:37:56, INFO: Skip_connection: True -2024-02-20 12:37:56, INFO: Number of layers: 1 -2024-02-20 12:37:56, INFO: Planning depth: 1 -2024-02-20 12:37:56, INFO: Planning width: 10 -2024-02-20 12:37:56, INFO: Sparse search: None -2024-02-20 12:37:59, INFO: human number: 10 -2024-02-20 12:37:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:37:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:37:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:37:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:37:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:04, INFO: Using device: cpu -2024-02-20 12:38:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:04, INFO: Similarity_func: concatenation -2024-02-20 12:38:04, INFO: Layerwise_graph: False -2024-02-20 12:38:04, INFO: Skip_connection: True -2024-02-20 12:38:04, INFO: Number of layers: 1 -2024-02-20 12:38:04, INFO: Similarity_func: concatenation -2024-02-20 12:38:04, INFO: Layerwise_graph: False -2024-02-20 12:38:04, INFO: Skip_connection: True -2024-02-20 12:38:04, INFO: Number of layers: 1 -2024-02-20 12:38:04, INFO: Planning depth: 1 -2024-02-20 12:38:04, INFO: Planning width: 10 -2024-02-20 12:38:04, INFO: Sparse search: None -2024-02-20 12:38:07, INFO: human number: 10 -2024-02-20 12:38:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:11, INFO: Using device: cpu -2024-02-20 12:38:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:11, INFO: Similarity_func: concatenation -2024-02-20 12:38:11, INFO: Layerwise_graph: False -2024-02-20 12:38:11, INFO: Skip_connection: True -2024-02-20 12:38:11, INFO: Number of layers: 1 -2024-02-20 12:38:11, INFO: Similarity_func: concatenation -2024-02-20 12:38:11, INFO: Layerwise_graph: False -2024-02-20 12:38:11, INFO: Skip_connection: True -2024-02-20 12:38:11, INFO: Number of layers: 1 -2024-02-20 12:38:11, INFO: Planning depth: 1 -2024-02-20 12:38:11, INFO: Planning width: 10 -2024-02-20 12:38:11, INFO: Sparse search: None -2024-02-20 12:38:14, INFO: human number: 10 -2024-02-20 12:38:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:19, INFO: Using device: cpu -2024-02-20 12:38:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:19, INFO: Similarity_func: concatenation -2024-02-20 12:38:19, INFO: Layerwise_graph: False -2024-02-20 12:38:19, INFO: Skip_connection: True -2024-02-20 12:38:19, INFO: Number of layers: 1 -2024-02-20 12:38:19, INFO: Similarity_func: concatenation -2024-02-20 12:38:19, INFO: Layerwise_graph: False -2024-02-20 12:38:19, INFO: Skip_connection: True -2024-02-20 12:38:19, INFO: Number of layers: 1 -2024-02-20 12:38:19, INFO: Planning depth: 1 -2024-02-20 12:38:19, INFO: Planning width: 10 -2024-02-20 12:38:19, INFO: Sparse search: None -2024-02-20 12:38:21, INFO: human number: 10 -2024-02-20 12:38:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:26, INFO: Using device: cpu -2024-02-20 12:38:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:26, INFO: Similarity_func: concatenation -2024-02-20 12:38:26, INFO: Layerwise_graph: False -2024-02-20 12:38:26, INFO: Skip_connection: True -2024-02-20 12:38:26, INFO: Number of layers: 1 -2024-02-20 12:38:26, INFO: Similarity_func: concatenation -2024-02-20 12:38:26, INFO: Layerwise_graph: False -2024-02-20 12:38:26, INFO: Skip_connection: True -2024-02-20 12:38:26, INFO: Number of layers: 1 -2024-02-20 12:38:26, INFO: Planning depth: 1 -2024-02-20 12:38:26, INFO: Planning width: 10 -2024-02-20 12:38:26, INFO: Sparse search: None -2024-02-20 12:38:29, INFO: human number: 10 -2024-02-20 12:38:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:34, INFO: Using device: cpu -2024-02-20 12:38:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:34, INFO: Similarity_func: concatenation -2024-02-20 12:38:34, INFO: Layerwise_graph: False -2024-02-20 12:38:34, INFO: Skip_connection: True -2024-02-20 12:38:34, INFO: Number of layers: 1 -2024-02-20 12:38:34, INFO: Similarity_func: concatenation -2024-02-20 12:38:34, INFO: Layerwise_graph: False -2024-02-20 12:38:34, INFO: Skip_connection: True -2024-02-20 12:38:34, INFO: Number of layers: 1 -2024-02-20 12:38:34, INFO: Planning depth: 1 -2024-02-20 12:38:34, INFO: Planning width: 10 -2024-02-20 12:38:34, INFO: Sparse search: None -2024-02-20 12:38:37, INFO: human number: 10 -2024-02-20 12:38:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:43, INFO: Using device: cpu -2024-02-20 12:38:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:43, INFO: Similarity_func: concatenation -2024-02-20 12:38:43, INFO: Layerwise_graph: False -2024-02-20 12:38:43, INFO: Skip_connection: True -2024-02-20 12:38:43, INFO: Number of layers: 1 -2024-02-20 12:38:43, INFO: Similarity_func: concatenation -2024-02-20 12:38:43, INFO: Layerwise_graph: False -2024-02-20 12:38:43, INFO: Skip_connection: True -2024-02-20 12:38:43, INFO: Number of layers: 1 -2024-02-20 12:38:43, INFO: Planning depth: 1 -2024-02-20 12:38:43, INFO: Planning width: 10 -2024-02-20 12:38:43, INFO: Sparse search: None -2024-02-20 12:38:45, INFO: human number: 10 -2024-02-20 12:38:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:51, INFO: Using device: cpu -2024-02-20 12:38:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:51, INFO: Similarity_func: concatenation -2024-02-20 12:38:51, INFO: Layerwise_graph: False -2024-02-20 12:38:51, INFO: Skip_connection: True -2024-02-20 12:38:51, INFO: Number of layers: 1 -2024-02-20 12:38:51, INFO: Similarity_func: concatenation -2024-02-20 12:38:51, INFO: Layerwise_graph: False -2024-02-20 12:38:51, INFO: Skip_connection: True -2024-02-20 12:38:51, INFO: Number of layers: 1 -2024-02-20 12:38:51, INFO: Planning depth: 1 -2024-02-20 12:38:51, INFO: Planning width: 10 -2024-02-20 12:38:51, INFO: Sparse search: None -2024-02-20 12:38:54, INFO: human number: 10 -2024-02-20 12:38:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:38:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:38:54, INFO: Square width: 10, circle width: 4 -2024-02-20 12:38:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:38:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:38:59, INFO: Using device: cpu -2024-02-20 12:38:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:38:59, INFO: Similarity_func: concatenation -2024-02-20 12:38:59, INFO: Layerwise_graph: False -2024-02-20 12:38:59, INFO: Skip_connection: True -2024-02-20 12:38:59, INFO: Number of layers: 1 -2024-02-20 12:38:59, INFO: Similarity_func: concatenation -2024-02-20 12:38:59, INFO: Layerwise_graph: False -2024-02-20 12:38:59, INFO: Skip_connection: True -2024-02-20 12:38:59, INFO: Number of layers: 1 -2024-02-20 12:38:59, INFO: Planning depth: 1 -2024-02-20 12:38:59, INFO: Planning width: 10 -2024-02-20 12:38:59, INFO: Sparse search: None -2024-02-20 12:39:02, INFO: human number: 10 -2024-02-20 12:39:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:07, INFO: Using device: cpu -2024-02-20 12:39:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:07, INFO: Similarity_func: concatenation -2024-02-20 12:39:07, INFO: Layerwise_graph: False -2024-02-20 12:39:07, INFO: Skip_connection: True -2024-02-20 12:39:07, INFO: Number of layers: 1 -2024-02-20 12:39:07, INFO: Similarity_func: concatenation -2024-02-20 12:39:07, INFO: Layerwise_graph: False -2024-02-20 12:39:07, INFO: Skip_connection: True -2024-02-20 12:39:07, INFO: Number of layers: 1 -2024-02-20 12:39:07, INFO: Planning depth: 1 -2024-02-20 12:39:07, INFO: Planning width: 10 -2024-02-20 12:39:07, INFO: Sparse search: None -2024-02-20 12:39:10, INFO: human number: 10 -2024-02-20 12:39:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:10, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:15, INFO: Using device: cpu -2024-02-20 12:39:15, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:15, INFO: Similarity_func: concatenation -2024-02-20 12:39:15, INFO: Layerwise_graph: False -2024-02-20 12:39:15, INFO: Skip_connection: True -2024-02-20 12:39:15, INFO: Number of layers: 1 -2024-02-20 12:39:15, INFO: Similarity_func: concatenation -2024-02-20 12:39:15, INFO: Layerwise_graph: False -2024-02-20 12:39:15, INFO: Skip_connection: True -2024-02-20 12:39:15, INFO: Number of layers: 1 -2024-02-20 12:39:15, INFO: Planning depth: 1 -2024-02-20 12:39:15, INFO: Planning width: 10 -2024-02-20 12:39:15, INFO: Sparse search: None -2024-02-20 12:39:18, INFO: human number: 10 -2024-02-20 12:39:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:18, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:24, INFO: Using device: cpu -2024-02-20 12:39:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:24, INFO: Similarity_func: concatenation -2024-02-20 12:39:24, INFO: Layerwise_graph: False -2024-02-20 12:39:24, INFO: Skip_connection: True -2024-02-20 12:39:24, INFO: Number of layers: 1 -2024-02-20 12:39:24, INFO: Similarity_func: concatenation -2024-02-20 12:39:24, INFO: Layerwise_graph: False -2024-02-20 12:39:24, INFO: Skip_connection: True -2024-02-20 12:39:24, INFO: Number of layers: 1 -2024-02-20 12:39:24, INFO: Planning depth: 1 -2024-02-20 12:39:24, INFO: Planning width: 10 -2024-02-20 12:39:24, INFO: Sparse search: None -2024-02-20 12:39:27, INFO: human number: 10 -2024-02-20 12:39:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:35, INFO: Using device: cpu -2024-02-20 12:39:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:35, INFO: Similarity_func: concatenation -2024-02-20 12:39:35, INFO: Layerwise_graph: False -2024-02-20 12:39:35, INFO: Skip_connection: True -2024-02-20 12:39:35, INFO: Number of layers: 1 -2024-02-20 12:39:35, INFO: Similarity_func: concatenation -2024-02-20 12:39:35, INFO: Layerwise_graph: False -2024-02-20 12:39:35, INFO: Skip_connection: True -2024-02-20 12:39:35, INFO: Number of layers: 1 -2024-02-20 12:39:35, INFO: Planning depth: 1 -2024-02-20 12:39:35, INFO: Planning width: 10 -2024-02-20 12:39:35, INFO: Sparse search: None -2024-02-20 12:39:38, INFO: human number: 10 -2024-02-20 12:39:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:42, INFO: Using device: cpu -2024-02-20 12:39:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:42, INFO: Similarity_func: concatenation -2024-02-20 12:39:42, INFO: Layerwise_graph: False -2024-02-20 12:39:42, INFO: Skip_connection: True -2024-02-20 12:39:42, INFO: Number of layers: 1 -2024-02-20 12:39:42, INFO: Similarity_func: concatenation -2024-02-20 12:39:42, INFO: Layerwise_graph: False -2024-02-20 12:39:42, INFO: Skip_connection: True -2024-02-20 12:39:42, INFO: Number of layers: 1 -2024-02-20 12:39:42, INFO: Planning depth: 1 -2024-02-20 12:39:42, INFO: Planning width: 10 -2024-02-20 12:39:42, INFO: Sparse search: None -2024-02-20 12:39:45, INFO: human number: 10 -2024-02-20 12:39:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:51, INFO: Using device: cpu -2024-02-20 12:39:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:51, INFO: Similarity_func: concatenation -2024-02-20 12:39:51, INFO: Layerwise_graph: False -2024-02-20 12:39:51, INFO: Skip_connection: True -2024-02-20 12:39:51, INFO: Number of layers: 1 -2024-02-20 12:39:51, INFO: Similarity_func: concatenation -2024-02-20 12:39:51, INFO: Layerwise_graph: False -2024-02-20 12:39:51, INFO: Skip_connection: True -2024-02-20 12:39:51, INFO: Number of layers: 1 -2024-02-20 12:39:51, INFO: Planning depth: 1 -2024-02-20 12:39:51, INFO: Planning width: 10 -2024-02-20 12:39:51, INFO: Sparse search: None -2024-02-20 12:39:54, INFO: human number: 10 -2024-02-20 12:39:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:39:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:39:54, INFO: Square width: 10, circle width: 4 -2024-02-20 12:39:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:39:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:39:59, INFO: Using device: cpu -2024-02-20 12:39:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:39:59, INFO: Similarity_func: concatenation -2024-02-20 12:39:59, INFO: Layerwise_graph: False -2024-02-20 12:39:59, INFO: Skip_connection: True -2024-02-20 12:39:59, INFO: Number of layers: 1 -2024-02-20 12:39:59, INFO: Similarity_func: concatenation -2024-02-20 12:39:59, INFO: Layerwise_graph: False -2024-02-20 12:39:59, INFO: Skip_connection: True -2024-02-20 12:39:59, INFO: Number of layers: 1 -2024-02-20 12:39:59, INFO: Planning depth: 1 -2024-02-20 12:39:59, INFO: Planning width: 10 -2024-02-20 12:39:59, INFO: Sparse search: None -2024-02-20 12:40:02, INFO: human number: 10 -2024-02-20 12:40:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:07, INFO: Using device: cpu -2024-02-20 12:40:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:07, INFO: Similarity_func: concatenation -2024-02-20 12:40:07, INFO: Layerwise_graph: False -2024-02-20 12:40:07, INFO: Skip_connection: True -2024-02-20 12:40:07, INFO: Number of layers: 1 -2024-02-20 12:40:07, INFO: Similarity_func: concatenation -2024-02-20 12:40:07, INFO: Layerwise_graph: False -2024-02-20 12:40:07, INFO: Skip_connection: True -2024-02-20 12:40:07, INFO: Number of layers: 1 -2024-02-20 12:40:07, INFO: Planning depth: 1 -2024-02-20 12:40:07, INFO: Planning width: 10 -2024-02-20 12:40:07, INFO: Sparse search: None -2024-02-20 12:40:09, INFO: human number: 10 -2024-02-20 12:40:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:13, INFO: Using device: cpu -2024-02-20 12:40:13, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:13, INFO: Similarity_func: concatenation -2024-02-20 12:40:13, INFO: Layerwise_graph: False -2024-02-20 12:40:13, INFO: Skip_connection: True -2024-02-20 12:40:13, INFO: Number of layers: 1 -2024-02-20 12:40:13, INFO: Similarity_func: concatenation -2024-02-20 12:40:13, INFO: Layerwise_graph: False -2024-02-20 12:40:13, INFO: Skip_connection: True -2024-02-20 12:40:13, INFO: Number of layers: 1 -2024-02-20 12:40:13, INFO: Planning depth: 1 -2024-02-20 12:40:13, INFO: Planning width: 10 -2024-02-20 12:40:13, INFO: Sparse search: None -2024-02-20 12:40:16, INFO: human number: 10 -2024-02-20 12:40:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:22, INFO: Using device: cpu -2024-02-20 12:40:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:22, INFO: Similarity_func: concatenation -2024-02-20 12:40:22, INFO: Layerwise_graph: False -2024-02-20 12:40:22, INFO: Skip_connection: True -2024-02-20 12:40:22, INFO: Number of layers: 1 -2024-02-20 12:40:22, INFO: Similarity_func: concatenation -2024-02-20 12:40:22, INFO: Layerwise_graph: False -2024-02-20 12:40:22, INFO: Skip_connection: True -2024-02-20 12:40:22, INFO: Number of layers: 1 -2024-02-20 12:40:22, INFO: Planning depth: 1 -2024-02-20 12:40:22, INFO: Planning width: 10 -2024-02-20 12:40:22, INFO: Sparse search: None -2024-02-20 12:40:24, INFO: human number: 10 -2024-02-20 12:40:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:29, INFO: Using device: cpu -2024-02-20 12:40:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:29, INFO: Similarity_func: concatenation -2024-02-20 12:40:29, INFO: Layerwise_graph: False -2024-02-20 12:40:29, INFO: Skip_connection: True -2024-02-20 12:40:29, INFO: Number of layers: 1 -2024-02-20 12:40:29, INFO: Similarity_func: concatenation -2024-02-20 12:40:29, INFO: Layerwise_graph: False -2024-02-20 12:40:29, INFO: Skip_connection: True -2024-02-20 12:40:29, INFO: Number of layers: 1 -2024-02-20 12:40:29, INFO: Planning depth: 1 -2024-02-20 12:40:29, INFO: Planning width: 10 -2024-02-20 12:40:29, INFO: Sparse search: None -2024-02-20 12:40:32, INFO: human number: 10 -2024-02-20 12:40:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:39, INFO: Using device: cpu -2024-02-20 12:40:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:39, INFO: Similarity_func: concatenation -2024-02-20 12:40:39, INFO: Layerwise_graph: False -2024-02-20 12:40:39, INFO: Skip_connection: True -2024-02-20 12:40:39, INFO: Number of layers: 1 -2024-02-20 12:40:39, INFO: Similarity_func: concatenation -2024-02-20 12:40:39, INFO: Layerwise_graph: False -2024-02-20 12:40:39, INFO: Skip_connection: True -2024-02-20 12:40:39, INFO: Number of layers: 1 -2024-02-20 12:40:39, INFO: Planning depth: 1 -2024-02-20 12:40:39, INFO: Planning width: 10 -2024-02-20 12:40:39, INFO: Sparse search: None -2024-02-20 12:40:41, INFO: human number: 10 -2024-02-20 12:40:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:47, INFO: Using device: cpu -2024-02-20 12:40:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:47, INFO: Similarity_func: concatenation -2024-02-20 12:40:47, INFO: Layerwise_graph: False -2024-02-20 12:40:47, INFO: Skip_connection: True -2024-02-20 12:40:47, INFO: Number of layers: 1 -2024-02-20 12:40:47, INFO: Similarity_func: concatenation -2024-02-20 12:40:47, INFO: Layerwise_graph: False -2024-02-20 12:40:47, INFO: Skip_connection: True -2024-02-20 12:40:47, INFO: Number of layers: 1 -2024-02-20 12:40:47, INFO: Planning depth: 1 -2024-02-20 12:40:47, INFO: Planning width: 10 -2024-02-20 12:40:47, INFO: Sparse search: None -2024-02-20 12:40:50, INFO: human number: 10 -2024-02-20 12:40:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:40:54, INFO: Using device: cpu -2024-02-20 12:40:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:40:54, INFO: Similarity_func: concatenation -2024-02-20 12:40:54, INFO: Layerwise_graph: False -2024-02-20 12:40:54, INFO: Skip_connection: True -2024-02-20 12:40:54, INFO: Number of layers: 1 -2024-02-20 12:40:54, INFO: Similarity_func: concatenation -2024-02-20 12:40:54, INFO: Layerwise_graph: False -2024-02-20 12:40:54, INFO: Skip_connection: True -2024-02-20 12:40:54, INFO: Number of layers: 1 -2024-02-20 12:40:54, INFO: Planning depth: 1 -2024-02-20 12:40:54, INFO: Planning width: 10 -2024-02-20 12:40:54, INFO: Sparse search: None -2024-02-20 12:40:57, INFO: human number: 10 -2024-02-20 12:40:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:40:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:40:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:40:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:40:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:02, INFO: Using device: cpu -2024-02-20 12:41:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:02, INFO: Similarity_func: concatenation -2024-02-20 12:41:02, INFO: Layerwise_graph: False -2024-02-20 12:41:02, INFO: Skip_connection: True -2024-02-20 12:41:02, INFO: Number of layers: 1 -2024-02-20 12:41:02, INFO: Similarity_func: concatenation -2024-02-20 12:41:02, INFO: Layerwise_graph: False -2024-02-20 12:41:02, INFO: Skip_connection: True -2024-02-20 12:41:02, INFO: Number of layers: 1 -2024-02-20 12:41:02, INFO: Planning depth: 1 -2024-02-20 12:41:02, INFO: Planning width: 10 -2024-02-20 12:41:02, INFO: Sparse search: None -2024-02-20 12:41:05, INFO: human number: 10 -2024-02-20 12:41:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:10, INFO: Using device: cpu -2024-02-20 12:41:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:10, INFO: Similarity_func: concatenation -2024-02-20 12:41:10, INFO: Layerwise_graph: False -2024-02-20 12:41:10, INFO: Skip_connection: True -2024-02-20 12:41:10, INFO: Number of layers: 1 -2024-02-20 12:41:10, INFO: Similarity_func: concatenation -2024-02-20 12:41:10, INFO: Layerwise_graph: False -2024-02-20 12:41:10, INFO: Skip_connection: True -2024-02-20 12:41:10, INFO: Number of layers: 1 -2024-02-20 12:41:10, INFO: Planning depth: 1 -2024-02-20 12:41:10, INFO: Planning width: 10 -2024-02-20 12:41:10, INFO: Sparse search: None -2024-02-20 12:41:13, INFO: human number: 10 -2024-02-20 12:41:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:18, INFO: Using device: cpu -2024-02-20 12:41:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:18, INFO: Similarity_func: concatenation -2024-02-20 12:41:18, INFO: Layerwise_graph: False -2024-02-20 12:41:18, INFO: Skip_connection: True -2024-02-20 12:41:18, INFO: Number of layers: 1 -2024-02-20 12:41:18, INFO: Similarity_func: concatenation -2024-02-20 12:41:18, INFO: Layerwise_graph: False -2024-02-20 12:41:18, INFO: Skip_connection: True -2024-02-20 12:41:18, INFO: Number of layers: 1 -2024-02-20 12:41:18, INFO: Planning depth: 1 -2024-02-20 12:41:18, INFO: Planning width: 10 -2024-02-20 12:41:18, INFO: Sparse search: None -2024-02-20 12:41:20, INFO: human number: 10 -2024-02-20 12:41:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:25, INFO: Using device: cpu -2024-02-20 12:41:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:25, INFO: Similarity_func: concatenation -2024-02-20 12:41:25, INFO: Layerwise_graph: False -2024-02-20 12:41:25, INFO: Skip_connection: True -2024-02-20 12:41:25, INFO: Number of layers: 1 -2024-02-20 12:41:25, INFO: Similarity_func: concatenation -2024-02-20 12:41:25, INFO: Layerwise_graph: False -2024-02-20 12:41:25, INFO: Skip_connection: True -2024-02-20 12:41:25, INFO: Number of layers: 1 -2024-02-20 12:41:25, INFO: Planning depth: 1 -2024-02-20 12:41:25, INFO: Planning width: 10 -2024-02-20 12:41:25, INFO: Sparse search: None -2024-02-20 12:41:27, INFO: human number: 10 -2024-02-20 12:41:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:32, INFO: Using device: cpu -2024-02-20 12:41:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:32, INFO: Similarity_func: concatenation -2024-02-20 12:41:32, INFO: Layerwise_graph: False -2024-02-20 12:41:32, INFO: Skip_connection: True -2024-02-20 12:41:32, INFO: Number of layers: 1 -2024-02-20 12:41:32, INFO: Similarity_func: concatenation -2024-02-20 12:41:32, INFO: Layerwise_graph: False -2024-02-20 12:41:32, INFO: Skip_connection: True -2024-02-20 12:41:32, INFO: Number of layers: 1 -2024-02-20 12:41:32, INFO: Planning depth: 1 -2024-02-20 12:41:32, INFO: Planning width: 10 -2024-02-20 12:41:32, INFO: Sparse search: None -2024-02-20 12:41:35, INFO: human number: 10 -2024-02-20 12:41:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:39, INFO: Using device: cpu -2024-02-20 12:41:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:39, INFO: Similarity_func: concatenation -2024-02-20 12:41:39, INFO: Layerwise_graph: False -2024-02-20 12:41:39, INFO: Skip_connection: True -2024-02-20 12:41:39, INFO: Number of layers: 1 -2024-02-20 12:41:39, INFO: Similarity_func: concatenation -2024-02-20 12:41:39, INFO: Layerwise_graph: False -2024-02-20 12:41:39, INFO: Skip_connection: True -2024-02-20 12:41:39, INFO: Number of layers: 1 -2024-02-20 12:41:39, INFO: Planning depth: 1 -2024-02-20 12:41:39, INFO: Planning width: 10 -2024-02-20 12:41:39, INFO: Sparse search: None -2024-02-20 12:41:42, INFO: human number: 10 -2024-02-20 12:41:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:47, INFO: Using device: cpu -2024-02-20 12:41:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:47, INFO: Similarity_func: concatenation -2024-02-20 12:41:47, INFO: Layerwise_graph: False -2024-02-20 12:41:47, INFO: Skip_connection: True -2024-02-20 12:41:47, INFO: Number of layers: 1 -2024-02-20 12:41:47, INFO: Similarity_func: concatenation -2024-02-20 12:41:47, INFO: Layerwise_graph: False -2024-02-20 12:41:47, INFO: Skip_connection: True -2024-02-20 12:41:47, INFO: Number of layers: 1 -2024-02-20 12:41:47, INFO: Planning depth: 1 -2024-02-20 12:41:47, INFO: Planning width: 10 -2024-02-20 12:41:47, INFO: Sparse search: None -2024-02-20 12:41:50, INFO: human number: 10 -2024-02-20 12:41:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:41:54, INFO: Using device: cpu -2024-02-20 12:41:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:41:54, INFO: Similarity_func: concatenation -2024-02-20 12:41:54, INFO: Layerwise_graph: False -2024-02-20 12:41:54, INFO: Skip_connection: True -2024-02-20 12:41:54, INFO: Number of layers: 1 -2024-02-20 12:41:54, INFO: Similarity_func: concatenation -2024-02-20 12:41:54, INFO: Layerwise_graph: False -2024-02-20 12:41:54, INFO: Skip_connection: True -2024-02-20 12:41:54, INFO: Number of layers: 1 -2024-02-20 12:41:54, INFO: Planning depth: 1 -2024-02-20 12:41:54, INFO: Planning width: 10 -2024-02-20 12:41:54, INFO: Sparse search: None -2024-02-20 12:41:57, INFO: human number: 10 -2024-02-20 12:41:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:41:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:41:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:41:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:41:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:01, INFO: Using device: cpu -2024-02-20 12:42:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:01, INFO: Similarity_func: concatenation -2024-02-20 12:42:01, INFO: Layerwise_graph: False -2024-02-20 12:42:01, INFO: Skip_connection: True -2024-02-20 12:42:01, INFO: Number of layers: 1 -2024-02-20 12:42:01, INFO: Similarity_func: concatenation -2024-02-20 12:42:01, INFO: Layerwise_graph: False -2024-02-20 12:42:01, INFO: Skip_connection: True -2024-02-20 12:42:01, INFO: Number of layers: 1 -2024-02-20 12:42:01, INFO: Planning depth: 1 -2024-02-20 12:42:01, INFO: Planning width: 10 -2024-02-20 12:42:01, INFO: Sparse search: None -2024-02-20 12:42:04, INFO: human number: 10 -2024-02-20 12:42:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:08, INFO: Using device: cpu -2024-02-20 12:42:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:08, INFO: Similarity_func: concatenation -2024-02-20 12:42:08, INFO: Layerwise_graph: False -2024-02-20 12:42:08, INFO: Skip_connection: True -2024-02-20 12:42:08, INFO: Number of layers: 1 -2024-02-20 12:42:08, INFO: Similarity_func: concatenation -2024-02-20 12:42:08, INFO: Layerwise_graph: False -2024-02-20 12:42:08, INFO: Skip_connection: True -2024-02-20 12:42:08, INFO: Number of layers: 1 -2024-02-20 12:42:08, INFO: Planning depth: 1 -2024-02-20 12:42:08, INFO: Planning width: 10 -2024-02-20 12:42:08, INFO: Sparse search: None -2024-02-20 12:42:11, INFO: human number: 10 -2024-02-20 12:42:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:16, INFO: Using device: cpu -2024-02-20 12:42:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:16, INFO: Similarity_func: concatenation -2024-02-20 12:42:16, INFO: Layerwise_graph: False -2024-02-20 12:42:16, INFO: Skip_connection: True -2024-02-20 12:42:16, INFO: Number of layers: 1 -2024-02-20 12:42:16, INFO: Similarity_func: concatenation -2024-02-20 12:42:16, INFO: Layerwise_graph: False -2024-02-20 12:42:16, INFO: Skip_connection: True -2024-02-20 12:42:16, INFO: Number of layers: 1 -2024-02-20 12:42:16, INFO: Planning depth: 1 -2024-02-20 12:42:16, INFO: Planning width: 10 -2024-02-20 12:42:16, INFO: Sparse search: None -2024-02-20 12:42:19, INFO: human number: 10 -2024-02-20 12:42:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:24, INFO: Using device: cpu -2024-02-20 12:42:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:24, INFO: Similarity_func: concatenation -2024-02-20 12:42:24, INFO: Layerwise_graph: False -2024-02-20 12:42:24, INFO: Skip_connection: True -2024-02-20 12:42:24, INFO: Number of layers: 1 -2024-02-20 12:42:24, INFO: Similarity_func: concatenation -2024-02-20 12:42:24, INFO: Layerwise_graph: False -2024-02-20 12:42:24, INFO: Skip_connection: True -2024-02-20 12:42:24, INFO: Number of layers: 1 -2024-02-20 12:42:24, INFO: Planning depth: 1 -2024-02-20 12:42:24, INFO: Planning width: 10 -2024-02-20 12:42:24, INFO: Sparse search: None -2024-02-20 12:42:27, INFO: human number: 10 -2024-02-20 12:42:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:31, INFO: Using device: cpu -2024-02-20 12:42:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:31, INFO: Similarity_func: concatenation -2024-02-20 12:42:31, INFO: Layerwise_graph: False -2024-02-20 12:42:31, INFO: Skip_connection: True -2024-02-20 12:42:31, INFO: Number of layers: 1 -2024-02-20 12:42:31, INFO: Similarity_func: concatenation -2024-02-20 12:42:31, INFO: Layerwise_graph: False -2024-02-20 12:42:31, INFO: Skip_connection: True -2024-02-20 12:42:31, INFO: Number of layers: 1 -2024-02-20 12:42:31, INFO: Planning depth: 1 -2024-02-20 12:42:31, INFO: Planning width: 10 -2024-02-20 12:42:31, INFO: Sparse search: None -2024-02-20 12:42:34, INFO: human number: 10 -2024-02-20 12:42:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:39, INFO: Using device: cpu -2024-02-20 12:42:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:39, INFO: Similarity_func: concatenation -2024-02-20 12:42:39, INFO: Layerwise_graph: False -2024-02-20 12:42:39, INFO: Skip_connection: True -2024-02-20 12:42:39, INFO: Number of layers: 1 -2024-02-20 12:42:39, INFO: Similarity_func: concatenation -2024-02-20 12:42:39, INFO: Layerwise_graph: False -2024-02-20 12:42:39, INFO: Skip_connection: True -2024-02-20 12:42:39, INFO: Number of layers: 1 -2024-02-20 12:42:39, INFO: Planning depth: 1 -2024-02-20 12:42:39, INFO: Planning width: 10 -2024-02-20 12:42:39, INFO: Sparse search: None -2024-02-20 12:42:42, INFO: human number: 10 -2024-02-20 12:42:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:48, INFO: Using device: cpu -2024-02-20 12:42:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:48, INFO: Similarity_func: concatenation -2024-02-20 12:42:48, INFO: Layerwise_graph: False -2024-02-20 12:42:48, INFO: Skip_connection: True -2024-02-20 12:42:48, INFO: Number of layers: 1 -2024-02-20 12:42:48, INFO: Similarity_func: concatenation -2024-02-20 12:42:48, INFO: Layerwise_graph: False -2024-02-20 12:42:48, INFO: Skip_connection: True -2024-02-20 12:42:48, INFO: Number of layers: 1 -2024-02-20 12:42:48, INFO: Planning depth: 1 -2024-02-20 12:42:48, INFO: Planning width: 10 -2024-02-20 12:42:48, INFO: Sparse search: None -2024-02-20 12:42:51, INFO: human number: 10 -2024-02-20 12:42:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:42:56, INFO: Using device: cpu -2024-02-20 12:42:56, INFO: Loaded RL weights with best VAL -2024-02-20 12:42:56, INFO: Similarity_func: concatenation -2024-02-20 12:42:56, INFO: Layerwise_graph: False -2024-02-20 12:42:56, INFO: Skip_connection: True -2024-02-20 12:42:56, INFO: Number of layers: 1 -2024-02-20 12:42:56, INFO: Similarity_func: concatenation -2024-02-20 12:42:56, INFO: Layerwise_graph: False -2024-02-20 12:42:56, INFO: Skip_connection: True -2024-02-20 12:42:56, INFO: Number of layers: 1 -2024-02-20 12:42:56, INFO: Planning depth: 1 -2024-02-20 12:42:56, INFO: Planning width: 10 -2024-02-20 12:42:56, INFO: Sparse search: None -2024-02-20 12:42:58, INFO: human number: 10 -2024-02-20 12:42:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:42:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:42:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:42:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:42:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:04, INFO: Using device: cpu -2024-02-20 12:43:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:04, INFO: Similarity_func: concatenation -2024-02-20 12:43:04, INFO: Layerwise_graph: False -2024-02-20 12:43:04, INFO: Skip_connection: True -2024-02-20 12:43:04, INFO: Number of layers: 1 -2024-02-20 12:43:04, INFO: Similarity_func: concatenation -2024-02-20 12:43:04, INFO: Layerwise_graph: False -2024-02-20 12:43:04, INFO: Skip_connection: True -2024-02-20 12:43:04, INFO: Number of layers: 1 -2024-02-20 12:43:04, INFO: Planning depth: 1 -2024-02-20 12:43:04, INFO: Planning width: 10 -2024-02-20 12:43:04, INFO: Sparse search: None -2024-02-20 12:43:06, INFO: human number: 10 -2024-02-20 12:43:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:16, INFO: Using device: cpu -2024-02-20 12:43:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:16, INFO: Similarity_func: concatenation -2024-02-20 12:43:16, INFO: Layerwise_graph: False -2024-02-20 12:43:16, INFO: Skip_connection: True -2024-02-20 12:43:16, INFO: Number of layers: 1 -2024-02-20 12:43:16, INFO: Similarity_func: concatenation -2024-02-20 12:43:16, INFO: Layerwise_graph: False -2024-02-20 12:43:16, INFO: Skip_connection: True -2024-02-20 12:43:16, INFO: Number of layers: 1 -2024-02-20 12:43:16, INFO: Planning depth: 1 -2024-02-20 12:43:16, INFO: Planning width: 10 -2024-02-20 12:43:16, INFO: Sparse search: None -2024-02-20 12:43:18, INFO: human number: 10 -2024-02-20 12:43:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:18, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:23, INFO: Using device: cpu -2024-02-20 12:43:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:23, INFO: Similarity_func: concatenation -2024-02-20 12:43:23, INFO: Layerwise_graph: False -2024-02-20 12:43:23, INFO: Skip_connection: True -2024-02-20 12:43:23, INFO: Number of layers: 1 -2024-02-20 12:43:23, INFO: Similarity_func: concatenation -2024-02-20 12:43:23, INFO: Layerwise_graph: False -2024-02-20 12:43:23, INFO: Skip_connection: True -2024-02-20 12:43:23, INFO: Number of layers: 1 -2024-02-20 12:43:23, INFO: Planning depth: 1 -2024-02-20 12:43:23, INFO: Planning width: 10 -2024-02-20 12:43:23, INFO: Sparse search: None -2024-02-20 12:43:26, INFO: human number: 10 -2024-02-20 12:43:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:30, INFO: Using device: cpu -2024-02-20 12:43:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:30, INFO: Similarity_func: concatenation -2024-02-20 12:43:30, INFO: Layerwise_graph: False -2024-02-20 12:43:30, INFO: Skip_connection: True -2024-02-20 12:43:30, INFO: Number of layers: 1 -2024-02-20 12:43:30, INFO: Similarity_func: concatenation -2024-02-20 12:43:30, INFO: Layerwise_graph: False -2024-02-20 12:43:30, INFO: Skip_connection: True -2024-02-20 12:43:30, INFO: Number of layers: 1 -2024-02-20 12:43:30, INFO: Planning depth: 1 -2024-02-20 12:43:30, INFO: Planning width: 10 -2024-02-20 12:43:30, INFO: Sparse search: None -2024-02-20 12:43:33, INFO: human number: 10 -2024-02-20 12:43:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:38, INFO: Using device: cpu -2024-02-20 12:43:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:38, INFO: Similarity_func: concatenation -2024-02-20 12:43:38, INFO: Layerwise_graph: False -2024-02-20 12:43:38, INFO: Skip_connection: True -2024-02-20 12:43:38, INFO: Number of layers: 1 -2024-02-20 12:43:38, INFO: Similarity_func: concatenation -2024-02-20 12:43:38, INFO: Layerwise_graph: False -2024-02-20 12:43:38, INFO: Skip_connection: True -2024-02-20 12:43:38, INFO: Number of layers: 1 -2024-02-20 12:43:38, INFO: Planning depth: 1 -2024-02-20 12:43:38, INFO: Planning width: 10 -2024-02-20 12:43:38, INFO: Sparse search: None -2024-02-20 12:43:41, INFO: human number: 10 -2024-02-20 12:43:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:46, INFO: Using device: cpu -2024-02-20 12:43:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:46, INFO: Similarity_func: concatenation -2024-02-20 12:43:46, INFO: Layerwise_graph: False -2024-02-20 12:43:46, INFO: Skip_connection: True -2024-02-20 12:43:46, INFO: Number of layers: 1 -2024-02-20 12:43:46, INFO: Similarity_func: concatenation -2024-02-20 12:43:46, INFO: Layerwise_graph: False -2024-02-20 12:43:46, INFO: Skip_connection: True -2024-02-20 12:43:46, INFO: Number of layers: 1 -2024-02-20 12:43:46, INFO: Planning depth: 1 -2024-02-20 12:43:46, INFO: Planning width: 10 -2024-02-20 12:43:46, INFO: Sparse search: None -2024-02-20 12:43:49, INFO: human number: 10 -2024-02-20 12:43:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:43:53, INFO: Using device: cpu -2024-02-20 12:43:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:43:53, INFO: Similarity_func: concatenation -2024-02-20 12:43:53, INFO: Layerwise_graph: False -2024-02-20 12:43:53, INFO: Skip_connection: True -2024-02-20 12:43:53, INFO: Number of layers: 1 -2024-02-20 12:43:53, INFO: Similarity_func: concatenation -2024-02-20 12:43:53, INFO: Layerwise_graph: False -2024-02-20 12:43:53, INFO: Skip_connection: True -2024-02-20 12:43:53, INFO: Number of layers: 1 -2024-02-20 12:43:53, INFO: Planning depth: 1 -2024-02-20 12:43:53, INFO: Planning width: 10 -2024-02-20 12:43:53, INFO: Sparse search: None -2024-02-20 12:43:56, INFO: human number: 10 -2024-02-20 12:43:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:43:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:43:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:43:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:43:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:01, INFO: Using device: cpu -2024-02-20 12:44:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:01, INFO: Similarity_func: concatenation -2024-02-20 12:44:01, INFO: Layerwise_graph: False -2024-02-20 12:44:01, INFO: Skip_connection: True -2024-02-20 12:44:01, INFO: Number of layers: 1 -2024-02-20 12:44:01, INFO: Similarity_func: concatenation -2024-02-20 12:44:01, INFO: Layerwise_graph: False -2024-02-20 12:44:01, INFO: Skip_connection: True -2024-02-20 12:44:01, INFO: Number of layers: 1 -2024-02-20 12:44:01, INFO: Planning depth: 1 -2024-02-20 12:44:01, INFO: Planning width: 10 -2024-02-20 12:44:01, INFO: Sparse search: None -2024-02-20 12:44:04, INFO: human number: 10 -2024-02-20 12:44:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:09, INFO: Using device: cpu -2024-02-20 12:44:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:09, INFO: Similarity_func: concatenation -2024-02-20 12:44:09, INFO: Layerwise_graph: False -2024-02-20 12:44:09, INFO: Skip_connection: True -2024-02-20 12:44:09, INFO: Number of layers: 1 -2024-02-20 12:44:09, INFO: Similarity_func: concatenation -2024-02-20 12:44:09, INFO: Layerwise_graph: False -2024-02-20 12:44:09, INFO: Skip_connection: True -2024-02-20 12:44:09, INFO: Number of layers: 1 -2024-02-20 12:44:09, INFO: Planning depth: 1 -2024-02-20 12:44:09, INFO: Planning width: 10 -2024-02-20 12:44:09, INFO: Sparse search: None -2024-02-20 12:44:12, INFO: human number: 10 -2024-02-20 12:44:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:17, INFO: Using device: cpu -2024-02-20 12:44:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:17, INFO: Similarity_func: concatenation -2024-02-20 12:44:17, INFO: Layerwise_graph: False -2024-02-20 12:44:17, INFO: Skip_connection: True -2024-02-20 12:44:17, INFO: Number of layers: 1 -2024-02-20 12:44:17, INFO: Similarity_func: concatenation -2024-02-20 12:44:17, INFO: Layerwise_graph: False -2024-02-20 12:44:17, INFO: Skip_connection: True -2024-02-20 12:44:17, INFO: Number of layers: 1 -2024-02-20 12:44:17, INFO: Planning depth: 1 -2024-02-20 12:44:17, INFO: Planning width: 10 -2024-02-20 12:44:17, INFO: Sparse search: None -2024-02-20 12:44:19, INFO: human number: 10 -2024-02-20 12:44:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:24, INFO: Using device: cpu -2024-02-20 12:44:24, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:24, INFO: Similarity_func: concatenation -2024-02-20 12:44:24, INFO: Layerwise_graph: False -2024-02-20 12:44:24, INFO: Skip_connection: True -2024-02-20 12:44:24, INFO: Number of layers: 1 -2024-02-20 12:44:24, INFO: Similarity_func: concatenation -2024-02-20 12:44:24, INFO: Layerwise_graph: False -2024-02-20 12:44:24, INFO: Skip_connection: True -2024-02-20 12:44:24, INFO: Number of layers: 1 -2024-02-20 12:44:24, INFO: Planning depth: 1 -2024-02-20 12:44:24, INFO: Planning width: 10 -2024-02-20 12:44:24, INFO: Sparse search: None -2024-02-20 12:44:27, INFO: human number: 10 -2024-02-20 12:44:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:32, INFO: Using device: cpu -2024-02-20 12:44:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:32, INFO: Similarity_func: concatenation -2024-02-20 12:44:32, INFO: Layerwise_graph: False -2024-02-20 12:44:32, INFO: Skip_connection: True -2024-02-20 12:44:32, INFO: Number of layers: 1 -2024-02-20 12:44:32, INFO: Similarity_func: concatenation -2024-02-20 12:44:32, INFO: Layerwise_graph: False -2024-02-20 12:44:32, INFO: Skip_connection: True -2024-02-20 12:44:32, INFO: Number of layers: 1 -2024-02-20 12:44:32, INFO: Planning depth: 1 -2024-02-20 12:44:32, INFO: Planning width: 10 -2024-02-20 12:44:32, INFO: Sparse search: None -2024-02-20 12:44:35, INFO: human number: 10 -2024-02-20 12:44:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:40, INFO: Using device: cpu -2024-02-20 12:44:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:40, INFO: Similarity_func: concatenation -2024-02-20 12:44:40, INFO: Layerwise_graph: False -2024-02-20 12:44:40, INFO: Skip_connection: True -2024-02-20 12:44:40, INFO: Number of layers: 1 -2024-02-20 12:44:40, INFO: Similarity_func: concatenation -2024-02-20 12:44:40, INFO: Layerwise_graph: False -2024-02-20 12:44:40, INFO: Skip_connection: True -2024-02-20 12:44:40, INFO: Number of layers: 1 -2024-02-20 12:44:40, INFO: Planning depth: 1 -2024-02-20 12:44:40, INFO: Planning width: 10 -2024-02-20 12:44:40, INFO: Sparse search: None -2024-02-20 12:44:43, INFO: human number: 10 -2024-02-20 12:44:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:48, INFO: Using device: cpu -2024-02-20 12:44:48, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:48, INFO: Similarity_func: concatenation -2024-02-20 12:44:48, INFO: Layerwise_graph: False -2024-02-20 12:44:48, INFO: Skip_connection: True -2024-02-20 12:44:48, INFO: Number of layers: 1 -2024-02-20 12:44:48, INFO: Similarity_func: concatenation -2024-02-20 12:44:48, INFO: Layerwise_graph: False -2024-02-20 12:44:48, INFO: Skip_connection: True -2024-02-20 12:44:48, INFO: Number of layers: 1 -2024-02-20 12:44:48, INFO: Planning depth: 1 -2024-02-20 12:44:48, INFO: Planning width: 10 -2024-02-20 12:44:48, INFO: Sparse search: None -2024-02-20 12:44:51, INFO: human number: 10 -2024-02-20 12:44:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:51, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:44:55, INFO: Using device: cpu -2024-02-20 12:44:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:44:55, INFO: Similarity_func: concatenation -2024-02-20 12:44:55, INFO: Layerwise_graph: False -2024-02-20 12:44:55, INFO: Skip_connection: True -2024-02-20 12:44:55, INFO: Number of layers: 1 -2024-02-20 12:44:55, INFO: Similarity_func: concatenation -2024-02-20 12:44:55, INFO: Layerwise_graph: False -2024-02-20 12:44:55, INFO: Skip_connection: True -2024-02-20 12:44:55, INFO: Number of layers: 1 -2024-02-20 12:44:55, INFO: Planning depth: 1 -2024-02-20 12:44:55, INFO: Planning width: 10 -2024-02-20 12:44:55, INFO: Sparse search: None -2024-02-20 12:44:58, INFO: human number: 10 -2024-02-20 12:44:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:44:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:44:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:44:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:44:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:04, INFO: Using device: cpu -2024-02-20 12:45:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:04, INFO: Similarity_func: concatenation -2024-02-20 12:45:04, INFO: Layerwise_graph: False -2024-02-20 12:45:04, INFO: Skip_connection: True -2024-02-20 12:45:04, INFO: Number of layers: 1 -2024-02-20 12:45:04, INFO: Similarity_func: concatenation -2024-02-20 12:45:04, INFO: Layerwise_graph: False -2024-02-20 12:45:04, INFO: Skip_connection: True -2024-02-20 12:45:04, INFO: Number of layers: 1 -2024-02-20 12:45:04, INFO: Planning depth: 1 -2024-02-20 12:45:04, INFO: Planning width: 10 -2024-02-20 12:45:04, INFO: Sparse search: None -2024-02-20 12:45:06, INFO: human number: 10 -2024-02-20 12:45:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:12, INFO: Using device: cpu -2024-02-20 12:45:12, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:12, INFO: Similarity_func: concatenation -2024-02-20 12:45:12, INFO: Layerwise_graph: False -2024-02-20 12:45:12, INFO: Skip_connection: True -2024-02-20 12:45:12, INFO: Number of layers: 1 -2024-02-20 12:45:12, INFO: Similarity_func: concatenation -2024-02-20 12:45:12, INFO: Layerwise_graph: False -2024-02-20 12:45:12, INFO: Skip_connection: True -2024-02-20 12:45:12, INFO: Number of layers: 1 -2024-02-20 12:45:12, INFO: Planning depth: 1 -2024-02-20 12:45:12, INFO: Planning width: 10 -2024-02-20 12:45:12, INFO: Sparse search: None -2024-02-20 12:45:14, INFO: human number: 10 -2024-02-20 12:45:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:14, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:19, INFO: Using device: cpu -2024-02-20 12:45:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:19, INFO: Similarity_func: concatenation -2024-02-20 12:45:19, INFO: Layerwise_graph: False -2024-02-20 12:45:19, INFO: Skip_connection: True -2024-02-20 12:45:19, INFO: Number of layers: 1 -2024-02-20 12:45:19, INFO: Similarity_func: concatenation -2024-02-20 12:45:19, INFO: Layerwise_graph: False -2024-02-20 12:45:19, INFO: Skip_connection: True -2024-02-20 12:45:19, INFO: Number of layers: 1 -2024-02-20 12:45:19, INFO: Planning depth: 1 -2024-02-20 12:45:19, INFO: Planning width: 10 -2024-02-20 12:45:19, INFO: Sparse search: None -2024-02-20 12:45:22, INFO: human number: 10 -2024-02-20 12:45:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:27, INFO: Using device: cpu -2024-02-20 12:45:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:27, INFO: Similarity_func: concatenation -2024-02-20 12:45:27, INFO: Layerwise_graph: False -2024-02-20 12:45:27, INFO: Skip_connection: True -2024-02-20 12:45:27, INFO: Number of layers: 1 -2024-02-20 12:45:27, INFO: Similarity_func: concatenation -2024-02-20 12:45:27, INFO: Layerwise_graph: False -2024-02-20 12:45:27, INFO: Skip_connection: True -2024-02-20 12:45:27, INFO: Number of layers: 1 -2024-02-20 12:45:27, INFO: Planning depth: 1 -2024-02-20 12:45:27, INFO: Planning width: 10 -2024-02-20 12:45:27, INFO: Sparse search: None -2024-02-20 12:45:30, INFO: human number: 10 -2024-02-20 12:45:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:35, INFO: Using device: cpu -2024-02-20 12:45:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:35, INFO: Similarity_func: concatenation -2024-02-20 12:45:35, INFO: Layerwise_graph: False -2024-02-20 12:45:35, INFO: Skip_connection: True -2024-02-20 12:45:35, INFO: Number of layers: 1 -2024-02-20 12:45:35, INFO: Similarity_func: concatenation -2024-02-20 12:45:35, INFO: Layerwise_graph: False -2024-02-20 12:45:35, INFO: Skip_connection: True -2024-02-20 12:45:35, INFO: Number of layers: 1 -2024-02-20 12:45:35, INFO: Planning depth: 1 -2024-02-20 12:45:35, INFO: Planning width: 10 -2024-02-20 12:45:35, INFO: Sparse search: None -2024-02-20 12:45:38, INFO: human number: 10 -2024-02-20 12:45:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:43, INFO: Using device: cpu -2024-02-20 12:45:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:43, INFO: Similarity_func: concatenation -2024-02-20 12:45:43, INFO: Layerwise_graph: False -2024-02-20 12:45:43, INFO: Skip_connection: True -2024-02-20 12:45:43, INFO: Number of layers: 1 -2024-02-20 12:45:43, INFO: Similarity_func: concatenation -2024-02-20 12:45:43, INFO: Layerwise_graph: False -2024-02-20 12:45:43, INFO: Skip_connection: True -2024-02-20 12:45:43, INFO: Number of layers: 1 -2024-02-20 12:45:43, INFO: Planning depth: 1 -2024-02-20 12:45:43, INFO: Planning width: 10 -2024-02-20 12:45:43, INFO: Sparse search: None -2024-02-20 12:45:46, INFO: human number: 10 -2024-02-20 12:45:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:50, INFO: Using device: cpu -2024-02-20 12:45:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:50, INFO: Similarity_func: concatenation -2024-02-20 12:45:50, INFO: Layerwise_graph: False -2024-02-20 12:45:50, INFO: Skip_connection: True -2024-02-20 12:45:50, INFO: Number of layers: 1 -2024-02-20 12:45:50, INFO: Similarity_func: concatenation -2024-02-20 12:45:50, INFO: Layerwise_graph: False -2024-02-20 12:45:50, INFO: Skip_connection: True -2024-02-20 12:45:50, INFO: Number of layers: 1 -2024-02-20 12:45:50, INFO: Planning depth: 1 -2024-02-20 12:45:50, INFO: Planning width: 10 -2024-02-20 12:45:50, INFO: Sparse search: None -2024-02-20 12:45:53, INFO: human number: 10 -2024-02-20 12:45:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:45:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:45:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:45:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:45:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:45:59, INFO: Using device: cpu -2024-02-20 12:45:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:45:59, INFO: Similarity_func: concatenation -2024-02-20 12:45:59, INFO: Layerwise_graph: False -2024-02-20 12:45:59, INFO: Skip_connection: True -2024-02-20 12:45:59, INFO: Number of layers: 1 -2024-02-20 12:45:59, INFO: Similarity_func: concatenation -2024-02-20 12:45:59, INFO: Layerwise_graph: False -2024-02-20 12:45:59, INFO: Skip_connection: True -2024-02-20 12:45:59, INFO: Number of layers: 1 -2024-02-20 12:45:59, INFO: Planning depth: 1 -2024-02-20 12:45:59, INFO: Planning width: 10 -2024-02-20 12:45:59, INFO: Sparse search: None -2024-02-20 12:46:02, INFO: human number: 10 -2024-02-20 12:46:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:07, INFO: Using device: cpu -2024-02-20 12:46:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:07, INFO: Similarity_func: concatenation -2024-02-20 12:46:07, INFO: Layerwise_graph: False -2024-02-20 12:46:07, INFO: Skip_connection: True -2024-02-20 12:46:07, INFO: Number of layers: 1 -2024-02-20 12:46:07, INFO: Similarity_func: concatenation -2024-02-20 12:46:07, INFO: Layerwise_graph: False -2024-02-20 12:46:07, INFO: Skip_connection: True -2024-02-20 12:46:07, INFO: Number of layers: 1 -2024-02-20 12:46:07, INFO: Planning depth: 1 -2024-02-20 12:46:07, INFO: Planning width: 10 -2024-02-20 12:46:07, INFO: Sparse search: None -2024-02-20 12:46:09, INFO: human number: 10 -2024-02-20 12:46:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:14, INFO: Using device: cpu -2024-02-20 12:46:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:14, INFO: Similarity_func: concatenation -2024-02-20 12:46:14, INFO: Layerwise_graph: False -2024-02-20 12:46:14, INFO: Skip_connection: True -2024-02-20 12:46:14, INFO: Number of layers: 1 -2024-02-20 12:46:14, INFO: Similarity_func: concatenation -2024-02-20 12:46:14, INFO: Layerwise_graph: False -2024-02-20 12:46:14, INFO: Skip_connection: True -2024-02-20 12:46:14, INFO: Number of layers: 1 -2024-02-20 12:46:14, INFO: Planning depth: 1 -2024-02-20 12:46:14, INFO: Planning width: 10 -2024-02-20 12:46:14, INFO: Sparse search: None -2024-02-20 12:46:17, INFO: human number: 10 -2024-02-20 12:46:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:22, INFO: Using device: cpu -2024-02-20 12:46:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:22, INFO: Similarity_func: concatenation -2024-02-20 12:46:22, INFO: Layerwise_graph: False -2024-02-20 12:46:22, INFO: Skip_connection: True -2024-02-20 12:46:22, INFO: Number of layers: 1 -2024-02-20 12:46:22, INFO: Similarity_func: concatenation -2024-02-20 12:46:22, INFO: Layerwise_graph: False -2024-02-20 12:46:22, INFO: Skip_connection: True -2024-02-20 12:46:22, INFO: Number of layers: 1 -2024-02-20 12:46:22, INFO: Planning depth: 1 -2024-02-20 12:46:22, INFO: Planning width: 10 -2024-02-20 12:46:22, INFO: Sparse search: None -2024-02-20 12:46:25, INFO: human number: 10 -2024-02-20 12:46:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:30, INFO: Using device: cpu -2024-02-20 12:46:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:30, INFO: Similarity_func: concatenation -2024-02-20 12:46:30, INFO: Layerwise_graph: False -2024-02-20 12:46:30, INFO: Skip_connection: True -2024-02-20 12:46:30, INFO: Number of layers: 1 -2024-02-20 12:46:30, INFO: Similarity_func: concatenation -2024-02-20 12:46:30, INFO: Layerwise_graph: False -2024-02-20 12:46:30, INFO: Skip_connection: True -2024-02-20 12:46:30, INFO: Number of layers: 1 -2024-02-20 12:46:30, INFO: Planning depth: 1 -2024-02-20 12:46:30, INFO: Planning width: 10 -2024-02-20 12:46:30, INFO: Sparse search: None -2024-02-20 12:46:32, INFO: human number: 10 -2024-02-20 12:46:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:37, INFO: Using device: cpu -2024-02-20 12:46:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:37, INFO: Similarity_func: concatenation -2024-02-20 12:46:37, INFO: Layerwise_graph: False -2024-02-20 12:46:37, INFO: Skip_connection: True -2024-02-20 12:46:37, INFO: Number of layers: 1 -2024-02-20 12:46:37, INFO: Similarity_func: concatenation -2024-02-20 12:46:37, INFO: Layerwise_graph: False -2024-02-20 12:46:37, INFO: Skip_connection: True -2024-02-20 12:46:37, INFO: Number of layers: 1 -2024-02-20 12:46:37, INFO: Planning depth: 1 -2024-02-20 12:46:37, INFO: Planning width: 10 -2024-02-20 12:46:37, INFO: Sparse search: None -2024-02-20 12:46:40, INFO: human number: 10 -2024-02-20 12:46:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:44, INFO: Using device: cpu -2024-02-20 12:46:44, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:44, INFO: Similarity_func: concatenation -2024-02-20 12:46:44, INFO: Layerwise_graph: False -2024-02-20 12:46:44, INFO: Skip_connection: True -2024-02-20 12:46:44, INFO: Number of layers: 1 -2024-02-20 12:46:44, INFO: Similarity_func: concatenation -2024-02-20 12:46:44, INFO: Layerwise_graph: False -2024-02-20 12:46:44, INFO: Skip_connection: True -2024-02-20 12:46:44, INFO: Number of layers: 1 -2024-02-20 12:46:44, INFO: Planning depth: 1 -2024-02-20 12:46:44, INFO: Planning width: 10 -2024-02-20 12:46:44, INFO: Sparse search: None -2024-02-20 12:46:47, INFO: human number: 10 -2024-02-20 12:46:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:46:56, INFO: Using device: cpu -2024-02-20 12:46:56, INFO: Loaded RL weights with best VAL -2024-02-20 12:46:56, INFO: Similarity_func: concatenation -2024-02-20 12:46:56, INFO: Layerwise_graph: False -2024-02-20 12:46:56, INFO: Skip_connection: True -2024-02-20 12:46:56, INFO: Number of layers: 1 -2024-02-20 12:46:56, INFO: Similarity_func: concatenation -2024-02-20 12:46:56, INFO: Layerwise_graph: False -2024-02-20 12:46:56, INFO: Skip_connection: True -2024-02-20 12:46:56, INFO: Number of layers: 1 -2024-02-20 12:46:56, INFO: Planning depth: 1 -2024-02-20 12:46:56, INFO: Planning width: 10 -2024-02-20 12:46:56, INFO: Sparse search: None -2024-02-20 12:46:59, INFO: human number: 10 -2024-02-20 12:46:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:46:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:46:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:46:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:46:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:03, INFO: Using device: cpu -2024-02-20 12:47:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:03, INFO: Similarity_func: concatenation -2024-02-20 12:47:03, INFO: Layerwise_graph: False -2024-02-20 12:47:03, INFO: Skip_connection: True -2024-02-20 12:47:03, INFO: Number of layers: 1 -2024-02-20 12:47:03, INFO: Similarity_func: concatenation -2024-02-20 12:47:03, INFO: Layerwise_graph: False -2024-02-20 12:47:03, INFO: Skip_connection: True -2024-02-20 12:47:03, INFO: Number of layers: 1 -2024-02-20 12:47:03, INFO: Planning depth: 1 -2024-02-20 12:47:03, INFO: Planning width: 10 -2024-02-20 12:47:03, INFO: Sparse search: None -2024-02-20 12:47:06, INFO: human number: 10 -2024-02-20 12:47:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:10, INFO: Using device: cpu -2024-02-20 12:47:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:10, INFO: Similarity_func: concatenation -2024-02-20 12:47:10, INFO: Layerwise_graph: False -2024-02-20 12:47:10, INFO: Skip_connection: True -2024-02-20 12:47:10, INFO: Number of layers: 1 -2024-02-20 12:47:10, INFO: Similarity_func: concatenation -2024-02-20 12:47:10, INFO: Layerwise_graph: False -2024-02-20 12:47:10, INFO: Skip_connection: True -2024-02-20 12:47:10, INFO: Number of layers: 1 -2024-02-20 12:47:10, INFO: Planning depth: 1 -2024-02-20 12:47:10, INFO: Planning width: 10 -2024-02-20 12:47:10, INFO: Sparse search: None -2024-02-20 12:47:13, INFO: human number: 10 -2024-02-20 12:47:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:18, INFO: Using device: cpu -2024-02-20 12:47:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:18, INFO: Similarity_func: concatenation -2024-02-20 12:47:18, INFO: Layerwise_graph: False -2024-02-20 12:47:18, INFO: Skip_connection: True -2024-02-20 12:47:18, INFO: Number of layers: 1 -2024-02-20 12:47:18, INFO: Similarity_func: concatenation -2024-02-20 12:47:18, INFO: Layerwise_graph: False -2024-02-20 12:47:18, INFO: Skip_connection: True -2024-02-20 12:47:18, INFO: Number of layers: 1 -2024-02-20 12:47:18, INFO: Planning depth: 1 -2024-02-20 12:47:18, INFO: Planning width: 10 -2024-02-20 12:47:18, INFO: Sparse search: None -2024-02-20 12:47:21, INFO: human number: 10 -2024-02-20 12:47:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:26, INFO: Using device: cpu -2024-02-20 12:47:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:26, INFO: Similarity_func: concatenation -2024-02-20 12:47:26, INFO: Layerwise_graph: False -2024-02-20 12:47:26, INFO: Skip_connection: True -2024-02-20 12:47:26, INFO: Number of layers: 1 -2024-02-20 12:47:26, INFO: Similarity_func: concatenation -2024-02-20 12:47:26, INFO: Layerwise_graph: False -2024-02-20 12:47:26, INFO: Skip_connection: True -2024-02-20 12:47:26, INFO: Number of layers: 1 -2024-02-20 12:47:26, INFO: Planning depth: 1 -2024-02-20 12:47:26, INFO: Planning width: 10 -2024-02-20 12:47:26, INFO: Sparse search: None -2024-02-20 12:47:28, INFO: human number: 10 -2024-02-20 12:47:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:35, INFO: Using device: cpu -2024-02-20 12:47:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:35, INFO: Similarity_func: concatenation -2024-02-20 12:47:35, INFO: Layerwise_graph: False -2024-02-20 12:47:35, INFO: Skip_connection: True -2024-02-20 12:47:35, INFO: Number of layers: 1 -2024-02-20 12:47:35, INFO: Similarity_func: concatenation -2024-02-20 12:47:35, INFO: Layerwise_graph: False -2024-02-20 12:47:35, INFO: Skip_connection: True -2024-02-20 12:47:35, INFO: Number of layers: 1 -2024-02-20 12:47:35, INFO: Planning depth: 1 -2024-02-20 12:47:35, INFO: Planning width: 10 -2024-02-20 12:47:35, INFO: Sparse search: None -2024-02-20 12:47:38, INFO: human number: 10 -2024-02-20 12:47:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:43, INFO: Using device: cpu -2024-02-20 12:47:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:43, INFO: Similarity_func: concatenation -2024-02-20 12:47:43, INFO: Layerwise_graph: False -2024-02-20 12:47:43, INFO: Skip_connection: True -2024-02-20 12:47:43, INFO: Number of layers: 1 -2024-02-20 12:47:43, INFO: Similarity_func: concatenation -2024-02-20 12:47:43, INFO: Layerwise_graph: False -2024-02-20 12:47:43, INFO: Skip_connection: True -2024-02-20 12:47:43, INFO: Number of layers: 1 -2024-02-20 12:47:43, INFO: Planning depth: 1 -2024-02-20 12:47:43, INFO: Planning width: 10 -2024-02-20 12:47:43, INFO: Sparse search: None -2024-02-20 12:47:46, INFO: human number: 10 -2024-02-20 12:47:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:51, INFO: Using device: cpu -2024-02-20 12:47:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:51, INFO: Similarity_func: concatenation -2024-02-20 12:47:51, INFO: Layerwise_graph: False -2024-02-20 12:47:51, INFO: Skip_connection: True -2024-02-20 12:47:51, INFO: Number of layers: 1 -2024-02-20 12:47:51, INFO: Similarity_func: concatenation -2024-02-20 12:47:51, INFO: Layerwise_graph: False -2024-02-20 12:47:51, INFO: Skip_connection: True -2024-02-20 12:47:51, INFO: Number of layers: 1 -2024-02-20 12:47:51, INFO: Planning depth: 1 -2024-02-20 12:47:51, INFO: Planning width: 10 -2024-02-20 12:47:51, INFO: Sparse search: None -2024-02-20 12:47:53, INFO: human number: 10 -2024-02-20 12:47:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:47:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:47:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:47:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:47:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:47:59, INFO: Using device: cpu -2024-02-20 12:47:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:47:59, INFO: Similarity_func: concatenation -2024-02-20 12:47:59, INFO: Layerwise_graph: False -2024-02-20 12:47:59, INFO: Skip_connection: True -2024-02-20 12:47:59, INFO: Number of layers: 1 -2024-02-20 12:47:59, INFO: Similarity_func: concatenation -2024-02-20 12:47:59, INFO: Layerwise_graph: False -2024-02-20 12:47:59, INFO: Skip_connection: True -2024-02-20 12:47:59, INFO: Number of layers: 1 -2024-02-20 12:47:59, INFO: Planning depth: 1 -2024-02-20 12:47:59, INFO: Planning width: 10 -2024-02-20 12:47:59, INFO: Sparse search: None -2024-02-20 12:48:02, INFO: human number: 10 -2024-02-20 12:48:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:06, INFO: Using device: cpu -2024-02-20 12:48:06, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:06, INFO: Similarity_func: concatenation -2024-02-20 12:48:06, INFO: Layerwise_graph: False -2024-02-20 12:48:06, INFO: Skip_connection: True -2024-02-20 12:48:06, INFO: Number of layers: 1 -2024-02-20 12:48:06, INFO: Similarity_func: concatenation -2024-02-20 12:48:06, INFO: Layerwise_graph: False -2024-02-20 12:48:06, INFO: Skip_connection: True -2024-02-20 12:48:06, INFO: Number of layers: 1 -2024-02-20 12:48:06, INFO: Planning depth: 1 -2024-02-20 12:48:06, INFO: Planning width: 10 -2024-02-20 12:48:06, INFO: Sparse search: None -2024-02-20 12:48:09, INFO: human number: 10 -2024-02-20 12:48:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:14, INFO: Using device: cpu -2024-02-20 12:48:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:14, INFO: Similarity_func: concatenation -2024-02-20 12:48:14, INFO: Layerwise_graph: False -2024-02-20 12:48:14, INFO: Skip_connection: True -2024-02-20 12:48:14, INFO: Number of layers: 1 -2024-02-20 12:48:14, INFO: Similarity_func: concatenation -2024-02-20 12:48:14, INFO: Layerwise_graph: False -2024-02-20 12:48:14, INFO: Skip_connection: True -2024-02-20 12:48:14, INFO: Number of layers: 1 -2024-02-20 12:48:14, INFO: Planning depth: 1 -2024-02-20 12:48:14, INFO: Planning width: 10 -2024-02-20 12:48:14, INFO: Sparse search: None -2024-02-20 12:48:16, INFO: human number: 10 -2024-02-20 12:48:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:16, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:22, INFO: Using device: cpu -2024-02-20 12:48:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:22, INFO: Similarity_func: concatenation -2024-02-20 12:48:22, INFO: Layerwise_graph: False -2024-02-20 12:48:22, INFO: Skip_connection: True -2024-02-20 12:48:22, INFO: Number of layers: 1 -2024-02-20 12:48:22, INFO: Similarity_func: concatenation -2024-02-20 12:48:22, INFO: Layerwise_graph: False -2024-02-20 12:48:22, INFO: Skip_connection: True -2024-02-20 12:48:22, INFO: Number of layers: 1 -2024-02-20 12:48:22, INFO: Planning depth: 1 -2024-02-20 12:48:22, INFO: Planning width: 10 -2024-02-20 12:48:22, INFO: Sparse search: None -2024-02-20 12:48:25, INFO: human number: 10 -2024-02-20 12:48:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:30, INFO: Using device: cpu -2024-02-20 12:48:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:30, INFO: Similarity_func: concatenation -2024-02-20 12:48:30, INFO: Layerwise_graph: False -2024-02-20 12:48:30, INFO: Skip_connection: True -2024-02-20 12:48:30, INFO: Number of layers: 1 -2024-02-20 12:48:30, INFO: Similarity_func: concatenation -2024-02-20 12:48:30, INFO: Layerwise_graph: False -2024-02-20 12:48:30, INFO: Skip_connection: True -2024-02-20 12:48:30, INFO: Number of layers: 1 -2024-02-20 12:48:30, INFO: Planning depth: 1 -2024-02-20 12:48:30, INFO: Planning width: 10 -2024-02-20 12:48:30, INFO: Sparse search: None -2024-02-20 12:48:32, INFO: human number: 10 -2024-02-20 12:48:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:37, INFO: Using device: cpu -2024-02-20 12:48:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:37, INFO: Similarity_func: concatenation -2024-02-20 12:48:37, INFO: Layerwise_graph: False -2024-02-20 12:48:37, INFO: Skip_connection: True -2024-02-20 12:48:37, INFO: Number of layers: 1 -2024-02-20 12:48:37, INFO: Similarity_func: concatenation -2024-02-20 12:48:37, INFO: Layerwise_graph: False -2024-02-20 12:48:37, INFO: Skip_connection: True -2024-02-20 12:48:37, INFO: Number of layers: 1 -2024-02-20 12:48:37, INFO: Planning depth: 1 -2024-02-20 12:48:37, INFO: Planning width: 10 -2024-02-20 12:48:37, INFO: Sparse search: None -2024-02-20 12:48:40, INFO: human number: 10 -2024-02-20 12:48:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:45, INFO: Using device: cpu -2024-02-20 12:48:45, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:45, INFO: Similarity_func: concatenation -2024-02-20 12:48:45, INFO: Layerwise_graph: False -2024-02-20 12:48:45, INFO: Skip_connection: True -2024-02-20 12:48:45, INFO: Number of layers: 1 -2024-02-20 12:48:45, INFO: Similarity_func: concatenation -2024-02-20 12:48:45, INFO: Layerwise_graph: False -2024-02-20 12:48:45, INFO: Skip_connection: True -2024-02-20 12:48:45, INFO: Number of layers: 1 -2024-02-20 12:48:45, INFO: Planning depth: 1 -2024-02-20 12:48:45, INFO: Planning width: 10 -2024-02-20 12:48:45, INFO: Sparse search: None -2024-02-20 12:48:47, INFO: human number: 10 -2024-02-20 12:48:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:48:53, INFO: Using device: cpu -2024-02-20 12:48:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:48:53, INFO: Similarity_func: concatenation -2024-02-20 12:48:53, INFO: Layerwise_graph: False -2024-02-20 12:48:53, INFO: Skip_connection: True -2024-02-20 12:48:53, INFO: Number of layers: 1 -2024-02-20 12:48:53, INFO: Similarity_func: concatenation -2024-02-20 12:48:53, INFO: Layerwise_graph: False -2024-02-20 12:48:53, INFO: Skip_connection: True -2024-02-20 12:48:53, INFO: Number of layers: 1 -2024-02-20 12:48:53, INFO: Planning depth: 1 -2024-02-20 12:48:53, INFO: Planning width: 10 -2024-02-20 12:48:53, INFO: Sparse search: None -2024-02-20 12:48:55, INFO: human number: 10 -2024-02-20 12:48:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:48:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:48:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:48:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:48:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:01, INFO: Using device: cpu -2024-02-20 12:49:01, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:01, INFO: Similarity_func: concatenation -2024-02-20 12:49:01, INFO: Layerwise_graph: False -2024-02-20 12:49:01, INFO: Skip_connection: True -2024-02-20 12:49:01, INFO: Number of layers: 1 -2024-02-20 12:49:01, INFO: Similarity_func: concatenation -2024-02-20 12:49:01, INFO: Layerwise_graph: False -2024-02-20 12:49:01, INFO: Skip_connection: True -2024-02-20 12:49:01, INFO: Number of layers: 1 -2024-02-20 12:49:01, INFO: Planning depth: 1 -2024-02-20 12:49:01, INFO: Planning width: 10 -2024-02-20 12:49:01, INFO: Sparse search: None -2024-02-20 12:49:04, INFO: human number: 10 -2024-02-20 12:49:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:04, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:09, INFO: Using device: cpu -2024-02-20 12:49:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:09, INFO: Similarity_func: concatenation -2024-02-20 12:49:09, INFO: Layerwise_graph: False -2024-02-20 12:49:09, INFO: Skip_connection: True -2024-02-20 12:49:09, INFO: Number of layers: 1 -2024-02-20 12:49:09, INFO: Similarity_func: concatenation -2024-02-20 12:49:09, INFO: Layerwise_graph: False -2024-02-20 12:49:09, INFO: Skip_connection: True -2024-02-20 12:49:09, INFO: Number of layers: 1 -2024-02-20 12:49:09, INFO: Planning depth: 1 -2024-02-20 12:49:09, INFO: Planning width: 10 -2024-02-20 12:49:09, INFO: Sparse search: None -2024-02-20 12:49:11, INFO: human number: 10 -2024-02-20 12:49:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:17, INFO: Using device: cpu -2024-02-20 12:49:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:17, INFO: Similarity_func: concatenation -2024-02-20 12:49:17, INFO: Layerwise_graph: False -2024-02-20 12:49:17, INFO: Skip_connection: True -2024-02-20 12:49:17, INFO: Number of layers: 1 -2024-02-20 12:49:17, INFO: Similarity_func: concatenation -2024-02-20 12:49:17, INFO: Layerwise_graph: False -2024-02-20 12:49:17, INFO: Skip_connection: True -2024-02-20 12:49:17, INFO: Number of layers: 1 -2024-02-20 12:49:17, INFO: Planning depth: 1 -2024-02-20 12:49:17, INFO: Planning width: 10 -2024-02-20 12:49:17, INFO: Sparse search: None -2024-02-20 12:49:20, INFO: human number: 10 -2024-02-20 12:49:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:25, INFO: Using device: cpu -2024-02-20 12:49:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:25, INFO: Similarity_func: concatenation -2024-02-20 12:49:25, INFO: Layerwise_graph: False -2024-02-20 12:49:25, INFO: Skip_connection: True -2024-02-20 12:49:25, INFO: Number of layers: 1 -2024-02-20 12:49:25, INFO: Similarity_func: concatenation -2024-02-20 12:49:25, INFO: Layerwise_graph: False -2024-02-20 12:49:25, INFO: Skip_connection: True -2024-02-20 12:49:25, INFO: Number of layers: 1 -2024-02-20 12:49:25, INFO: Planning depth: 1 -2024-02-20 12:49:25, INFO: Planning width: 10 -2024-02-20 12:49:25, INFO: Sparse search: None -2024-02-20 12:49:28, INFO: human number: 10 -2024-02-20 12:49:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:28, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:32, INFO: Using device: cpu -2024-02-20 12:49:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:32, INFO: Similarity_func: concatenation -2024-02-20 12:49:32, INFO: Layerwise_graph: False -2024-02-20 12:49:32, INFO: Skip_connection: True -2024-02-20 12:49:32, INFO: Number of layers: 1 -2024-02-20 12:49:32, INFO: Similarity_func: concatenation -2024-02-20 12:49:32, INFO: Layerwise_graph: False -2024-02-20 12:49:32, INFO: Skip_connection: True -2024-02-20 12:49:32, INFO: Number of layers: 1 -2024-02-20 12:49:32, INFO: Planning depth: 1 -2024-02-20 12:49:32, INFO: Planning width: 10 -2024-02-20 12:49:32, INFO: Sparse search: None -2024-02-20 12:49:35, INFO: human number: 10 -2024-02-20 12:49:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:40, INFO: Using device: cpu -2024-02-20 12:49:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:40, INFO: Similarity_func: concatenation -2024-02-20 12:49:40, INFO: Layerwise_graph: False -2024-02-20 12:49:40, INFO: Skip_connection: True -2024-02-20 12:49:40, INFO: Number of layers: 1 -2024-02-20 12:49:40, INFO: Similarity_func: concatenation -2024-02-20 12:49:40, INFO: Layerwise_graph: False -2024-02-20 12:49:40, INFO: Skip_connection: True -2024-02-20 12:49:40, INFO: Number of layers: 1 -2024-02-20 12:49:40, INFO: Planning depth: 1 -2024-02-20 12:49:40, INFO: Planning width: 10 -2024-02-20 12:49:40, INFO: Sparse search: None -2024-02-20 12:49:43, INFO: human number: 10 -2024-02-20 12:49:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:43, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:49, INFO: Using device: cpu -2024-02-20 12:49:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:49, INFO: Similarity_func: concatenation -2024-02-20 12:49:49, INFO: Layerwise_graph: False -2024-02-20 12:49:49, INFO: Skip_connection: True -2024-02-20 12:49:49, INFO: Number of layers: 1 -2024-02-20 12:49:49, INFO: Similarity_func: concatenation -2024-02-20 12:49:49, INFO: Layerwise_graph: False -2024-02-20 12:49:49, INFO: Skip_connection: True -2024-02-20 12:49:49, INFO: Number of layers: 1 -2024-02-20 12:49:49, INFO: Planning depth: 1 -2024-02-20 12:49:49, INFO: Planning width: 10 -2024-02-20 12:49:49, INFO: Sparse search: None -2024-02-20 12:49:52, INFO: human number: 10 -2024-02-20 12:49:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:49:56, INFO: Using device: cpu -2024-02-20 12:49:56, INFO: Loaded RL weights with best VAL -2024-02-20 12:49:56, INFO: Similarity_func: concatenation -2024-02-20 12:49:56, INFO: Layerwise_graph: False -2024-02-20 12:49:56, INFO: Skip_connection: True -2024-02-20 12:49:56, INFO: Number of layers: 1 -2024-02-20 12:49:56, INFO: Similarity_func: concatenation -2024-02-20 12:49:56, INFO: Layerwise_graph: False -2024-02-20 12:49:56, INFO: Skip_connection: True -2024-02-20 12:49:56, INFO: Number of layers: 1 -2024-02-20 12:49:56, INFO: Planning depth: 1 -2024-02-20 12:49:56, INFO: Planning width: 10 -2024-02-20 12:49:56, INFO: Sparse search: None -2024-02-20 12:49:59, INFO: human number: 10 -2024-02-20 12:49:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:49:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:49:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:49:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:49:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:04, INFO: Using device: cpu -2024-02-20 12:50:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:04, INFO: Similarity_func: concatenation -2024-02-20 12:50:04, INFO: Layerwise_graph: False -2024-02-20 12:50:04, INFO: Skip_connection: True -2024-02-20 12:50:04, INFO: Number of layers: 1 -2024-02-20 12:50:04, INFO: Similarity_func: concatenation -2024-02-20 12:50:04, INFO: Layerwise_graph: False -2024-02-20 12:50:04, INFO: Skip_connection: True -2024-02-20 12:50:04, INFO: Number of layers: 1 -2024-02-20 12:50:04, INFO: Planning depth: 1 -2024-02-20 12:50:04, INFO: Planning width: 10 -2024-02-20 12:50:04, INFO: Sparse search: None -2024-02-20 12:50:07, INFO: human number: 10 -2024-02-20 12:50:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:12, INFO: Using device: cpu -2024-02-20 12:50:12, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:12, INFO: Similarity_func: concatenation -2024-02-20 12:50:12, INFO: Layerwise_graph: False -2024-02-20 12:50:12, INFO: Skip_connection: True -2024-02-20 12:50:12, INFO: Number of layers: 1 -2024-02-20 12:50:12, INFO: Similarity_func: concatenation -2024-02-20 12:50:12, INFO: Layerwise_graph: False -2024-02-20 12:50:12, INFO: Skip_connection: True -2024-02-20 12:50:12, INFO: Number of layers: 1 -2024-02-20 12:50:12, INFO: Planning depth: 1 -2024-02-20 12:50:12, INFO: Planning width: 10 -2024-02-20 12:50:12, INFO: Sparse search: None -2024-02-20 12:50:15, INFO: human number: 10 -2024-02-20 12:50:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:15, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:21, INFO: Using device: cpu -2024-02-20 12:50:21, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:21, INFO: Similarity_func: concatenation -2024-02-20 12:50:21, INFO: Layerwise_graph: False -2024-02-20 12:50:21, INFO: Skip_connection: True -2024-02-20 12:50:21, INFO: Number of layers: 1 -2024-02-20 12:50:21, INFO: Similarity_func: concatenation -2024-02-20 12:50:21, INFO: Layerwise_graph: False -2024-02-20 12:50:21, INFO: Skip_connection: True -2024-02-20 12:50:21, INFO: Number of layers: 1 -2024-02-20 12:50:21, INFO: Planning depth: 1 -2024-02-20 12:50:21, INFO: Planning width: 10 -2024-02-20 12:50:21, INFO: Sparse search: None -2024-02-20 12:50:24, INFO: human number: 10 -2024-02-20 12:50:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:24, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:29, INFO: Using device: cpu -2024-02-20 12:50:29, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:29, INFO: Similarity_func: concatenation -2024-02-20 12:50:29, INFO: Layerwise_graph: False -2024-02-20 12:50:29, INFO: Skip_connection: True -2024-02-20 12:50:29, INFO: Number of layers: 1 -2024-02-20 12:50:29, INFO: Similarity_func: concatenation -2024-02-20 12:50:29, INFO: Layerwise_graph: False -2024-02-20 12:50:29, INFO: Skip_connection: True -2024-02-20 12:50:29, INFO: Number of layers: 1 -2024-02-20 12:50:29, INFO: Planning depth: 1 -2024-02-20 12:50:29, INFO: Planning width: 10 -2024-02-20 12:50:29, INFO: Sparse search: None -2024-02-20 12:50:32, INFO: human number: 10 -2024-02-20 12:50:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:32, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:37, INFO: Using device: cpu -2024-02-20 12:50:37, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:37, INFO: Similarity_func: concatenation -2024-02-20 12:50:37, INFO: Layerwise_graph: False -2024-02-20 12:50:37, INFO: Skip_connection: True -2024-02-20 12:50:37, INFO: Number of layers: 1 -2024-02-20 12:50:37, INFO: Similarity_func: concatenation -2024-02-20 12:50:37, INFO: Layerwise_graph: False -2024-02-20 12:50:37, INFO: Skip_connection: True -2024-02-20 12:50:37, INFO: Number of layers: 1 -2024-02-20 12:50:37, INFO: Planning depth: 1 -2024-02-20 12:50:37, INFO: Planning width: 10 -2024-02-20 12:50:37, INFO: Sparse search: None -2024-02-20 12:50:40, INFO: human number: 10 -2024-02-20 12:50:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:40, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:44, INFO: Using device: cpu -2024-02-20 12:50:44, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:44, INFO: Similarity_func: concatenation -2024-02-20 12:50:44, INFO: Layerwise_graph: False -2024-02-20 12:50:44, INFO: Skip_connection: True -2024-02-20 12:50:44, INFO: Number of layers: 1 -2024-02-20 12:50:44, INFO: Similarity_func: concatenation -2024-02-20 12:50:44, INFO: Layerwise_graph: False -2024-02-20 12:50:44, INFO: Skip_connection: True -2024-02-20 12:50:44, INFO: Number of layers: 1 -2024-02-20 12:50:44, INFO: Planning depth: 1 -2024-02-20 12:50:44, INFO: Planning width: 10 -2024-02-20 12:50:44, INFO: Sparse search: None -2024-02-20 12:50:47, INFO: human number: 10 -2024-02-20 12:50:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:47, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:50:52, INFO: Using device: cpu -2024-02-20 12:50:52, INFO: Loaded RL weights with best VAL -2024-02-20 12:50:52, INFO: Similarity_func: concatenation -2024-02-20 12:50:52, INFO: Layerwise_graph: False -2024-02-20 12:50:52, INFO: Skip_connection: True -2024-02-20 12:50:52, INFO: Number of layers: 1 -2024-02-20 12:50:52, INFO: Similarity_func: concatenation -2024-02-20 12:50:52, INFO: Layerwise_graph: False -2024-02-20 12:50:52, INFO: Skip_connection: True -2024-02-20 12:50:52, INFO: Number of layers: 1 -2024-02-20 12:50:52, INFO: Planning depth: 1 -2024-02-20 12:50:52, INFO: Planning width: 10 -2024-02-20 12:50:52, INFO: Sparse search: None -2024-02-20 12:50:55, INFO: human number: 10 -2024-02-20 12:50:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:50:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:50:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:50:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:50:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:00, INFO: Using device: cpu -2024-02-20 12:51:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:00, INFO: Similarity_func: concatenation -2024-02-20 12:51:00, INFO: Layerwise_graph: False -2024-02-20 12:51:00, INFO: Skip_connection: True -2024-02-20 12:51:00, INFO: Number of layers: 1 -2024-02-20 12:51:00, INFO: Similarity_func: concatenation -2024-02-20 12:51:00, INFO: Layerwise_graph: False -2024-02-20 12:51:00, INFO: Skip_connection: True -2024-02-20 12:51:00, INFO: Number of layers: 1 -2024-02-20 12:51:00, INFO: Planning depth: 1 -2024-02-20 12:51:00, INFO: Planning width: 10 -2024-02-20 12:51:00, INFO: Sparse search: None -2024-02-20 12:51:03, INFO: human number: 10 -2024-02-20 12:51:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:03, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:08, INFO: Using device: cpu -2024-02-20 12:51:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:08, INFO: Similarity_func: concatenation -2024-02-20 12:51:08, INFO: Layerwise_graph: False -2024-02-20 12:51:08, INFO: Skip_connection: True -2024-02-20 12:51:08, INFO: Number of layers: 1 -2024-02-20 12:51:08, INFO: Similarity_func: concatenation -2024-02-20 12:51:08, INFO: Layerwise_graph: False -2024-02-20 12:51:08, INFO: Skip_connection: True -2024-02-20 12:51:08, INFO: Number of layers: 1 -2024-02-20 12:51:08, INFO: Planning depth: 1 -2024-02-20 12:51:08, INFO: Planning width: 10 -2024-02-20 12:51:08, INFO: Sparse search: None -2024-02-20 12:51:11, INFO: human number: 10 -2024-02-20 12:51:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:16, INFO: Using device: cpu -2024-02-20 12:51:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:16, INFO: Similarity_func: concatenation -2024-02-20 12:51:16, INFO: Layerwise_graph: False -2024-02-20 12:51:16, INFO: Skip_connection: True -2024-02-20 12:51:16, INFO: Number of layers: 1 -2024-02-20 12:51:16, INFO: Similarity_func: concatenation -2024-02-20 12:51:16, INFO: Layerwise_graph: False -2024-02-20 12:51:16, INFO: Skip_connection: True -2024-02-20 12:51:16, INFO: Number of layers: 1 -2024-02-20 12:51:16, INFO: Planning depth: 1 -2024-02-20 12:51:16, INFO: Planning width: 10 -2024-02-20 12:51:16, INFO: Sparse search: None -2024-02-20 12:51:18, INFO: human number: 10 -2024-02-20 12:51:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:18, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:23, INFO: Using device: cpu -2024-02-20 12:51:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:23, INFO: Similarity_func: concatenation -2024-02-20 12:51:23, INFO: Layerwise_graph: False -2024-02-20 12:51:23, INFO: Skip_connection: True -2024-02-20 12:51:23, INFO: Number of layers: 1 -2024-02-20 12:51:23, INFO: Similarity_func: concatenation -2024-02-20 12:51:23, INFO: Layerwise_graph: False -2024-02-20 12:51:23, INFO: Skip_connection: True -2024-02-20 12:51:23, INFO: Number of layers: 1 -2024-02-20 12:51:23, INFO: Planning depth: 1 -2024-02-20 12:51:23, INFO: Planning width: 10 -2024-02-20 12:51:23, INFO: Sparse search: None -2024-02-20 12:51:26, INFO: human number: 10 -2024-02-20 12:51:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:31, INFO: Using device: cpu -2024-02-20 12:51:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:31, INFO: Similarity_func: concatenation -2024-02-20 12:51:31, INFO: Layerwise_graph: False -2024-02-20 12:51:31, INFO: Skip_connection: True -2024-02-20 12:51:31, INFO: Number of layers: 1 -2024-02-20 12:51:31, INFO: Similarity_func: concatenation -2024-02-20 12:51:31, INFO: Layerwise_graph: False -2024-02-20 12:51:31, INFO: Skip_connection: True -2024-02-20 12:51:31, INFO: Number of layers: 1 -2024-02-20 12:51:31, INFO: Planning depth: 1 -2024-02-20 12:51:31, INFO: Planning width: 10 -2024-02-20 12:51:31, INFO: Sparse search: None -2024-02-20 12:51:34, INFO: human number: 10 -2024-02-20 12:51:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:39, INFO: Using device: cpu -2024-02-20 12:51:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:39, INFO: Similarity_func: concatenation -2024-02-20 12:51:39, INFO: Layerwise_graph: False -2024-02-20 12:51:39, INFO: Skip_connection: True -2024-02-20 12:51:39, INFO: Number of layers: 1 -2024-02-20 12:51:39, INFO: Similarity_func: concatenation -2024-02-20 12:51:39, INFO: Layerwise_graph: False -2024-02-20 12:51:39, INFO: Skip_connection: True -2024-02-20 12:51:39, INFO: Number of layers: 1 -2024-02-20 12:51:39, INFO: Planning depth: 1 -2024-02-20 12:51:39, INFO: Planning width: 10 -2024-02-20 12:51:39, INFO: Sparse search: None -2024-02-20 12:51:42, INFO: human number: 10 -2024-02-20 12:51:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:47, INFO: Using device: cpu -2024-02-20 12:51:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:47, INFO: Similarity_func: concatenation -2024-02-20 12:51:47, INFO: Layerwise_graph: False -2024-02-20 12:51:47, INFO: Skip_connection: True -2024-02-20 12:51:47, INFO: Number of layers: 1 -2024-02-20 12:51:47, INFO: Similarity_func: concatenation -2024-02-20 12:51:47, INFO: Layerwise_graph: False -2024-02-20 12:51:47, INFO: Skip_connection: True -2024-02-20 12:51:47, INFO: Number of layers: 1 -2024-02-20 12:51:47, INFO: Planning depth: 1 -2024-02-20 12:51:47, INFO: Planning width: 10 -2024-02-20 12:51:47, INFO: Sparse search: None -2024-02-20 12:51:49, INFO: human number: 10 -2024-02-20 12:51:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:51:54, INFO: Using device: cpu -2024-02-20 12:51:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:51:54, INFO: Similarity_func: concatenation -2024-02-20 12:51:54, INFO: Layerwise_graph: False -2024-02-20 12:51:54, INFO: Skip_connection: True -2024-02-20 12:51:54, INFO: Number of layers: 1 -2024-02-20 12:51:54, INFO: Similarity_func: concatenation -2024-02-20 12:51:54, INFO: Layerwise_graph: False -2024-02-20 12:51:54, INFO: Skip_connection: True -2024-02-20 12:51:54, INFO: Number of layers: 1 -2024-02-20 12:51:54, INFO: Planning depth: 1 -2024-02-20 12:51:54, INFO: Planning width: 10 -2024-02-20 12:51:54, INFO: Sparse search: None -2024-02-20 12:51:57, INFO: human number: 10 -2024-02-20 12:51:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:51:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:51:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:51:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:51:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:02, INFO: Using device: cpu -2024-02-20 12:52:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:02, INFO: Similarity_func: concatenation -2024-02-20 12:52:02, INFO: Layerwise_graph: False -2024-02-20 12:52:02, INFO: Skip_connection: True -2024-02-20 12:52:02, INFO: Number of layers: 1 -2024-02-20 12:52:02, INFO: Similarity_func: concatenation -2024-02-20 12:52:02, INFO: Layerwise_graph: False -2024-02-20 12:52:02, INFO: Skip_connection: True -2024-02-20 12:52:02, INFO: Number of layers: 1 -2024-02-20 12:52:02, INFO: Planning depth: 1 -2024-02-20 12:52:02, INFO: Planning width: 10 -2024-02-20 12:52:02, INFO: Sparse search: None -2024-02-20 12:52:05, INFO: human number: 10 -2024-02-20 12:52:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:10, INFO: Using device: cpu -2024-02-20 12:52:10, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:10, INFO: Similarity_func: concatenation -2024-02-20 12:52:10, INFO: Layerwise_graph: False -2024-02-20 12:52:10, INFO: Skip_connection: True -2024-02-20 12:52:10, INFO: Number of layers: 1 -2024-02-20 12:52:10, INFO: Similarity_func: concatenation -2024-02-20 12:52:10, INFO: Layerwise_graph: False -2024-02-20 12:52:10, INFO: Skip_connection: True -2024-02-20 12:52:10, INFO: Number of layers: 1 -2024-02-20 12:52:10, INFO: Planning depth: 1 -2024-02-20 12:52:10, INFO: Planning width: 10 -2024-02-20 12:52:10, INFO: Sparse search: None -2024-02-20 12:52:12, INFO: human number: 10 -2024-02-20 12:52:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:17, INFO: Using device: cpu -2024-02-20 12:52:17, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:17, INFO: Similarity_func: concatenation -2024-02-20 12:52:17, INFO: Layerwise_graph: False -2024-02-20 12:52:17, INFO: Skip_connection: True -2024-02-20 12:52:17, INFO: Number of layers: 1 -2024-02-20 12:52:17, INFO: Similarity_func: concatenation -2024-02-20 12:52:17, INFO: Layerwise_graph: False -2024-02-20 12:52:17, INFO: Skip_connection: True -2024-02-20 12:52:17, INFO: Number of layers: 1 -2024-02-20 12:52:17, INFO: Planning depth: 1 -2024-02-20 12:52:17, INFO: Planning width: 10 -2024-02-20 12:52:17, INFO: Sparse search: None -2024-02-20 12:52:20, INFO: human number: 10 -2024-02-20 12:52:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:20, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:25, INFO: Using device: cpu -2024-02-20 12:52:25, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:25, INFO: Similarity_func: concatenation -2024-02-20 12:52:25, INFO: Layerwise_graph: False -2024-02-20 12:52:25, INFO: Skip_connection: True -2024-02-20 12:52:25, INFO: Number of layers: 1 -2024-02-20 12:52:25, INFO: Similarity_func: concatenation -2024-02-20 12:52:25, INFO: Layerwise_graph: False -2024-02-20 12:52:25, INFO: Skip_connection: True -2024-02-20 12:52:25, INFO: Number of layers: 1 -2024-02-20 12:52:25, INFO: Planning depth: 1 -2024-02-20 12:52:25, INFO: Planning width: 10 -2024-02-20 12:52:25, INFO: Sparse search: None -2024-02-20 12:52:27, INFO: human number: 10 -2024-02-20 12:52:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:27, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:32, INFO: Using device: cpu -2024-02-20 12:52:32, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:32, INFO: Similarity_func: concatenation -2024-02-20 12:52:32, INFO: Layerwise_graph: False -2024-02-20 12:52:32, INFO: Skip_connection: True -2024-02-20 12:52:32, INFO: Number of layers: 1 -2024-02-20 12:52:32, INFO: Similarity_func: concatenation -2024-02-20 12:52:32, INFO: Layerwise_graph: False -2024-02-20 12:52:32, INFO: Skip_connection: True -2024-02-20 12:52:32, INFO: Number of layers: 1 -2024-02-20 12:52:32, INFO: Planning depth: 1 -2024-02-20 12:52:32, INFO: Planning width: 10 -2024-02-20 12:52:32, INFO: Sparse search: None -2024-02-20 12:52:35, INFO: human number: 10 -2024-02-20 12:52:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:35, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:40, INFO: Using device: cpu -2024-02-20 12:52:40, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:40, INFO: Similarity_func: concatenation -2024-02-20 12:52:40, INFO: Layerwise_graph: False -2024-02-20 12:52:40, INFO: Skip_connection: True -2024-02-20 12:52:40, INFO: Number of layers: 1 -2024-02-20 12:52:40, INFO: Similarity_func: concatenation -2024-02-20 12:52:40, INFO: Layerwise_graph: False -2024-02-20 12:52:40, INFO: Skip_connection: True -2024-02-20 12:52:40, INFO: Number of layers: 1 -2024-02-20 12:52:40, INFO: Planning depth: 1 -2024-02-20 12:52:40, INFO: Planning width: 10 -2024-02-20 12:52:40, INFO: Sparse search: None -2024-02-20 12:52:42, INFO: human number: 10 -2024-02-20 12:52:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:42, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:47, INFO: Using device: cpu -2024-02-20 12:52:47, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:47, INFO: Similarity_func: concatenation -2024-02-20 12:52:47, INFO: Layerwise_graph: False -2024-02-20 12:52:47, INFO: Skip_connection: True -2024-02-20 12:52:47, INFO: Number of layers: 1 -2024-02-20 12:52:47, INFO: Similarity_func: concatenation -2024-02-20 12:52:47, INFO: Layerwise_graph: False -2024-02-20 12:52:47, INFO: Skip_connection: True -2024-02-20 12:52:47, INFO: Number of layers: 1 -2024-02-20 12:52:47, INFO: Planning depth: 1 -2024-02-20 12:52:47, INFO: Planning width: 10 -2024-02-20 12:52:47, INFO: Sparse search: None -2024-02-20 12:52:50, INFO: human number: 10 -2024-02-20 12:52:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:50, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:52:55, INFO: Using device: cpu -2024-02-20 12:52:55, INFO: Loaded RL weights with best VAL -2024-02-20 12:52:55, INFO: Similarity_func: concatenation -2024-02-20 12:52:55, INFO: Layerwise_graph: False -2024-02-20 12:52:55, INFO: Skip_connection: True -2024-02-20 12:52:55, INFO: Number of layers: 1 -2024-02-20 12:52:55, INFO: Similarity_func: concatenation -2024-02-20 12:52:55, INFO: Layerwise_graph: False -2024-02-20 12:52:55, INFO: Skip_connection: True -2024-02-20 12:52:55, INFO: Number of layers: 1 -2024-02-20 12:52:55, INFO: Planning depth: 1 -2024-02-20 12:52:55, INFO: Planning width: 10 -2024-02-20 12:52:55, INFO: Sparse search: None -2024-02-20 12:52:58, INFO: human number: 10 -2024-02-20 12:52:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:52:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:52:58, INFO: Square width: 10, circle width: 4 -2024-02-20 12:52:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:52:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:03, INFO: Using device: cpu -2024-02-20 12:53:03, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:03, INFO: Similarity_func: concatenation -2024-02-20 12:53:03, INFO: Layerwise_graph: False -2024-02-20 12:53:03, INFO: Skip_connection: True -2024-02-20 12:53:03, INFO: Number of layers: 1 -2024-02-20 12:53:03, INFO: Similarity_func: concatenation -2024-02-20 12:53:03, INFO: Layerwise_graph: False -2024-02-20 12:53:03, INFO: Skip_connection: True -2024-02-20 12:53:03, INFO: Number of layers: 1 -2024-02-20 12:53:03, INFO: Planning depth: 1 -2024-02-20 12:53:03, INFO: Planning width: 10 -2024-02-20 12:53:03, INFO: Sparse search: None -2024-02-20 12:53:06, INFO: human number: 10 -2024-02-20 12:53:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:06, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:11, INFO: Using device: cpu -2024-02-20 12:53:11, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:11, INFO: Similarity_func: concatenation -2024-02-20 12:53:11, INFO: Layerwise_graph: False -2024-02-20 12:53:11, INFO: Skip_connection: True -2024-02-20 12:53:11, INFO: Number of layers: 1 -2024-02-20 12:53:11, INFO: Similarity_func: concatenation -2024-02-20 12:53:11, INFO: Layerwise_graph: False -2024-02-20 12:53:11, INFO: Skip_connection: True -2024-02-20 12:53:11, INFO: Number of layers: 1 -2024-02-20 12:53:11, INFO: Planning depth: 1 -2024-02-20 12:53:11, INFO: Planning width: 10 -2024-02-20 12:53:11, INFO: Sparse search: None -2024-02-20 12:53:13, INFO: human number: 10 -2024-02-20 12:53:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:13, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:18, INFO: Using device: cpu -2024-02-20 12:53:18, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:18, INFO: Similarity_func: concatenation -2024-02-20 12:53:18, INFO: Layerwise_graph: False -2024-02-20 12:53:18, INFO: Skip_connection: True -2024-02-20 12:53:18, INFO: Number of layers: 1 -2024-02-20 12:53:18, INFO: Similarity_func: concatenation -2024-02-20 12:53:18, INFO: Layerwise_graph: False -2024-02-20 12:53:18, INFO: Skip_connection: True -2024-02-20 12:53:18, INFO: Number of layers: 1 -2024-02-20 12:53:18, INFO: Planning depth: 1 -2024-02-20 12:53:18, INFO: Planning width: 10 -2024-02-20 12:53:18, INFO: Sparse search: None -2024-02-20 12:53:21, INFO: human number: 10 -2024-02-20 12:53:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:21, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:26, INFO: Using device: cpu -2024-02-20 12:53:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:26, INFO: Similarity_func: concatenation -2024-02-20 12:53:26, INFO: Layerwise_graph: False -2024-02-20 12:53:26, INFO: Skip_connection: True -2024-02-20 12:53:26, INFO: Number of layers: 1 -2024-02-20 12:53:26, INFO: Similarity_func: concatenation -2024-02-20 12:53:26, INFO: Layerwise_graph: False -2024-02-20 12:53:26, INFO: Skip_connection: True -2024-02-20 12:53:26, INFO: Number of layers: 1 -2024-02-20 12:53:26, INFO: Planning depth: 1 -2024-02-20 12:53:26, INFO: Planning width: 10 -2024-02-20 12:53:26, INFO: Sparse search: None -2024-02-20 12:53:29, INFO: human number: 10 -2024-02-20 12:53:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:34, INFO: Using device: cpu -2024-02-20 12:53:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:34, INFO: Similarity_func: concatenation -2024-02-20 12:53:34, INFO: Layerwise_graph: False -2024-02-20 12:53:34, INFO: Skip_connection: True -2024-02-20 12:53:34, INFO: Number of layers: 1 -2024-02-20 12:53:34, INFO: Similarity_func: concatenation -2024-02-20 12:53:34, INFO: Layerwise_graph: False -2024-02-20 12:53:34, INFO: Skip_connection: True -2024-02-20 12:53:34, INFO: Number of layers: 1 -2024-02-20 12:53:34, INFO: Planning depth: 1 -2024-02-20 12:53:34, INFO: Planning width: 10 -2024-02-20 12:53:34, INFO: Sparse search: None -2024-02-20 12:53:37, INFO: human number: 10 -2024-02-20 12:53:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:41, INFO: Using device: cpu -2024-02-20 12:53:41, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:41, INFO: Similarity_func: concatenation -2024-02-20 12:53:41, INFO: Layerwise_graph: False -2024-02-20 12:53:41, INFO: Skip_connection: True -2024-02-20 12:53:41, INFO: Number of layers: 1 -2024-02-20 12:53:41, INFO: Similarity_func: concatenation -2024-02-20 12:53:41, INFO: Layerwise_graph: False -2024-02-20 12:53:41, INFO: Skip_connection: True -2024-02-20 12:53:41, INFO: Number of layers: 1 -2024-02-20 12:53:41, INFO: Planning depth: 1 -2024-02-20 12:53:41, INFO: Planning width: 10 -2024-02-20 12:53:41, INFO: Sparse search: None -2024-02-20 12:53:44, INFO: human number: 10 -2024-02-20 12:53:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:49, INFO: Using device: cpu -2024-02-20 12:53:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:49, INFO: Similarity_func: concatenation -2024-02-20 12:53:49, INFO: Layerwise_graph: False -2024-02-20 12:53:49, INFO: Skip_connection: True -2024-02-20 12:53:49, INFO: Number of layers: 1 -2024-02-20 12:53:49, INFO: Similarity_func: concatenation -2024-02-20 12:53:49, INFO: Layerwise_graph: False -2024-02-20 12:53:49, INFO: Skip_connection: True -2024-02-20 12:53:49, INFO: Number of layers: 1 -2024-02-20 12:53:49, INFO: Planning depth: 1 -2024-02-20 12:53:49, INFO: Planning width: 10 -2024-02-20 12:53:49, INFO: Sparse search: None -2024-02-20 12:53:52, INFO: human number: 10 -2024-02-20 12:53:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:53:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:53:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:53:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:53:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:53:57, INFO: Using device: cpu -2024-02-20 12:53:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:53:57, INFO: Similarity_func: concatenation -2024-02-20 12:53:57, INFO: Layerwise_graph: False -2024-02-20 12:53:57, INFO: Skip_connection: True -2024-02-20 12:53:57, INFO: Number of layers: 1 -2024-02-20 12:53:57, INFO: Similarity_func: concatenation -2024-02-20 12:53:57, INFO: Layerwise_graph: False -2024-02-20 12:53:57, INFO: Skip_connection: True -2024-02-20 12:53:57, INFO: Number of layers: 1 -2024-02-20 12:53:57, INFO: Planning depth: 1 -2024-02-20 12:53:57, INFO: Planning width: 10 -2024-02-20 12:53:57, INFO: Sparse search: None -2024-02-20 12:54:00, INFO: human number: 10 -2024-02-20 12:54:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:00, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:04, INFO: Using device: cpu -2024-02-20 12:54:04, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:04, INFO: Similarity_func: concatenation -2024-02-20 12:54:04, INFO: Layerwise_graph: False -2024-02-20 12:54:04, INFO: Skip_connection: True -2024-02-20 12:54:04, INFO: Number of layers: 1 -2024-02-20 12:54:04, INFO: Similarity_func: concatenation -2024-02-20 12:54:04, INFO: Layerwise_graph: False -2024-02-20 12:54:04, INFO: Skip_connection: True -2024-02-20 12:54:04, INFO: Number of layers: 1 -2024-02-20 12:54:04, INFO: Planning depth: 1 -2024-02-20 12:54:04, INFO: Planning width: 10 -2024-02-20 12:54:04, INFO: Sparse search: None -2024-02-20 12:54:07, INFO: human number: 10 -2024-02-20 12:54:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:12, INFO: Using device: cpu -2024-02-20 12:54:12, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:12, INFO: Similarity_func: concatenation -2024-02-20 12:54:12, INFO: Layerwise_graph: False -2024-02-20 12:54:12, INFO: Skip_connection: True -2024-02-20 12:54:12, INFO: Number of layers: 1 -2024-02-20 12:54:12, INFO: Similarity_func: concatenation -2024-02-20 12:54:12, INFO: Layerwise_graph: False -2024-02-20 12:54:12, INFO: Skip_connection: True -2024-02-20 12:54:12, INFO: Number of layers: 1 -2024-02-20 12:54:12, INFO: Planning depth: 1 -2024-02-20 12:54:12, INFO: Planning width: 10 -2024-02-20 12:54:12, INFO: Sparse search: None -2024-02-20 12:54:15, INFO: human number: 10 -2024-02-20 12:54:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:15, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:20, INFO: Using device: cpu -2024-02-20 12:54:20, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:20, INFO: Similarity_func: concatenation -2024-02-20 12:54:20, INFO: Layerwise_graph: False -2024-02-20 12:54:20, INFO: Skip_connection: True -2024-02-20 12:54:20, INFO: Number of layers: 1 -2024-02-20 12:54:20, INFO: Similarity_func: concatenation -2024-02-20 12:54:20, INFO: Layerwise_graph: False -2024-02-20 12:54:20, INFO: Skip_connection: True -2024-02-20 12:54:20, INFO: Number of layers: 1 -2024-02-20 12:54:20, INFO: Planning depth: 1 -2024-02-20 12:54:20, INFO: Planning width: 10 -2024-02-20 12:54:20, INFO: Sparse search: None -2024-02-20 12:54:23, INFO: human number: 10 -2024-02-20 12:54:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:23, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:27, INFO: Using device: cpu -2024-02-20 12:54:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:27, INFO: Similarity_func: concatenation -2024-02-20 12:54:27, INFO: Layerwise_graph: False -2024-02-20 12:54:27, INFO: Skip_connection: True -2024-02-20 12:54:27, INFO: Number of layers: 1 -2024-02-20 12:54:27, INFO: Similarity_func: concatenation -2024-02-20 12:54:27, INFO: Layerwise_graph: False -2024-02-20 12:54:27, INFO: Skip_connection: True -2024-02-20 12:54:27, INFO: Number of layers: 1 -2024-02-20 12:54:27, INFO: Planning depth: 1 -2024-02-20 12:54:27, INFO: Planning width: 10 -2024-02-20 12:54:27, INFO: Sparse search: None -2024-02-20 12:54:30, INFO: human number: 10 -2024-02-20 12:54:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:35, INFO: Using device: cpu -2024-02-20 12:54:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:35, INFO: Similarity_func: concatenation -2024-02-20 12:54:35, INFO: Layerwise_graph: False -2024-02-20 12:54:35, INFO: Skip_connection: True -2024-02-20 12:54:35, INFO: Number of layers: 1 -2024-02-20 12:54:35, INFO: Similarity_func: concatenation -2024-02-20 12:54:35, INFO: Layerwise_graph: False -2024-02-20 12:54:35, INFO: Skip_connection: True -2024-02-20 12:54:35, INFO: Number of layers: 1 -2024-02-20 12:54:35, INFO: Planning depth: 1 -2024-02-20 12:54:35, INFO: Planning width: 10 -2024-02-20 12:54:35, INFO: Sparse search: None -2024-02-20 12:54:37, INFO: human number: 10 -2024-02-20 12:54:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:43, INFO: Using device: cpu -2024-02-20 12:54:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:43, INFO: Similarity_func: concatenation -2024-02-20 12:54:43, INFO: Layerwise_graph: False -2024-02-20 12:54:43, INFO: Skip_connection: True -2024-02-20 12:54:43, INFO: Number of layers: 1 -2024-02-20 12:54:43, INFO: Similarity_func: concatenation -2024-02-20 12:54:43, INFO: Layerwise_graph: False -2024-02-20 12:54:43, INFO: Skip_connection: True -2024-02-20 12:54:43, INFO: Number of layers: 1 -2024-02-20 12:54:43, INFO: Planning depth: 1 -2024-02-20 12:54:43, INFO: Planning width: 10 -2024-02-20 12:54:43, INFO: Sparse search: None -2024-02-20 12:54:46, INFO: human number: 10 -2024-02-20 12:54:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:54:52, INFO: Using device: cpu -2024-02-20 12:54:52, INFO: Loaded RL weights with best VAL -2024-02-20 12:54:52, INFO: Similarity_func: concatenation -2024-02-20 12:54:52, INFO: Layerwise_graph: False -2024-02-20 12:54:52, INFO: Skip_connection: True -2024-02-20 12:54:52, INFO: Number of layers: 1 -2024-02-20 12:54:52, INFO: Similarity_func: concatenation -2024-02-20 12:54:52, INFO: Layerwise_graph: False -2024-02-20 12:54:52, INFO: Skip_connection: True -2024-02-20 12:54:52, INFO: Number of layers: 1 -2024-02-20 12:54:52, INFO: Planning depth: 1 -2024-02-20 12:54:52, INFO: Planning width: 10 -2024-02-20 12:54:52, INFO: Sparse search: None -2024-02-20 12:54:55, INFO: human number: 10 -2024-02-20 12:54:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:54:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:54:55, INFO: Square width: 10, circle width: 4 -2024-02-20 12:54:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:54:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:00, INFO: Using device: cpu -2024-02-20 12:55:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:00, INFO: Similarity_func: concatenation -2024-02-20 12:55:00, INFO: Layerwise_graph: False -2024-02-20 12:55:00, INFO: Skip_connection: True -2024-02-20 12:55:00, INFO: Number of layers: 1 -2024-02-20 12:55:00, INFO: Similarity_func: concatenation -2024-02-20 12:55:00, INFO: Layerwise_graph: False -2024-02-20 12:55:00, INFO: Skip_connection: True -2024-02-20 12:55:00, INFO: Number of layers: 1 -2024-02-20 12:55:00, INFO: Planning depth: 1 -2024-02-20 12:55:00, INFO: Planning width: 10 -2024-02-20 12:55:00, INFO: Sparse search: None -2024-02-20 12:55:03, INFO: human number: 10 -2024-02-20 12:55:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:03, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:08, INFO: Using device: cpu -2024-02-20 12:55:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:08, INFO: Similarity_func: concatenation -2024-02-20 12:55:08, INFO: Layerwise_graph: False -2024-02-20 12:55:08, INFO: Skip_connection: True -2024-02-20 12:55:08, INFO: Number of layers: 1 -2024-02-20 12:55:08, INFO: Similarity_func: concatenation -2024-02-20 12:55:08, INFO: Layerwise_graph: False -2024-02-20 12:55:08, INFO: Skip_connection: True -2024-02-20 12:55:08, INFO: Number of layers: 1 -2024-02-20 12:55:08, INFO: Planning depth: 1 -2024-02-20 12:55:08, INFO: Planning width: 10 -2024-02-20 12:55:08, INFO: Sparse search: None -2024-02-20 12:55:11, INFO: human number: 10 -2024-02-20 12:55:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:16, INFO: Using device: cpu -2024-02-20 12:55:16, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:16, INFO: Similarity_func: concatenation -2024-02-20 12:55:16, INFO: Layerwise_graph: False -2024-02-20 12:55:16, INFO: Skip_connection: True -2024-02-20 12:55:16, INFO: Number of layers: 1 -2024-02-20 12:55:16, INFO: Similarity_func: concatenation -2024-02-20 12:55:16, INFO: Layerwise_graph: False -2024-02-20 12:55:16, INFO: Skip_connection: True -2024-02-20 12:55:16, INFO: Number of layers: 1 -2024-02-20 12:55:16, INFO: Planning depth: 1 -2024-02-20 12:55:16, INFO: Planning width: 10 -2024-02-20 12:55:16, INFO: Sparse search: None -2024-02-20 12:55:19, INFO: human number: 10 -2024-02-20 12:55:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:19, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:23, INFO: Using device: cpu -2024-02-20 12:55:23, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:23, INFO: Similarity_func: concatenation -2024-02-20 12:55:23, INFO: Layerwise_graph: False -2024-02-20 12:55:23, INFO: Skip_connection: True -2024-02-20 12:55:23, INFO: Number of layers: 1 -2024-02-20 12:55:23, INFO: Similarity_func: concatenation -2024-02-20 12:55:23, INFO: Layerwise_graph: False -2024-02-20 12:55:23, INFO: Skip_connection: True -2024-02-20 12:55:23, INFO: Number of layers: 1 -2024-02-20 12:55:23, INFO: Planning depth: 1 -2024-02-20 12:55:23, INFO: Planning width: 10 -2024-02-20 12:55:23, INFO: Sparse search: None -2024-02-20 12:55:26, INFO: human number: 10 -2024-02-20 12:55:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:26, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:31, INFO: Using device: cpu -2024-02-20 12:55:31, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:31, INFO: Similarity_func: concatenation -2024-02-20 12:55:31, INFO: Layerwise_graph: False -2024-02-20 12:55:31, INFO: Skip_connection: True -2024-02-20 12:55:31, INFO: Number of layers: 1 -2024-02-20 12:55:31, INFO: Similarity_func: concatenation -2024-02-20 12:55:31, INFO: Layerwise_graph: False -2024-02-20 12:55:31, INFO: Skip_connection: True -2024-02-20 12:55:31, INFO: Number of layers: 1 -2024-02-20 12:55:31, INFO: Planning depth: 1 -2024-02-20 12:55:31, INFO: Planning width: 10 -2024-02-20 12:55:31, INFO: Sparse search: None -2024-02-20 12:55:34, INFO: human number: 10 -2024-02-20 12:55:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:34, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:39, INFO: Using device: cpu -2024-02-20 12:55:39, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:39, INFO: Similarity_func: concatenation -2024-02-20 12:55:39, INFO: Layerwise_graph: False -2024-02-20 12:55:39, INFO: Skip_connection: True -2024-02-20 12:55:39, INFO: Number of layers: 1 -2024-02-20 12:55:39, INFO: Similarity_func: concatenation -2024-02-20 12:55:39, INFO: Layerwise_graph: False -2024-02-20 12:55:39, INFO: Skip_connection: True -2024-02-20 12:55:39, INFO: Number of layers: 1 -2024-02-20 12:55:39, INFO: Planning depth: 1 -2024-02-20 12:55:39, INFO: Planning width: 10 -2024-02-20 12:55:39, INFO: Sparse search: None -2024-02-20 12:55:41, INFO: human number: 10 -2024-02-20 12:55:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:46, INFO: Using device: cpu -2024-02-20 12:55:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:46, INFO: Similarity_func: concatenation -2024-02-20 12:55:46, INFO: Layerwise_graph: False -2024-02-20 12:55:46, INFO: Skip_connection: True -2024-02-20 12:55:46, INFO: Number of layers: 1 -2024-02-20 12:55:46, INFO: Similarity_func: concatenation -2024-02-20 12:55:46, INFO: Layerwise_graph: False -2024-02-20 12:55:46, INFO: Skip_connection: True -2024-02-20 12:55:46, INFO: Number of layers: 1 -2024-02-20 12:55:46, INFO: Planning depth: 1 -2024-02-20 12:55:46, INFO: Planning width: 10 -2024-02-20 12:55:46, INFO: Sparse search: None -2024-02-20 12:55:49, INFO: human number: 10 -2024-02-20 12:55:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:55:54, INFO: Using device: cpu -2024-02-20 12:55:54, INFO: Loaded RL weights with best VAL -2024-02-20 12:55:54, INFO: Similarity_func: concatenation -2024-02-20 12:55:54, INFO: Layerwise_graph: False -2024-02-20 12:55:54, INFO: Skip_connection: True -2024-02-20 12:55:54, INFO: Number of layers: 1 -2024-02-20 12:55:54, INFO: Similarity_func: concatenation -2024-02-20 12:55:54, INFO: Layerwise_graph: False -2024-02-20 12:55:54, INFO: Skip_connection: True -2024-02-20 12:55:54, INFO: Number of layers: 1 -2024-02-20 12:55:54, INFO: Planning depth: 1 -2024-02-20 12:55:54, INFO: Planning width: 10 -2024-02-20 12:55:54, INFO: Sparse search: None -2024-02-20 12:55:57, INFO: human number: 10 -2024-02-20 12:55:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:55:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:55:57, INFO: Square width: 10, circle width: 4 -2024-02-20 12:55:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:55:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:02, INFO: Using device: cpu -2024-02-20 12:56:02, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:02, INFO: Similarity_func: concatenation -2024-02-20 12:56:02, INFO: Layerwise_graph: False -2024-02-20 12:56:02, INFO: Skip_connection: True -2024-02-20 12:56:02, INFO: Number of layers: 1 -2024-02-20 12:56:02, INFO: Similarity_func: concatenation -2024-02-20 12:56:02, INFO: Layerwise_graph: False -2024-02-20 12:56:02, INFO: Skip_connection: True -2024-02-20 12:56:02, INFO: Number of layers: 1 -2024-02-20 12:56:02, INFO: Planning depth: 1 -2024-02-20 12:56:02, INFO: Planning width: 10 -2024-02-20 12:56:02, INFO: Sparse search: None -2024-02-20 12:56:05, INFO: human number: 10 -2024-02-20 12:56:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:05, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:09, INFO: Using device: cpu -2024-02-20 12:56:09, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:09, INFO: Similarity_func: concatenation -2024-02-20 12:56:09, INFO: Layerwise_graph: False -2024-02-20 12:56:09, INFO: Skip_connection: True -2024-02-20 12:56:09, INFO: Number of layers: 1 -2024-02-20 12:56:09, INFO: Similarity_func: concatenation -2024-02-20 12:56:09, INFO: Layerwise_graph: False -2024-02-20 12:56:09, INFO: Skip_connection: True -2024-02-20 12:56:09, INFO: Number of layers: 1 -2024-02-20 12:56:09, INFO: Planning depth: 1 -2024-02-20 12:56:09, INFO: Planning width: 10 -2024-02-20 12:56:09, INFO: Sparse search: None -2024-02-20 12:56:12, INFO: human number: 10 -2024-02-20 12:56:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:12, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:20, INFO: Using device: cpu -2024-02-20 12:56:20, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:20, INFO: Similarity_func: concatenation -2024-02-20 12:56:20, INFO: Layerwise_graph: False -2024-02-20 12:56:20, INFO: Skip_connection: True -2024-02-20 12:56:20, INFO: Number of layers: 1 -2024-02-20 12:56:20, INFO: Similarity_func: concatenation -2024-02-20 12:56:20, INFO: Layerwise_graph: False -2024-02-20 12:56:20, INFO: Skip_connection: True -2024-02-20 12:56:20, INFO: Number of layers: 1 -2024-02-20 12:56:20, INFO: Planning depth: 1 -2024-02-20 12:56:20, INFO: Planning width: 10 -2024-02-20 12:56:20, INFO: Sparse search: None -2024-02-20 12:56:22, INFO: human number: 10 -2024-02-20 12:56:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:26, INFO: Using device: cpu -2024-02-20 12:56:26, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:26, INFO: Similarity_func: concatenation -2024-02-20 12:56:26, INFO: Layerwise_graph: False -2024-02-20 12:56:26, INFO: Skip_connection: True -2024-02-20 12:56:26, INFO: Number of layers: 1 -2024-02-20 12:56:26, INFO: Similarity_func: concatenation -2024-02-20 12:56:26, INFO: Layerwise_graph: False -2024-02-20 12:56:26, INFO: Skip_connection: True -2024-02-20 12:56:26, INFO: Number of layers: 1 -2024-02-20 12:56:26, INFO: Planning depth: 1 -2024-02-20 12:56:26, INFO: Planning width: 10 -2024-02-20 12:56:26, INFO: Sparse search: None -2024-02-20 12:56:29, INFO: human number: 10 -2024-02-20 12:56:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:29, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:34, INFO: Using device: cpu -2024-02-20 12:56:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:34, INFO: Similarity_func: concatenation -2024-02-20 12:56:34, INFO: Layerwise_graph: False -2024-02-20 12:56:34, INFO: Skip_connection: True -2024-02-20 12:56:34, INFO: Number of layers: 1 -2024-02-20 12:56:34, INFO: Similarity_func: concatenation -2024-02-20 12:56:34, INFO: Layerwise_graph: False -2024-02-20 12:56:34, INFO: Skip_connection: True -2024-02-20 12:56:34, INFO: Number of layers: 1 -2024-02-20 12:56:34, INFO: Planning depth: 1 -2024-02-20 12:56:34, INFO: Planning width: 10 -2024-02-20 12:56:34, INFO: Sparse search: None -2024-02-20 12:56:37, INFO: human number: 10 -2024-02-20 12:56:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:42, INFO: Using device: cpu -2024-02-20 12:56:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:42, INFO: Similarity_func: concatenation -2024-02-20 12:56:42, INFO: Layerwise_graph: False -2024-02-20 12:56:42, INFO: Skip_connection: True -2024-02-20 12:56:42, INFO: Number of layers: 1 -2024-02-20 12:56:42, INFO: Similarity_func: concatenation -2024-02-20 12:56:42, INFO: Layerwise_graph: False -2024-02-20 12:56:42, INFO: Skip_connection: True -2024-02-20 12:56:42, INFO: Number of layers: 1 -2024-02-20 12:56:42, INFO: Planning depth: 1 -2024-02-20 12:56:42, INFO: Planning width: 10 -2024-02-20 12:56:42, INFO: Sparse search: None -2024-02-20 12:56:45, INFO: human number: 10 -2024-02-20 12:56:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:45, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:49, INFO: Using device: cpu -2024-02-20 12:56:49, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:49, INFO: Similarity_func: concatenation -2024-02-20 12:56:49, INFO: Layerwise_graph: False -2024-02-20 12:56:49, INFO: Skip_connection: True -2024-02-20 12:56:49, INFO: Number of layers: 1 -2024-02-20 12:56:49, INFO: Similarity_func: concatenation -2024-02-20 12:56:49, INFO: Layerwise_graph: False -2024-02-20 12:56:49, INFO: Skip_connection: True -2024-02-20 12:56:49, INFO: Number of layers: 1 -2024-02-20 12:56:49, INFO: Planning depth: 1 -2024-02-20 12:56:49, INFO: Planning width: 10 -2024-02-20 12:56:49, INFO: Sparse search: None -2024-02-20 12:56:52, INFO: human number: 10 -2024-02-20 12:56:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:52, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:56:57, INFO: Using device: cpu -2024-02-20 12:56:57, INFO: Loaded RL weights with best VAL -2024-02-20 12:56:57, INFO: Similarity_func: concatenation -2024-02-20 12:56:57, INFO: Layerwise_graph: False -2024-02-20 12:56:57, INFO: Skip_connection: True -2024-02-20 12:56:57, INFO: Number of layers: 1 -2024-02-20 12:56:57, INFO: Similarity_func: concatenation -2024-02-20 12:56:57, INFO: Layerwise_graph: False -2024-02-20 12:56:57, INFO: Skip_connection: True -2024-02-20 12:56:57, INFO: Number of layers: 1 -2024-02-20 12:56:57, INFO: Planning depth: 1 -2024-02-20 12:56:57, INFO: Planning width: 10 -2024-02-20 12:56:57, INFO: Sparse search: None -2024-02-20 12:56:59, INFO: human number: 10 -2024-02-20 12:56:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:56:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:56:59, INFO: Square width: 10, circle width: 4 -2024-02-20 12:56:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:56:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:05, INFO: Using device: cpu -2024-02-20 12:57:05, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:05, INFO: Similarity_func: concatenation -2024-02-20 12:57:05, INFO: Layerwise_graph: False -2024-02-20 12:57:05, INFO: Skip_connection: True -2024-02-20 12:57:05, INFO: Number of layers: 1 -2024-02-20 12:57:05, INFO: Similarity_func: concatenation -2024-02-20 12:57:05, INFO: Layerwise_graph: False -2024-02-20 12:57:05, INFO: Skip_connection: True -2024-02-20 12:57:05, INFO: Number of layers: 1 -2024-02-20 12:57:05, INFO: Planning depth: 1 -2024-02-20 12:57:05, INFO: Planning width: 10 -2024-02-20 12:57:05, INFO: Sparse search: None -2024-02-20 12:57:07, INFO: human number: 10 -2024-02-20 12:57:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:07, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:12, INFO: Using device: cpu -2024-02-20 12:57:12, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:12, INFO: Similarity_func: concatenation -2024-02-20 12:57:12, INFO: Layerwise_graph: False -2024-02-20 12:57:12, INFO: Skip_connection: True -2024-02-20 12:57:12, INFO: Number of layers: 1 -2024-02-20 12:57:12, INFO: Similarity_func: concatenation -2024-02-20 12:57:12, INFO: Layerwise_graph: False -2024-02-20 12:57:12, INFO: Skip_connection: True -2024-02-20 12:57:12, INFO: Number of layers: 1 -2024-02-20 12:57:12, INFO: Planning depth: 1 -2024-02-20 12:57:12, INFO: Planning width: 10 -2024-02-20 12:57:12, INFO: Sparse search: None -2024-02-20 12:57:15, INFO: human number: 10 -2024-02-20 12:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:15, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:20, INFO: Using device: cpu -2024-02-20 12:57:20, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:20, INFO: Similarity_func: concatenation -2024-02-20 12:57:20, INFO: Layerwise_graph: False -2024-02-20 12:57:20, INFO: Skip_connection: True -2024-02-20 12:57:20, INFO: Number of layers: 1 -2024-02-20 12:57:20, INFO: Similarity_func: concatenation -2024-02-20 12:57:20, INFO: Layerwise_graph: False -2024-02-20 12:57:20, INFO: Skip_connection: True -2024-02-20 12:57:20, INFO: Number of layers: 1 -2024-02-20 12:57:20, INFO: Planning depth: 1 -2024-02-20 12:57:20, INFO: Planning width: 10 -2024-02-20 12:57:20, INFO: Sparse search: None -2024-02-20 12:57:23, INFO: human number: 10 -2024-02-20 12:57:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:23, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:27, INFO: Using device: cpu -2024-02-20 12:57:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:27, INFO: Similarity_func: concatenation -2024-02-20 12:57:27, INFO: Layerwise_graph: False -2024-02-20 12:57:27, INFO: Skip_connection: True -2024-02-20 12:57:27, INFO: Number of layers: 1 -2024-02-20 12:57:27, INFO: Similarity_func: concatenation -2024-02-20 12:57:27, INFO: Layerwise_graph: False -2024-02-20 12:57:27, INFO: Skip_connection: True -2024-02-20 12:57:27, INFO: Number of layers: 1 -2024-02-20 12:57:27, INFO: Planning depth: 1 -2024-02-20 12:57:27, INFO: Planning width: 10 -2024-02-20 12:57:27, INFO: Sparse search: None -2024-02-20 12:57:30, INFO: human number: 10 -2024-02-20 12:57:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:35, INFO: Using device: cpu -2024-02-20 12:57:35, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:35, INFO: Similarity_func: concatenation -2024-02-20 12:57:35, INFO: Layerwise_graph: False -2024-02-20 12:57:35, INFO: Skip_connection: True -2024-02-20 12:57:35, INFO: Number of layers: 1 -2024-02-20 12:57:35, INFO: Similarity_func: concatenation -2024-02-20 12:57:35, INFO: Layerwise_graph: False -2024-02-20 12:57:35, INFO: Skip_connection: True -2024-02-20 12:57:35, INFO: Number of layers: 1 -2024-02-20 12:57:35, INFO: Planning depth: 1 -2024-02-20 12:57:35, INFO: Planning width: 10 -2024-02-20 12:57:35, INFO: Sparse search: None -2024-02-20 12:57:38, INFO: human number: 10 -2024-02-20 12:57:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:38, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:43, INFO: Using device: cpu -2024-02-20 12:57:43, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:43, INFO: Similarity_func: concatenation -2024-02-20 12:57:43, INFO: Layerwise_graph: False -2024-02-20 12:57:43, INFO: Skip_connection: True -2024-02-20 12:57:43, INFO: Number of layers: 1 -2024-02-20 12:57:43, INFO: Similarity_func: concatenation -2024-02-20 12:57:43, INFO: Layerwise_graph: False -2024-02-20 12:57:43, INFO: Skip_connection: True -2024-02-20 12:57:43, INFO: Number of layers: 1 -2024-02-20 12:57:43, INFO: Planning depth: 1 -2024-02-20 12:57:43, INFO: Planning width: 10 -2024-02-20 12:57:43, INFO: Sparse search: None -2024-02-20 12:57:46, INFO: human number: 10 -2024-02-20 12:57:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:46, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:51, INFO: Using device: cpu -2024-02-20 12:57:51, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:51, INFO: Similarity_func: concatenation -2024-02-20 12:57:51, INFO: Layerwise_graph: False -2024-02-20 12:57:51, INFO: Skip_connection: True -2024-02-20 12:57:51, INFO: Number of layers: 1 -2024-02-20 12:57:51, INFO: Similarity_func: concatenation -2024-02-20 12:57:51, INFO: Layerwise_graph: False -2024-02-20 12:57:51, INFO: Skip_connection: True -2024-02-20 12:57:51, INFO: Number of layers: 1 -2024-02-20 12:57:51, INFO: Planning depth: 1 -2024-02-20 12:57:51, INFO: Planning width: 10 -2024-02-20 12:57:51, INFO: Sparse search: None -2024-02-20 12:57:54, INFO: human number: 10 -2024-02-20 12:57:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:57:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:57:54, INFO: Square width: 10, circle width: 4 -2024-02-20 12:57:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:57:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:57:59, INFO: Using device: cpu -2024-02-20 12:57:59, INFO: Loaded RL weights with best VAL -2024-02-20 12:57:59, INFO: Similarity_func: concatenation -2024-02-20 12:57:59, INFO: Layerwise_graph: False -2024-02-20 12:57:59, INFO: Skip_connection: True -2024-02-20 12:57:59, INFO: Number of layers: 1 -2024-02-20 12:57:59, INFO: Similarity_func: concatenation -2024-02-20 12:57:59, INFO: Layerwise_graph: False -2024-02-20 12:57:59, INFO: Skip_connection: True -2024-02-20 12:57:59, INFO: Number of layers: 1 -2024-02-20 12:57:59, INFO: Planning depth: 1 -2024-02-20 12:57:59, INFO: Planning width: 10 -2024-02-20 12:57:59, INFO: Sparse search: None -2024-02-20 12:58:02, INFO: human number: 10 -2024-02-20 12:58:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:02, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:07, INFO: Using device: cpu -2024-02-20 12:58:07, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:07, INFO: Similarity_func: concatenation -2024-02-20 12:58:07, INFO: Layerwise_graph: False -2024-02-20 12:58:07, INFO: Skip_connection: True -2024-02-20 12:58:07, INFO: Number of layers: 1 -2024-02-20 12:58:07, INFO: Similarity_func: concatenation -2024-02-20 12:58:07, INFO: Layerwise_graph: False -2024-02-20 12:58:07, INFO: Skip_connection: True -2024-02-20 12:58:07, INFO: Number of layers: 1 -2024-02-20 12:58:07, INFO: Planning depth: 1 -2024-02-20 12:58:07, INFO: Planning width: 10 -2024-02-20 12:58:07, INFO: Sparse search: None -2024-02-20 12:58:09, INFO: human number: 10 -2024-02-20 12:58:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:09, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:14, INFO: Using device: cpu -2024-02-20 12:58:14, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:14, INFO: Similarity_func: concatenation -2024-02-20 12:58:14, INFO: Layerwise_graph: False -2024-02-20 12:58:14, INFO: Skip_connection: True -2024-02-20 12:58:14, INFO: Number of layers: 1 -2024-02-20 12:58:14, INFO: Similarity_func: concatenation -2024-02-20 12:58:14, INFO: Layerwise_graph: False -2024-02-20 12:58:14, INFO: Skip_connection: True -2024-02-20 12:58:14, INFO: Number of layers: 1 -2024-02-20 12:58:14, INFO: Planning depth: 1 -2024-02-20 12:58:14, INFO: Planning width: 10 -2024-02-20 12:58:14, INFO: Sparse search: None -2024-02-20 12:58:17, INFO: human number: 10 -2024-02-20 12:58:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:17, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:22, INFO: Using device: cpu -2024-02-20 12:58:22, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:22, INFO: Similarity_func: concatenation -2024-02-20 12:58:22, INFO: Layerwise_graph: False -2024-02-20 12:58:22, INFO: Skip_connection: True -2024-02-20 12:58:22, INFO: Number of layers: 1 -2024-02-20 12:58:22, INFO: Similarity_func: concatenation -2024-02-20 12:58:22, INFO: Layerwise_graph: False -2024-02-20 12:58:22, INFO: Skip_connection: True -2024-02-20 12:58:22, INFO: Number of layers: 1 -2024-02-20 12:58:22, INFO: Planning depth: 1 -2024-02-20 12:58:22, INFO: Planning width: 10 -2024-02-20 12:58:22, INFO: Sparse search: None -2024-02-20 12:58:25, INFO: human number: 10 -2024-02-20 12:58:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:25, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:30, INFO: Using device: cpu -2024-02-20 12:58:30, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:30, INFO: Similarity_func: concatenation -2024-02-20 12:58:30, INFO: Layerwise_graph: False -2024-02-20 12:58:30, INFO: Skip_connection: True -2024-02-20 12:58:30, INFO: Number of layers: 1 -2024-02-20 12:58:30, INFO: Similarity_func: concatenation -2024-02-20 12:58:30, INFO: Layerwise_graph: False -2024-02-20 12:58:30, INFO: Skip_connection: True -2024-02-20 12:58:30, INFO: Number of layers: 1 -2024-02-20 12:58:30, INFO: Planning depth: 1 -2024-02-20 12:58:30, INFO: Planning width: 10 -2024-02-20 12:58:30, INFO: Sparse search: None -2024-02-20 12:58:33, INFO: human number: 10 -2024-02-20 12:58:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:33, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:38, INFO: Using device: cpu -2024-02-20 12:58:38, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:38, INFO: Similarity_func: concatenation -2024-02-20 12:58:38, INFO: Layerwise_graph: False -2024-02-20 12:58:38, INFO: Skip_connection: True -2024-02-20 12:58:38, INFO: Number of layers: 1 -2024-02-20 12:58:38, INFO: Similarity_func: concatenation -2024-02-20 12:58:38, INFO: Layerwise_graph: False -2024-02-20 12:58:38, INFO: Skip_connection: True -2024-02-20 12:58:38, INFO: Number of layers: 1 -2024-02-20 12:58:38, INFO: Planning depth: 1 -2024-02-20 12:58:38, INFO: Planning width: 10 -2024-02-20 12:58:38, INFO: Sparse search: None -2024-02-20 12:58:41, INFO: human number: 10 -2024-02-20 12:58:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:41, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:46, INFO: Using device: cpu -2024-02-20 12:58:46, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:46, INFO: Similarity_func: concatenation -2024-02-20 12:58:46, INFO: Layerwise_graph: False -2024-02-20 12:58:46, INFO: Skip_connection: True -2024-02-20 12:58:46, INFO: Number of layers: 1 -2024-02-20 12:58:46, INFO: Similarity_func: concatenation -2024-02-20 12:58:46, INFO: Layerwise_graph: False -2024-02-20 12:58:46, INFO: Skip_connection: True -2024-02-20 12:58:46, INFO: Number of layers: 1 -2024-02-20 12:58:46, INFO: Planning depth: 1 -2024-02-20 12:58:46, INFO: Planning width: 10 -2024-02-20 12:58:46, INFO: Sparse search: None -2024-02-20 12:58:49, INFO: human number: 10 -2024-02-20 12:58:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:49, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:58:53, INFO: Using device: cpu -2024-02-20 12:58:53, INFO: Loaded RL weights with best VAL -2024-02-20 12:58:53, INFO: Similarity_func: concatenation -2024-02-20 12:58:53, INFO: Layerwise_graph: False -2024-02-20 12:58:53, INFO: Skip_connection: True -2024-02-20 12:58:53, INFO: Number of layers: 1 -2024-02-20 12:58:53, INFO: Similarity_func: concatenation -2024-02-20 12:58:53, INFO: Layerwise_graph: False -2024-02-20 12:58:53, INFO: Skip_connection: True -2024-02-20 12:58:53, INFO: Number of layers: 1 -2024-02-20 12:58:53, INFO: Planning depth: 1 -2024-02-20 12:58:53, INFO: Planning width: 10 -2024-02-20 12:58:53, INFO: Sparse search: None -2024-02-20 12:58:56, INFO: human number: 10 -2024-02-20 12:58:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:58:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:58:56, INFO: Square width: 10, circle width: 4 -2024-02-20 12:58:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:58:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:00, INFO: Using device: cpu -2024-02-20 12:59:00, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:00, INFO: Similarity_func: concatenation -2024-02-20 12:59:00, INFO: Layerwise_graph: False -2024-02-20 12:59:00, INFO: Skip_connection: True -2024-02-20 12:59:00, INFO: Number of layers: 1 -2024-02-20 12:59:00, INFO: Similarity_func: concatenation -2024-02-20 12:59:00, INFO: Layerwise_graph: False -2024-02-20 12:59:00, INFO: Skip_connection: True -2024-02-20 12:59:00, INFO: Number of layers: 1 -2024-02-20 12:59:00, INFO: Planning depth: 1 -2024-02-20 12:59:00, INFO: Planning width: 10 -2024-02-20 12:59:00, INFO: Sparse search: None -2024-02-20 12:59:03, INFO: human number: 10 -2024-02-20 12:59:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:03, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:08, INFO: Using device: cpu -2024-02-20 12:59:08, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:08, INFO: Similarity_func: concatenation -2024-02-20 12:59:08, INFO: Layerwise_graph: False -2024-02-20 12:59:08, INFO: Skip_connection: True -2024-02-20 12:59:08, INFO: Number of layers: 1 -2024-02-20 12:59:08, INFO: Similarity_func: concatenation -2024-02-20 12:59:08, INFO: Layerwise_graph: False -2024-02-20 12:59:08, INFO: Skip_connection: True -2024-02-20 12:59:08, INFO: Number of layers: 1 -2024-02-20 12:59:08, INFO: Planning depth: 1 -2024-02-20 12:59:08, INFO: Planning width: 10 -2024-02-20 12:59:08, INFO: Sparse search: None -2024-02-20 12:59:11, INFO: human number: 10 -2024-02-20 12:59:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:11, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:19, INFO: Using device: cpu -2024-02-20 12:59:19, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:19, INFO: Similarity_func: concatenation -2024-02-20 12:59:19, INFO: Layerwise_graph: False -2024-02-20 12:59:19, INFO: Skip_connection: True -2024-02-20 12:59:19, INFO: Number of layers: 1 -2024-02-20 12:59:19, INFO: Similarity_func: concatenation -2024-02-20 12:59:19, INFO: Layerwise_graph: False -2024-02-20 12:59:19, INFO: Skip_connection: True -2024-02-20 12:59:19, INFO: Number of layers: 1 -2024-02-20 12:59:19, INFO: Planning depth: 1 -2024-02-20 12:59:19, INFO: Planning width: 10 -2024-02-20 12:59:19, INFO: Sparse search: None -2024-02-20 12:59:22, INFO: human number: 10 -2024-02-20 12:59:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:22, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:27, INFO: Using device: cpu -2024-02-20 12:59:27, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:27, INFO: Similarity_func: concatenation -2024-02-20 12:59:27, INFO: Layerwise_graph: False -2024-02-20 12:59:27, INFO: Skip_connection: True -2024-02-20 12:59:27, INFO: Number of layers: 1 -2024-02-20 12:59:27, INFO: Similarity_func: concatenation -2024-02-20 12:59:27, INFO: Layerwise_graph: False -2024-02-20 12:59:27, INFO: Skip_connection: True -2024-02-20 12:59:27, INFO: Number of layers: 1 -2024-02-20 12:59:27, INFO: Planning depth: 1 -2024-02-20 12:59:27, INFO: Planning width: 10 -2024-02-20 12:59:27, INFO: Sparse search: None -2024-02-20 12:59:30, INFO: human number: 10 -2024-02-20 12:59:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:30, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:34, INFO: Using device: cpu -2024-02-20 12:59:34, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:34, INFO: Similarity_func: concatenation -2024-02-20 12:59:34, INFO: Layerwise_graph: False -2024-02-20 12:59:34, INFO: Skip_connection: True -2024-02-20 12:59:34, INFO: Number of layers: 1 -2024-02-20 12:59:34, INFO: Similarity_func: concatenation -2024-02-20 12:59:34, INFO: Layerwise_graph: False -2024-02-20 12:59:34, INFO: Skip_connection: True -2024-02-20 12:59:34, INFO: Number of layers: 1 -2024-02-20 12:59:34, INFO: Planning depth: 1 -2024-02-20 12:59:34, INFO: Planning width: 10 -2024-02-20 12:59:34, INFO: Sparse search: None -2024-02-20 12:59:37, INFO: human number: 10 -2024-02-20 12:59:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:37, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:42, INFO: Using device: cpu -2024-02-20 12:59:42, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:42, INFO: Similarity_func: concatenation -2024-02-20 12:59:42, INFO: Layerwise_graph: False -2024-02-20 12:59:42, INFO: Skip_connection: True -2024-02-20 12:59:42, INFO: Number of layers: 1 -2024-02-20 12:59:42, INFO: Similarity_func: concatenation -2024-02-20 12:59:42, INFO: Layerwise_graph: False -2024-02-20 12:59:42, INFO: Skip_connection: True -2024-02-20 12:59:42, INFO: Number of layers: 1 -2024-02-20 12:59:42, INFO: Planning depth: 1 -2024-02-20 12:59:42, INFO: Planning width: 10 -2024-02-20 12:59:42, INFO: Sparse search: None -2024-02-20 12:59:44, INFO: human number: 10 -2024-02-20 12:59:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:44, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:50, INFO: Using device: cpu -2024-02-20 12:59:50, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:50, INFO: Similarity_func: concatenation -2024-02-20 12:59:50, INFO: Layerwise_graph: False -2024-02-20 12:59:50, INFO: Skip_connection: True -2024-02-20 12:59:50, INFO: Number of layers: 1 -2024-02-20 12:59:50, INFO: Similarity_func: concatenation -2024-02-20 12:59:50, INFO: Layerwise_graph: False -2024-02-20 12:59:50, INFO: Skip_connection: True -2024-02-20 12:59:50, INFO: Number of layers: 1 -2024-02-20 12:59:50, INFO: Planning depth: 1 -2024-02-20 12:59:50, INFO: Planning width: 10 -2024-02-20 12:59:50, INFO: Sparse search: None -2024-02-20 12:59:53, INFO: human number: 10 -2024-02-20 12:59:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 12:59:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 12:59:53, INFO: Square width: 10, circle width: 4 -2024-02-20 12:59:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 12:59:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 12:59:58, INFO: Using device: cpu -2024-02-20 12:59:58, INFO: Loaded RL weights with best VAL -2024-02-20 12:59:58, INFO: Similarity_func: concatenation -2024-02-20 12:59:58, INFO: Layerwise_graph: False -2024-02-20 12:59:58, INFO: Skip_connection: True -2024-02-20 12:59:58, INFO: Number of layers: 1 -2024-02-20 12:59:58, INFO: Similarity_func: concatenation -2024-02-20 12:59:58, INFO: Layerwise_graph: False -2024-02-20 12:59:58, INFO: Skip_connection: True -2024-02-20 12:59:58, INFO: Number of layers: 1 -2024-02-20 12:59:58, INFO: Planning depth: 1 -2024-02-20 12:59:58, INFO: Planning width: 10 -2024-02-20 12:59:58, INFO: Sparse search: None -2024-02-20 13:00:01, INFO: human number: 10 -2024-02-20 13:00:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:01, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:06, INFO: Using device: cpu -2024-02-20 13:00:06, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:06, INFO: Similarity_func: concatenation -2024-02-20 13:00:06, INFO: Layerwise_graph: False -2024-02-20 13:00:06, INFO: Skip_connection: True -2024-02-20 13:00:06, INFO: Number of layers: 1 -2024-02-20 13:00:06, INFO: Similarity_func: concatenation -2024-02-20 13:00:06, INFO: Layerwise_graph: False -2024-02-20 13:00:06, INFO: Skip_connection: True -2024-02-20 13:00:06, INFO: Number of layers: 1 -2024-02-20 13:00:06, INFO: Planning depth: 1 -2024-02-20 13:00:06, INFO: Planning width: 10 -2024-02-20 13:00:06, INFO: Sparse search: None -2024-02-20 13:00:09, INFO: human number: 10 -2024-02-20 13:00:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:09, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:13, INFO: Using device: cpu -2024-02-20 13:00:13, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:13, INFO: Similarity_func: concatenation -2024-02-20 13:00:13, INFO: Layerwise_graph: False -2024-02-20 13:00:13, INFO: Skip_connection: True -2024-02-20 13:00:13, INFO: Number of layers: 1 -2024-02-20 13:00:13, INFO: Similarity_func: concatenation -2024-02-20 13:00:13, INFO: Layerwise_graph: False -2024-02-20 13:00:13, INFO: Skip_connection: True -2024-02-20 13:00:13, INFO: Number of layers: 1 -2024-02-20 13:00:13, INFO: Planning depth: 1 -2024-02-20 13:00:13, INFO: Planning width: 10 -2024-02-20 13:00:13, INFO: Sparse search: None -2024-02-20 13:00:16, INFO: human number: 10 -2024-02-20 13:00:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:16, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:21, INFO: Using device: cpu -2024-02-20 13:00:21, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:21, INFO: Similarity_func: concatenation -2024-02-20 13:00:21, INFO: Layerwise_graph: False -2024-02-20 13:00:21, INFO: Skip_connection: True -2024-02-20 13:00:21, INFO: Number of layers: 1 -2024-02-20 13:00:21, INFO: Similarity_func: concatenation -2024-02-20 13:00:21, INFO: Layerwise_graph: False -2024-02-20 13:00:21, INFO: Skip_connection: True -2024-02-20 13:00:21, INFO: Number of layers: 1 -2024-02-20 13:00:21, INFO: Planning depth: 1 -2024-02-20 13:00:21, INFO: Planning width: 10 -2024-02-20 13:00:21, INFO: Sparse search: None -2024-02-20 13:00:23, INFO: human number: 10 -2024-02-20 13:00:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:23, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:28, INFO: Using device: cpu -2024-02-20 13:00:28, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:28, INFO: Similarity_func: concatenation -2024-02-20 13:00:28, INFO: Layerwise_graph: False -2024-02-20 13:00:28, INFO: Skip_connection: True -2024-02-20 13:00:28, INFO: Number of layers: 1 -2024-02-20 13:00:28, INFO: Similarity_func: concatenation -2024-02-20 13:00:28, INFO: Layerwise_graph: False -2024-02-20 13:00:28, INFO: Skip_connection: True -2024-02-20 13:00:28, INFO: Number of layers: 1 -2024-02-20 13:00:28, INFO: Planning depth: 1 -2024-02-20 13:00:28, INFO: Planning width: 10 -2024-02-20 13:00:28, INFO: Sparse search: None -2024-02-20 13:00:31, INFO: human number: 10 -2024-02-20 13:00:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:31, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:35, INFO: Using device: cpu -2024-02-20 13:00:35, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:35, INFO: Similarity_func: concatenation -2024-02-20 13:00:35, INFO: Layerwise_graph: False -2024-02-20 13:00:35, INFO: Skip_connection: True -2024-02-20 13:00:35, INFO: Number of layers: 1 -2024-02-20 13:00:35, INFO: Similarity_func: concatenation -2024-02-20 13:00:35, INFO: Layerwise_graph: False -2024-02-20 13:00:35, INFO: Skip_connection: True -2024-02-20 13:00:35, INFO: Number of layers: 1 -2024-02-20 13:00:35, INFO: Planning depth: 1 -2024-02-20 13:00:35, INFO: Planning width: 10 -2024-02-20 13:00:35, INFO: Sparse search: None -2024-02-20 13:00:38, INFO: human number: 10 -2024-02-20 13:00:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:38, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:43, INFO: Using device: cpu -2024-02-20 13:00:43, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:43, INFO: Similarity_func: concatenation -2024-02-20 13:00:43, INFO: Layerwise_graph: False -2024-02-20 13:00:43, INFO: Skip_connection: True -2024-02-20 13:00:43, INFO: Number of layers: 1 -2024-02-20 13:00:43, INFO: Similarity_func: concatenation -2024-02-20 13:00:43, INFO: Layerwise_graph: False -2024-02-20 13:00:43, INFO: Skip_connection: True -2024-02-20 13:00:43, INFO: Number of layers: 1 -2024-02-20 13:00:43, INFO: Planning depth: 1 -2024-02-20 13:00:43, INFO: Planning width: 10 -2024-02-20 13:00:43, INFO: Sparse search: None -2024-02-20 13:00:45, INFO: human number: 10 -2024-02-20 13:00:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:45, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:50, INFO: Using device: cpu -2024-02-20 13:00:50, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:50, INFO: Similarity_func: concatenation -2024-02-20 13:00:50, INFO: Layerwise_graph: False -2024-02-20 13:00:50, INFO: Skip_connection: True -2024-02-20 13:00:50, INFO: Number of layers: 1 -2024-02-20 13:00:50, INFO: Similarity_func: concatenation -2024-02-20 13:00:50, INFO: Layerwise_graph: False -2024-02-20 13:00:50, INFO: Skip_connection: True -2024-02-20 13:00:50, INFO: Number of layers: 1 -2024-02-20 13:00:50, INFO: Planning depth: 1 -2024-02-20 13:00:50, INFO: Planning width: 10 -2024-02-20 13:00:50, INFO: Sparse search: None -2024-02-20 13:00:52, INFO: human number: 10 -2024-02-20 13:00:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:00:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:00:52, INFO: Square width: 10, circle width: 4 -2024-02-20 13:00:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:00:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:00:57, INFO: Using device: cpu -2024-02-20 13:00:57, INFO: Loaded RL weights with best VAL -2024-02-20 13:00:57, INFO: Similarity_func: concatenation -2024-02-20 13:00:57, INFO: Layerwise_graph: False -2024-02-20 13:00:57, INFO: Skip_connection: True -2024-02-20 13:00:57, INFO: Number of layers: 1 -2024-02-20 13:00:57, INFO: Similarity_func: concatenation -2024-02-20 13:00:57, INFO: Layerwise_graph: False -2024-02-20 13:00:57, INFO: Skip_connection: True -2024-02-20 13:00:57, INFO: Number of layers: 1 -2024-02-20 13:00:57, INFO: Planning depth: 1 -2024-02-20 13:00:57, INFO: Planning width: 10 -2024-02-20 13:00:57, INFO: Sparse search: None -2024-02-20 13:01:00, INFO: human number: 10 -2024-02-20 13:01:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:00, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:04, INFO: Using device: cpu -2024-02-20 13:01:04, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:04, INFO: Similarity_func: concatenation -2024-02-20 13:01:04, INFO: Layerwise_graph: False -2024-02-20 13:01:04, INFO: Skip_connection: True -2024-02-20 13:01:04, INFO: Number of layers: 1 -2024-02-20 13:01:04, INFO: Similarity_func: concatenation -2024-02-20 13:01:04, INFO: Layerwise_graph: False -2024-02-20 13:01:04, INFO: Skip_connection: True -2024-02-20 13:01:04, INFO: Number of layers: 1 -2024-02-20 13:01:04, INFO: Planning depth: 1 -2024-02-20 13:01:04, INFO: Planning width: 10 -2024-02-20 13:01:04, INFO: Sparse search: None -2024-02-20 13:01:07, INFO: human number: 10 -2024-02-20 13:01:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:07, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:13, INFO: Using device: cpu -2024-02-20 13:01:13, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:13, INFO: Similarity_func: concatenation -2024-02-20 13:01:13, INFO: Layerwise_graph: False -2024-02-20 13:01:13, INFO: Skip_connection: True -2024-02-20 13:01:13, INFO: Number of layers: 1 -2024-02-20 13:01:13, INFO: Similarity_func: concatenation -2024-02-20 13:01:13, INFO: Layerwise_graph: False -2024-02-20 13:01:13, INFO: Skip_connection: True -2024-02-20 13:01:13, INFO: Number of layers: 1 -2024-02-20 13:01:13, INFO: Planning depth: 1 -2024-02-20 13:01:13, INFO: Planning width: 10 -2024-02-20 13:01:13, INFO: Sparse search: None -2024-02-20 13:01:16, INFO: human number: 10 -2024-02-20 13:01:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:16, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:21, INFO: Using device: cpu -2024-02-20 13:01:21, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:21, INFO: Similarity_func: concatenation -2024-02-20 13:01:21, INFO: Layerwise_graph: False -2024-02-20 13:01:21, INFO: Skip_connection: True -2024-02-20 13:01:21, INFO: Number of layers: 1 -2024-02-20 13:01:21, INFO: Similarity_func: concatenation -2024-02-20 13:01:21, INFO: Layerwise_graph: False -2024-02-20 13:01:21, INFO: Skip_connection: True -2024-02-20 13:01:21, INFO: Number of layers: 1 -2024-02-20 13:01:21, INFO: Planning depth: 1 -2024-02-20 13:01:21, INFO: Planning width: 10 -2024-02-20 13:01:21, INFO: Sparse search: None -2024-02-20 13:01:24, INFO: human number: 10 -2024-02-20 13:01:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:24, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:30, INFO: Using device: cpu -2024-02-20 13:01:30, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:30, INFO: Similarity_func: concatenation -2024-02-20 13:01:30, INFO: Layerwise_graph: False -2024-02-20 13:01:30, INFO: Skip_connection: True -2024-02-20 13:01:30, INFO: Number of layers: 1 -2024-02-20 13:01:30, INFO: Similarity_func: concatenation -2024-02-20 13:01:30, INFO: Layerwise_graph: False -2024-02-20 13:01:30, INFO: Skip_connection: True -2024-02-20 13:01:30, INFO: Number of layers: 1 -2024-02-20 13:01:30, INFO: Planning depth: 1 -2024-02-20 13:01:30, INFO: Planning width: 10 -2024-02-20 13:01:30, INFO: Sparse search: None -2024-02-20 13:01:33, INFO: human number: 10 -2024-02-20 13:01:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:33, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:38, INFO: Using device: cpu -2024-02-20 13:01:38, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:38, INFO: Similarity_func: concatenation -2024-02-20 13:01:38, INFO: Layerwise_graph: False -2024-02-20 13:01:38, INFO: Skip_connection: True -2024-02-20 13:01:38, INFO: Number of layers: 1 -2024-02-20 13:01:38, INFO: Similarity_func: concatenation -2024-02-20 13:01:38, INFO: Layerwise_graph: False -2024-02-20 13:01:38, INFO: Skip_connection: True -2024-02-20 13:01:38, INFO: Number of layers: 1 -2024-02-20 13:01:38, INFO: Planning depth: 1 -2024-02-20 13:01:38, INFO: Planning width: 10 -2024-02-20 13:01:38, INFO: Sparse search: None -2024-02-20 13:01:40, INFO: human number: 10 -2024-02-20 13:01:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:40, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:45, INFO: Using device: cpu -2024-02-20 13:01:45, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:45, INFO: Similarity_func: concatenation -2024-02-20 13:01:45, INFO: Layerwise_graph: False -2024-02-20 13:01:45, INFO: Skip_connection: True -2024-02-20 13:01:45, INFO: Number of layers: 1 -2024-02-20 13:01:45, INFO: Similarity_func: concatenation -2024-02-20 13:01:45, INFO: Layerwise_graph: False -2024-02-20 13:01:45, INFO: Skip_connection: True -2024-02-20 13:01:45, INFO: Number of layers: 1 -2024-02-20 13:01:45, INFO: Planning depth: 1 -2024-02-20 13:01:45, INFO: Planning width: 10 -2024-02-20 13:01:45, INFO: Sparse search: None -2024-02-20 13:01:48, INFO: human number: 10 -2024-02-20 13:01:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:48, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:01:53, INFO: Using device: cpu -2024-02-20 13:01:53, INFO: Loaded RL weights with best VAL -2024-02-20 13:01:53, INFO: Similarity_func: concatenation -2024-02-20 13:01:53, INFO: Layerwise_graph: False -2024-02-20 13:01:53, INFO: Skip_connection: True -2024-02-20 13:01:53, INFO: Number of layers: 1 -2024-02-20 13:01:53, INFO: Similarity_func: concatenation -2024-02-20 13:01:53, INFO: Layerwise_graph: False -2024-02-20 13:01:53, INFO: Skip_connection: True -2024-02-20 13:01:53, INFO: Number of layers: 1 -2024-02-20 13:01:53, INFO: Planning depth: 1 -2024-02-20 13:01:53, INFO: Planning width: 10 -2024-02-20 13:01:53, INFO: Sparse search: None -2024-02-20 13:01:56, INFO: human number: 10 -2024-02-20 13:01:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:01:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:01:56, INFO: Square width: 10, circle width: 4 -2024-02-20 13:01:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:01:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:01, INFO: Using device: cpu -2024-02-20 13:02:01, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:01, INFO: Similarity_func: concatenation -2024-02-20 13:02:01, INFO: Layerwise_graph: False -2024-02-20 13:02:01, INFO: Skip_connection: True -2024-02-20 13:02:01, INFO: Number of layers: 1 -2024-02-20 13:02:01, INFO: Similarity_func: concatenation -2024-02-20 13:02:01, INFO: Layerwise_graph: False -2024-02-20 13:02:01, INFO: Skip_connection: True -2024-02-20 13:02:01, INFO: Number of layers: 1 -2024-02-20 13:02:01, INFO: Planning depth: 1 -2024-02-20 13:02:01, INFO: Planning width: 10 -2024-02-20 13:02:01, INFO: Sparse search: None -2024-02-20 13:02:04, INFO: human number: 10 -2024-02-20 13:02:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:04, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:09, INFO: Using device: cpu -2024-02-20 13:02:09, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:09, INFO: Similarity_func: concatenation -2024-02-20 13:02:09, INFO: Layerwise_graph: False -2024-02-20 13:02:09, INFO: Skip_connection: True -2024-02-20 13:02:09, INFO: Number of layers: 1 -2024-02-20 13:02:09, INFO: Similarity_func: concatenation -2024-02-20 13:02:09, INFO: Layerwise_graph: False -2024-02-20 13:02:09, INFO: Skip_connection: True -2024-02-20 13:02:09, INFO: Number of layers: 1 -2024-02-20 13:02:09, INFO: Planning depth: 1 -2024-02-20 13:02:09, INFO: Planning width: 10 -2024-02-20 13:02:09, INFO: Sparse search: None -2024-02-20 13:02:12, INFO: human number: 10 -2024-02-20 13:02:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:12, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:17, INFO: Using device: cpu -2024-02-20 13:02:17, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:17, INFO: Similarity_func: concatenation -2024-02-20 13:02:17, INFO: Layerwise_graph: False -2024-02-20 13:02:17, INFO: Skip_connection: True -2024-02-20 13:02:17, INFO: Number of layers: 1 -2024-02-20 13:02:17, INFO: Similarity_func: concatenation -2024-02-20 13:02:17, INFO: Layerwise_graph: False -2024-02-20 13:02:17, INFO: Skip_connection: True -2024-02-20 13:02:17, INFO: Number of layers: 1 -2024-02-20 13:02:17, INFO: Planning depth: 1 -2024-02-20 13:02:17, INFO: Planning width: 10 -2024-02-20 13:02:17, INFO: Sparse search: None -2024-02-20 13:02:20, INFO: human number: 10 -2024-02-20 13:02:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:20, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:25, INFO: Using device: cpu -2024-02-20 13:02:25, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:25, INFO: Similarity_func: concatenation -2024-02-20 13:02:25, INFO: Layerwise_graph: False -2024-02-20 13:02:25, INFO: Skip_connection: True -2024-02-20 13:02:25, INFO: Number of layers: 1 -2024-02-20 13:02:25, INFO: Similarity_func: concatenation -2024-02-20 13:02:25, INFO: Layerwise_graph: False -2024-02-20 13:02:25, INFO: Skip_connection: True -2024-02-20 13:02:25, INFO: Number of layers: 1 -2024-02-20 13:02:25, INFO: Planning depth: 1 -2024-02-20 13:02:25, INFO: Planning width: 10 -2024-02-20 13:02:25, INFO: Sparse search: None -2024-02-20 13:02:28, INFO: human number: 10 -2024-02-20 13:02:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:28, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:33, INFO: Using device: cpu -2024-02-20 13:02:33, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:33, INFO: Similarity_func: concatenation -2024-02-20 13:02:33, INFO: Layerwise_graph: False -2024-02-20 13:02:33, INFO: Skip_connection: True -2024-02-20 13:02:33, INFO: Number of layers: 1 -2024-02-20 13:02:33, INFO: Similarity_func: concatenation -2024-02-20 13:02:33, INFO: Layerwise_graph: False -2024-02-20 13:02:33, INFO: Skip_connection: True -2024-02-20 13:02:33, INFO: Number of layers: 1 -2024-02-20 13:02:33, INFO: Planning depth: 1 -2024-02-20 13:02:33, INFO: Planning width: 10 -2024-02-20 13:02:33, INFO: Sparse search: None -2024-02-20 13:02:36, INFO: human number: 10 -2024-02-20 13:02:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:36, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:41, INFO: Using device: cpu -2024-02-20 13:02:41, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:41, INFO: Similarity_func: concatenation -2024-02-20 13:02:41, INFO: Layerwise_graph: False -2024-02-20 13:02:41, INFO: Skip_connection: True -2024-02-20 13:02:41, INFO: Number of layers: 1 -2024-02-20 13:02:41, INFO: Similarity_func: concatenation -2024-02-20 13:02:41, INFO: Layerwise_graph: False -2024-02-20 13:02:41, INFO: Skip_connection: True -2024-02-20 13:02:41, INFO: Number of layers: 1 -2024-02-20 13:02:41, INFO: Planning depth: 1 -2024-02-20 13:02:41, INFO: Planning width: 10 -2024-02-20 13:02:41, INFO: Sparse search: None -2024-02-20 13:02:44, INFO: human number: 10 -2024-02-20 13:02:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:44, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:48, INFO: Using device: cpu -2024-02-20 13:02:48, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:48, INFO: Similarity_func: concatenation -2024-02-20 13:02:48, INFO: Layerwise_graph: False -2024-02-20 13:02:48, INFO: Skip_connection: True -2024-02-20 13:02:48, INFO: Number of layers: 1 -2024-02-20 13:02:48, INFO: Similarity_func: concatenation -2024-02-20 13:02:48, INFO: Layerwise_graph: False -2024-02-20 13:02:48, INFO: Skip_connection: True -2024-02-20 13:02:48, INFO: Number of layers: 1 -2024-02-20 13:02:48, INFO: Planning depth: 1 -2024-02-20 13:02:48, INFO: Planning width: 10 -2024-02-20 13:02:48, INFO: Sparse search: None -2024-02-20 13:02:51, INFO: human number: 10 -2024-02-20 13:02:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:51, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:02:56, INFO: Using device: cpu -2024-02-20 13:02:56, INFO: Loaded RL weights with best VAL -2024-02-20 13:02:56, INFO: Similarity_func: concatenation -2024-02-20 13:02:56, INFO: Layerwise_graph: False -2024-02-20 13:02:56, INFO: Skip_connection: True -2024-02-20 13:02:56, INFO: Number of layers: 1 -2024-02-20 13:02:56, INFO: Similarity_func: concatenation -2024-02-20 13:02:56, INFO: Layerwise_graph: False -2024-02-20 13:02:56, INFO: Skip_connection: True -2024-02-20 13:02:56, INFO: Number of layers: 1 -2024-02-20 13:02:56, INFO: Planning depth: 1 -2024-02-20 13:02:56, INFO: Planning width: 10 -2024-02-20 13:02:56, INFO: Sparse search: None -2024-02-20 13:02:59, INFO: human number: 10 -2024-02-20 13:02:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:02:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:02:59, INFO: Square width: 10, circle width: 4 -2024-02-20 13:02:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:02:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:03, INFO: Using device: cpu -2024-02-20 13:03:03, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:03, INFO: Similarity_func: concatenation -2024-02-20 13:03:03, INFO: Layerwise_graph: False -2024-02-20 13:03:03, INFO: Skip_connection: True -2024-02-20 13:03:03, INFO: Number of layers: 1 -2024-02-20 13:03:03, INFO: Similarity_func: concatenation -2024-02-20 13:03:03, INFO: Layerwise_graph: False -2024-02-20 13:03:03, INFO: Skip_connection: True -2024-02-20 13:03:03, INFO: Number of layers: 1 -2024-02-20 13:03:03, INFO: Planning depth: 1 -2024-02-20 13:03:03, INFO: Planning width: 10 -2024-02-20 13:03:03, INFO: Sparse search: None -2024-02-20 13:03:06, INFO: human number: 10 -2024-02-20 13:03:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:06, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:11, INFO: Using device: cpu -2024-02-20 13:03:11, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:11, INFO: Similarity_func: concatenation -2024-02-20 13:03:11, INFO: Layerwise_graph: False -2024-02-20 13:03:11, INFO: Skip_connection: True -2024-02-20 13:03:11, INFO: Number of layers: 1 -2024-02-20 13:03:11, INFO: Similarity_func: concatenation -2024-02-20 13:03:11, INFO: Layerwise_graph: False -2024-02-20 13:03:11, INFO: Skip_connection: True -2024-02-20 13:03:11, INFO: Number of layers: 1 -2024-02-20 13:03:11, INFO: Planning depth: 1 -2024-02-20 13:03:11, INFO: Planning width: 10 -2024-02-20 13:03:11, INFO: Sparse search: None -2024-02-20 13:03:14, INFO: human number: 10 -2024-02-20 13:03:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:14, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:20, INFO: Using device: cpu -2024-02-20 13:03:20, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:20, INFO: Similarity_func: concatenation -2024-02-20 13:03:20, INFO: Layerwise_graph: False -2024-02-20 13:03:20, INFO: Skip_connection: True -2024-02-20 13:03:20, INFO: Number of layers: 1 -2024-02-20 13:03:20, INFO: Similarity_func: concatenation -2024-02-20 13:03:20, INFO: Layerwise_graph: False -2024-02-20 13:03:20, INFO: Skip_connection: True -2024-02-20 13:03:20, INFO: Number of layers: 1 -2024-02-20 13:03:20, INFO: Planning depth: 1 -2024-02-20 13:03:20, INFO: Planning width: 10 -2024-02-20 13:03:20, INFO: Sparse search: None -2024-02-20 13:03:23, INFO: human number: 10 -2024-02-20 13:03:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:23, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:29, INFO: Using device: cpu -2024-02-20 13:03:29, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:29, INFO: Similarity_func: concatenation -2024-02-20 13:03:29, INFO: Layerwise_graph: False -2024-02-20 13:03:29, INFO: Skip_connection: True -2024-02-20 13:03:29, INFO: Number of layers: 1 -2024-02-20 13:03:29, INFO: Similarity_func: concatenation -2024-02-20 13:03:29, INFO: Layerwise_graph: False -2024-02-20 13:03:29, INFO: Skip_connection: True -2024-02-20 13:03:29, INFO: Number of layers: 1 -2024-02-20 13:03:29, INFO: Planning depth: 1 -2024-02-20 13:03:29, INFO: Planning width: 10 -2024-02-20 13:03:29, INFO: Sparse search: None -2024-02-20 13:03:32, INFO: human number: 10 -2024-02-20 13:03:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:32, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:36, INFO: Using device: cpu -2024-02-20 13:03:36, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:36, INFO: Similarity_func: concatenation -2024-02-20 13:03:36, INFO: Layerwise_graph: False -2024-02-20 13:03:36, INFO: Skip_connection: True -2024-02-20 13:03:36, INFO: Number of layers: 1 -2024-02-20 13:03:36, INFO: Similarity_func: concatenation -2024-02-20 13:03:36, INFO: Layerwise_graph: False -2024-02-20 13:03:36, INFO: Skip_connection: True -2024-02-20 13:03:36, INFO: Number of layers: 1 -2024-02-20 13:03:36, INFO: Planning depth: 1 -2024-02-20 13:03:36, INFO: Planning width: 10 -2024-02-20 13:03:36, INFO: Sparse search: None -2024-02-20 13:03:39, INFO: human number: 10 -2024-02-20 13:03:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:39, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:44, INFO: Using device: cpu -2024-02-20 13:03:44, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:44, INFO: Similarity_func: concatenation -2024-02-20 13:03:44, INFO: Layerwise_graph: False -2024-02-20 13:03:44, INFO: Skip_connection: True -2024-02-20 13:03:44, INFO: Number of layers: 1 -2024-02-20 13:03:44, INFO: Similarity_func: concatenation -2024-02-20 13:03:44, INFO: Layerwise_graph: False -2024-02-20 13:03:44, INFO: Skip_connection: True -2024-02-20 13:03:44, INFO: Number of layers: 1 -2024-02-20 13:03:44, INFO: Planning depth: 1 -2024-02-20 13:03:44, INFO: Planning width: 10 -2024-02-20 13:03:44, INFO: Sparse search: None -2024-02-20 13:03:47, INFO: human number: 10 -2024-02-20 13:03:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:47, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:03:53, INFO: Using device: cpu -2024-02-20 13:03:53, INFO: Loaded RL weights with best VAL -2024-02-20 13:03:53, INFO: Similarity_func: concatenation -2024-02-20 13:03:53, INFO: Layerwise_graph: False -2024-02-20 13:03:53, INFO: Skip_connection: True -2024-02-20 13:03:53, INFO: Number of layers: 1 -2024-02-20 13:03:53, INFO: Similarity_func: concatenation -2024-02-20 13:03:53, INFO: Layerwise_graph: False -2024-02-20 13:03:53, INFO: Skip_connection: True -2024-02-20 13:03:53, INFO: Number of layers: 1 -2024-02-20 13:03:53, INFO: Planning depth: 1 -2024-02-20 13:03:53, INFO: Planning width: 10 -2024-02-20 13:03:53, INFO: Sparse search: None -2024-02-20 13:03:56, INFO: human number: 10 -2024-02-20 13:03:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:03:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:03:56, INFO: Square width: 10, circle width: 4 -2024-02-20 13:03:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:03:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:00, INFO: Using device: cpu -2024-02-20 13:04:00, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:00, INFO: Similarity_func: concatenation -2024-02-20 13:04:00, INFO: Layerwise_graph: False -2024-02-20 13:04:00, INFO: Skip_connection: True -2024-02-20 13:04:00, INFO: Number of layers: 1 -2024-02-20 13:04:00, INFO: Similarity_func: concatenation -2024-02-20 13:04:00, INFO: Layerwise_graph: False -2024-02-20 13:04:00, INFO: Skip_connection: True -2024-02-20 13:04:00, INFO: Number of layers: 1 -2024-02-20 13:04:00, INFO: Planning depth: 1 -2024-02-20 13:04:00, INFO: Planning width: 10 -2024-02-20 13:04:00, INFO: Sparse search: None -2024-02-20 13:04:03, INFO: human number: 10 -2024-02-20 13:04:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:03, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:08, INFO: Using device: cpu -2024-02-20 13:04:08, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:08, INFO: Similarity_func: concatenation -2024-02-20 13:04:08, INFO: Layerwise_graph: False -2024-02-20 13:04:08, INFO: Skip_connection: True -2024-02-20 13:04:08, INFO: Number of layers: 1 -2024-02-20 13:04:08, INFO: Similarity_func: concatenation -2024-02-20 13:04:08, INFO: Layerwise_graph: False -2024-02-20 13:04:08, INFO: Skip_connection: True -2024-02-20 13:04:08, INFO: Number of layers: 1 -2024-02-20 13:04:08, INFO: Planning depth: 1 -2024-02-20 13:04:08, INFO: Planning width: 10 -2024-02-20 13:04:08, INFO: Sparse search: None -2024-02-20 13:04:11, INFO: human number: 10 -2024-02-20 13:04:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:11, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:16, INFO: Using device: cpu -2024-02-20 13:04:16, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:16, INFO: Similarity_func: concatenation -2024-02-20 13:04:16, INFO: Layerwise_graph: False -2024-02-20 13:04:16, INFO: Skip_connection: True -2024-02-20 13:04:16, INFO: Number of layers: 1 -2024-02-20 13:04:16, INFO: Similarity_func: concatenation -2024-02-20 13:04:16, INFO: Layerwise_graph: False -2024-02-20 13:04:16, INFO: Skip_connection: True -2024-02-20 13:04:16, INFO: Number of layers: 1 -2024-02-20 13:04:16, INFO: Planning depth: 1 -2024-02-20 13:04:16, INFO: Planning width: 10 -2024-02-20 13:04:16, INFO: Sparse search: None -2024-02-20 13:04:19, INFO: human number: 10 -2024-02-20 13:04:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:19, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:24, INFO: Using device: cpu -2024-02-20 13:04:24, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:24, INFO: Similarity_func: concatenation -2024-02-20 13:04:24, INFO: Layerwise_graph: False -2024-02-20 13:04:24, INFO: Skip_connection: True -2024-02-20 13:04:24, INFO: Number of layers: 1 -2024-02-20 13:04:24, INFO: Similarity_func: concatenation -2024-02-20 13:04:24, INFO: Layerwise_graph: False -2024-02-20 13:04:24, INFO: Skip_connection: True -2024-02-20 13:04:24, INFO: Number of layers: 1 -2024-02-20 13:04:24, INFO: Planning depth: 1 -2024-02-20 13:04:24, INFO: Planning width: 10 -2024-02-20 13:04:24, INFO: Sparse search: None -2024-02-20 13:04:27, INFO: human number: 10 -2024-02-20 13:04:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:27, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:32, INFO: Using device: cpu -2024-02-20 13:04:32, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:32, INFO: Similarity_func: concatenation -2024-02-20 13:04:32, INFO: Layerwise_graph: False -2024-02-20 13:04:32, INFO: Skip_connection: True -2024-02-20 13:04:32, INFO: Number of layers: 1 -2024-02-20 13:04:32, INFO: Similarity_func: concatenation -2024-02-20 13:04:32, INFO: Layerwise_graph: False -2024-02-20 13:04:32, INFO: Skip_connection: True -2024-02-20 13:04:32, INFO: Number of layers: 1 -2024-02-20 13:04:32, INFO: Planning depth: 1 -2024-02-20 13:04:32, INFO: Planning width: 10 -2024-02-20 13:04:32, INFO: Sparse search: None -2024-02-20 13:04:35, INFO: human number: 10 -2024-02-20 13:04:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:35, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:40, INFO: Using device: cpu -2024-02-20 13:04:40, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:40, INFO: Similarity_func: concatenation -2024-02-20 13:04:40, INFO: Layerwise_graph: False -2024-02-20 13:04:40, INFO: Skip_connection: True -2024-02-20 13:04:40, INFO: Number of layers: 1 -2024-02-20 13:04:40, INFO: Similarity_func: concatenation -2024-02-20 13:04:40, INFO: Layerwise_graph: False -2024-02-20 13:04:40, INFO: Skip_connection: True -2024-02-20 13:04:40, INFO: Number of layers: 1 -2024-02-20 13:04:40, INFO: Planning depth: 1 -2024-02-20 13:04:40, INFO: Planning width: 10 -2024-02-20 13:04:40, INFO: Sparse search: None -2024-02-20 13:04:43, INFO: human number: 10 -2024-02-20 13:04:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:43, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:47, INFO: Using device: cpu -2024-02-20 13:04:47, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:47, INFO: Similarity_func: concatenation -2024-02-20 13:04:47, INFO: Layerwise_graph: False -2024-02-20 13:04:47, INFO: Skip_connection: True -2024-02-20 13:04:47, INFO: Number of layers: 1 -2024-02-20 13:04:47, INFO: Similarity_func: concatenation -2024-02-20 13:04:47, INFO: Layerwise_graph: False -2024-02-20 13:04:47, INFO: Skip_connection: True -2024-02-20 13:04:47, INFO: Number of layers: 1 -2024-02-20 13:04:47, INFO: Planning depth: 1 -2024-02-20 13:04:47, INFO: Planning width: 10 -2024-02-20 13:04:47, INFO: Sparse search: None -2024-02-20 13:04:50, INFO: human number: 10 -2024-02-20 13:04:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:50, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:04:54, INFO: Using device: cpu -2024-02-20 13:04:54, INFO: Loaded RL weights with best VAL -2024-02-20 13:04:54, INFO: Similarity_func: concatenation -2024-02-20 13:04:54, INFO: Layerwise_graph: False -2024-02-20 13:04:54, INFO: Skip_connection: True -2024-02-20 13:04:54, INFO: Number of layers: 1 -2024-02-20 13:04:54, INFO: Similarity_func: concatenation -2024-02-20 13:04:54, INFO: Layerwise_graph: False -2024-02-20 13:04:54, INFO: Skip_connection: True -2024-02-20 13:04:54, INFO: Number of layers: 1 -2024-02-20 13:04:54, INFO: Planning depth: 1 -2024-02-20 13:04:54, INFO: Planning width: 10 -2024-02-20 13:04:54, INFO: Sparse search: None -2024-02-20 13:04:57, INFO: human number: 10 -2024-02-20 13:04:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:04:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:04:57, INFO: Square width: 10, circle width: 4 -2024-02-20 13:04:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:04:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:02, INFO: Using device: cpu -2024-02-20 13:05:02, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:02, INFO: Similarity_func: concatenation -2024-02-20 13:05:02, INFO: Layerwise_graph: False -2024-02-20 13:05:02, INFO: Skip_connection: True -2024-02-20 13:05:02, INFO: Number of layers: 1 -2024-02-20 13:05:02, INFO: Similarity_func: concatenation -2024-02-20 13:05:02, INFO: Layerwise_graph: False -2024-02-20 13:05:02, INFO: Skip_connection: True -2024-02-20 13:05:02, INFO: Number of layers: 1 -2024-02-20 13:05:02, INFO: Planning depth: 1 -2024-02-20 13:05:02, INFO: Planning width: 10 -2024-02-20 13:05:02, INFO: Sparse search: None -2024-02-20 13:05:04, INFO: human number: 10 -2024-02-20 13:05:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:04, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:12, INFO: Using device: cpu -2024-02-20 13:05:12, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:12, INFO: Similarity_func: concatenation -2024-02-20 13:05:12, INFO: Layerwise_graph: False -2024-02-20 13:05:12, INFO: Skip_connection: True -2024-02-20 13:05:12, INFO: Number of layers: 1 -2024-02-20 13:05:12, INFO: Similarity_func: concatenation -2024-02-20 13:05:12, INFO: Layerwise_graph: False -2024-02-20 13:05:12, INFO: Skip_connection: True -2024-02-20 13:05:12, INFO: Number of layers: 1 -2024-02-20 13:05:12, INFO: Planning depth: 1 -2024-02-20 13:05:12, INFO: Planning width: 10 -2024-02-20 13:05:12, INFO: Sparse search: None -2024-02-20 13:05:15, INFO: human number: 10 -2024-02-20 13:05:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:15, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:20, INFO: Using device: cpu -2024-02-20 13:05:20, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:20, INFO: Similarity_func: concatenation -2024-02-20 13:05:20, INFO: Layerwise_graph: False -2024-02-20 13:05:20, INFO: Skip_connection: True -2024-02-20 13:05:20, INFO: Number of layers: 1 -2024-02-20 13:05:20, INFO: Similarity_func: concatenation -2024-02-20 13:05:20, INFO: Layerwise_graph: False -2024-02-20 13:05:20, INFO: Skip_connection: True -2024-02-20 13:05:20, INFO: Number of layers: 1 -2024-02-20 13:05:20, INFO: Planning depth: 1 -2024-02-20 13:05:20, INFO: Planning width: 10 -2024-02-20 13:05:20, INFO: Sparse search: None -2024-02-20 13:05:23, INFO: human number: 10 -2024-02-20 13:05:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:23, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:28, INFO: Using device: cpu -2024-02-20 13:05:28, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:28, INFO: Similarity_func: concatenation -2024-02-20 13:05:28, INFO: Layerwise_graph: False -2024-02-20 13:05:28, INFO: Skip_connection: True -2024-02-20 13:05:28, INFO: Number of layers: 1 -2024-02-20 13:05:28, INFO: Similarity_func: concatenation -2024-02-20 13:05:28, INFO: Layerwise_graph: False -2024-02-20 13:05:28, INFO: Skip_connection: True -2024-02-20 13:05:28, INFO: Number of layers: 1 -2024-02-20 13:05:28, INFO: Planning depth: 1 -2024-02-20 13:05:28, INFO: Planning width: 10 -2024-02-20 13:05:28, INFO: Sparse search: None -2024-02-20 13:05:31, INFO: human number: 10 -2024-02-20 13:05:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:31, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:35, INFO: Using device: cpu -2024-02-20 13:05:35, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:35, INFO: Similarity_func: concatenation -2024-02-20 13:05:35, INFO: Layerwise_graph: False -2024-02-20 13:05:35, INFO: Skip_connection: True -2024-02-20 13:05:35, INFO: Number of layers: 1 -2024-02-20 13:05:35, INFO: Similarity_func: concatenation -2024-02-20 13:05:35, INFO: Layerwise_graph: False -2024-02-20 13:05:35, INFO: Skip_connection: True -2024-02-20 13:05:35, INFO: Number of layers: 1 -2024-02-20 13:05:35, INFO: Planning depth: 1 -2024-02-20 13:05:35, INFO: Planning width: 10 -2024-02-20 13:05:35, INFO: Sparse search: None -2024-02-20 13:05:38, INFO: human number: 10 -2024-02-20 13:05:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:38, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:43, INFO: Using device: cpu -2024-02-20 13:05:43, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:43, INFO: Similarity_func: concatenation -2024-02-20 13:05:43, INFO: Layerwise_graph: False -2024-02-20 13:05:43, INFO: Skip_connection: True -2024-02-20 13:05:43, INFO: Number of layers: 1 -2024-02-20 13:05:43, INFO: Similarity_func: concatenation -2024-02-20 13:05:43, INFO: Layerwise_graph: False -2024-02-20 13:05:43, INFO: Skip_connection: True -2024-02-20 13:05:43, INFO: Number of layers: 1 -2024-02-20 13:05:43, INFO: Planning depth: 1 -2024-02-20 13:05:43, INFO: Planning width: 10 -2024-02-20 13:05:43, INFO: Sparse search: None -2024-02-20 13:05:46, INFO: human number: 10 -2024-02-20 13:05:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:46, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:51, INFO: Using device: cpu -2024-02-20 13:05:51, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:51, INFO: Similarity_func: concatenation -2024-02-20 13:05:51, INFO: Layerwise_graph: False -2024-02-20 13:05:51, INFO: Skip_connection: True -2024-02-20 13:05:51, INFO: Number of layers: 1 -2024-02-20 13:05:51, INFO: Similarity_func: concatenation -2024-02-20 13:05:51, INFO: Layerwise_graph: False -2024-02-20 13:05:51, INFO: Skip_connection: True -2024-02-20 13:05:51, INFO: Number of layers: 1 -2024-02-20 13:05:51, INFO: Planning depth: 1 -2024-02-20 13:05:51, INFO: Planning width: 10 -2024-02-20 13:05:51, INFO: Sparse search: None -2024-02-20 13:05:54, INFO: human number: 10 -2024-02-20 13:05:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:05:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:05:54, INFO: Square width: 10, circle width: 4 -2024-02-20 13:05:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:05:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:05:59, INFO: Using device: cpu -2024-02-20 13:05:59, INFO: Loaded RL weights with best VAL -2024-02-20 13:05:59, INFO: Similarity_func: concatenation -2024-02-20 13:05:59, INFO: Layerwise_graph: False -2024-02-20 13:05:59, INFO: Skip_connection: True -2024-02-20 13:05:59, INFO: Number of layers: 1 -2024-02-20 13:05:59, INFO: Similarity_func: concatenation -2024-02-20 13:05:59, INFO: Layerwise_graph: False -2024-02-20 13:05:59, INFO: Skip_connection: True -2024-02-20 13:05:59, INFO: Number of layers: 1 -2024-02-20 13:05:59, INFO: Planning depth: 1 -2024-02-20 13:05:59, INFO: Planning width: 10 -2024-02-20 13:05:59, INFO: Sparse search: None -2024-02-20 13:06:02, INFO: human number: 10 -2024-02-20 13:06:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:02, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:06, INFO: Using device: cpu -2024-02-20 13:06:06, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:06, INFO: Similarity_func: concatenation -2024-02-20 13:06:06, INFO: Layerwise_graph: False -2024-02-20 13:06:06, INFO: Skip_connection: True -2024-02-20 13:06:06, INFO: Number of layers: 1 -2024-02-20 13:06:06, INFO: Similarity_func: concatenation -2024-02-20 13:06:06, INFO: Layerwise_graph: False -2024-02-20 13:06:06, INFO: Skip_connection: True -2024-02-20 13:06:06, INFO: Number of layers: 1 -2024-02-20 13:06:06, INFO: Planning depth: 1 -2024-02-20 13:06:06, INFO: Planning width: 10 -2024-02-20 13:06:06, INFO: Sparse search: None -2024-02-20 13:06:09, INFO: human number: 10 -2024-02-20 13:06:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:09, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:14, INFO: Using device: cpu -2024-02-20 13:06:14, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:14, INFO: Similarity_func: concatenation -2024-02-20 13:06:14, INFO: Layerwise_graph: False -2024-02-20 13:06:14, INFO: Skip_connection: True -2024-02-20 13:06:14, INFO: Number of layers: 1 -2024-02-20 13:06:14, INFO: Similarity_func: concatenation -2024-02-20 13:06:14, INFO: Layerwise_graph: False -2024-02-20 13:06:14, INFO: Skip_connection: True -2024-02-20 13:06:14, INFO: Number of layers: 1 -2024-02-20 13:06:14, INFO: Planning depth: 1 -2024-02-20 13:06:14, INFO: Planning width: 10 -2024-02-20 13:06:14, INFO: Sparse search: None -2024-02-20 13:06:17, INFO: human number: 10 -2024-02-20 13:06:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:17, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:22, INFO: Using device: cpu -2024-02-20 13:06:22, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:22, INFO: Similarity_func: concatenation -2024-02-20 13:06:22, INFO: Layerwise_graph: False -2024-02-20 13:06:22, INFO: Skip_connection: True -2024-02-20 13:06:22, INFO: Number of layers: 1 -2024-02-20 13:06:22, INFO: Similarity_func: concatenation -2024-02-20 13:06:22, INFO: Layerwise_graph: False -2024-02-20 13:06:22, INFO: Skip_connection: True -2024-02-20 13:06:22, INFO: Number of layers: 1 -2024-02-20 13:06:22, INFO: Planning depth: 1 -2024-02-20 13:06:22, INFO: Planning width: 10 -2024-02-20 13:06:22, INFO: Sparse search: None -2024-02-20 13:06:24, INFO: human number: 10 -2024-02-20 13:06:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:24, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:29, INFO: Using device: cpu -2024-02-20 13:06:29, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:29, INFO: Similarity_func: concatenation -2024-02-20 13:06:29, INFO: Layerwise_graph: False -2024-02-20 13:06:29, INFO: Skip_connection: True -2024-02-20 13:06:29, INFO: Number of layers: 1 -2024-02-20 13:06:29, INFO: Similarity_func: concatenation -2024-02-20 13:06:29, INFO: Layerwise_graph: False -2024-02-20 13:06:29, INFO: Skip_connection: True -2024-02-20 13:06:29, INFO: Number of layers: 1 -2024-02-20 13:06:29, INFO: Planning depth: 1 -2024-02-20 13:06:29, INFO: Planning width: 10 -2024-02-20 13:06:29, INFO: Sparse search: None -2024-02-20 13:06:32, INFO: human number: 10 -2024-02-20 13:06:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:32, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:36, INFO: Using device: cpu -2024-02-20 13:06:36, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:36, INFO: Similarity_func: concatenation -2024-02-20 13:06:36, INFO: Layerwise_graph: False -2024-02-20 13:06:36, INFO: Skip_connection: True -2024-02-20 13:06:36, INFO: Number of layers: 1 -2024-02-20 13:06:36, INFO: Similarity_func: concatenation -2024-02-20 13:06:36, INFO: Layerwise_graph: False -2024-02-20 13:06:36, INFO: Skip_connection: True -2024-02-20 13:06:36, INFO: Number of layers: 1 -2024-02-20 13:06:36, INFO: Planning depth: 1 -2024-02-20 13:06:36, INFO: Planning width: 10 -2024-02-20 13:06:36, INFO: Sparse search: None -2024-02-20 13:06:39, INFO: human number: 10 -2024-02-20 13:06:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:39, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:47, INFO: Using device: cpu -2024-02-20 13:06:47, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:47, INFO: Similarity_func: concatenation -2024-02-20 13:06:47, INFO: Layerwise_graph: False -2024-02-20 13:06:47, INFO: Skip_connection: True -2024-02-20 13:06:47, INFO: Number of layers: 1 -2024-02-20 13:06:47, INFO: Similarity_func: concatenation -2024-02-20 13:06:47, INFO: Layerwise_graph: False -2024-02-20 13:06:47, INFO: Skip_connection: True -2024-02-20 13:06:47, INFO: Number of layers: 1 -2024-02-20 13:06:47, INFO: Planning depth: 1 -2024-02-20 13:06:47, INFO: Planning width: 10 -2024-02-20 13:06:47, INFO: Sparse search: None -2024-02-20 13:06:49, INFO: human number: 10 -2024-02-20 13:06:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:49, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:06:54, INFO: Using device: cpu -2024-02-20 13:06:54, INFO: Loaded RL weights with best VAL -2024-02-20 13:06:54, INFO: Similarity_func: concatenation -2024-02-20 13:06:54, INFO: Layerwise_graph: False -2024-02-20 13:06:54, INFO: Skip_connection: True -2024-02-20 13:06:54, INFO: Number of layers: 1 -2024-02-20 13:06:54, INFO: Similarity_func: concatenation -2024-02-20 13:06:54, INFO: Layerwise_graph: False -2024-02-20 13:06:54, INFO: Skip_connection: True -2024-02-20 13:06:54, INFO: Number of layers: 1 -2024-02-20 13:06:54, INFO: Planning depth: 1 -2024-02-20 13:06:54, INFO: Planning width: 10 -2024-02-20 13:06:54, INFO: Sparse search: None -2024-02-20 13:06:57, INFO: human number: 10 -2024-02-20 13:06:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:06:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:06:57, INFO: Square width: 10, circle width: 4 -2024-02-20 13:06:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:06:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:03, INFO: Using device: cpu -2024-02-20 13:07:03, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:03, INFO: Similarity_func: concatenation -2024-02-20 13:07:03, INFO: Layerwise_graph: False -2024-02-20 13:07:03, INFO: Skip_connection: True -2024-02-20 13:07:03, INFO: Number of layers: 1 -2024-02-20 13:07:03, INFO: Similarity_func: concatenation -2024-02-20 13:07:03, INFO: Layerwise_graph: False -2024-02-20 13:07:03, INFO: Skip_connection: True -2024-02-20 13:07:03, INFO: Number of layers: 1 -2024-02-20 13:07:03, INFO: Planning depth: 1 -2024-02-20 13:07:03, INFO: Planning width: 10 -2024-02-20 13:07:03, INFO: Sparse search: None -2024-02-20 13:07:06, INFO: human number: 10 -2024-02-20 13:07:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:06, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:11, INFO: Using device: cpu -2024-02-20 13:07:11, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:11, INFO: Similarity_func: concatenation -2024-02-20 13:07:11, INFO: Layerwise_graph: False -2024-02-20 13:07:11, INFO: Skip_connection: True -2024-02-20 13:07:11, INFO: Number of layers: 1 -2024-02-20 13:07:11, INFO: Similarity_func: concatenation -2024-02-20 13:07:11, INFO: Layerwise_graph: False -2024-02-20 13:07:11, INFO: Skip_connection: True -2024-02-20 13:07:11, INFO: Number of layers: 1 -2024-02-20 13:07:11, INFO: Planning depth: 1 -2024-02-20 13:07:11, INFO: Planning width: 10 -2024-02-20 13:07:11, INFO: Sparse search: None -2024-02-20 13:07:14, INFO: human number: 10 -2024-02-20 13:07:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:14, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:19, INFO: Using device: cpu -2024-02-20 13:07:19, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:19, INFO: Similarity_func: concatenation -2024-02-20 13:07:19, INFO: Layerwise_graph: False -2024-02-20 13:07:19, INFO: Skip_connection: True -2024-02-20 13:07:19, INFO: Number of layers: 1 -2024-02-20 13:07:19, INFO: Similarity_func: concatenation -2024-02-20 13:07:19, INFO: Layerwise_graph: False -2024-02-20 13:07:19, INFO: Skip_connection: True -2024-02-20 13:07:19, INFO: Number of layers: 1 -2024-02-20 13:07:19, INFO: Planning depth: 1 -2024-02-20 13:07:19, INFO: Planning width: 10 -2024-02-20 13:07:19, INFO: Sparse search: None -2024-02-20 13:07:21, INFO: human number: 10 -2024-02-20 13:07:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:21, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:27, INFO: Using device: cpu -2024-02-20 13:07:27, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:27, INFO: Similarity_func: concatenation -2024-02-20 13:07:27, INFO: Layerwise_graph: False -2024-02-20 13:07:27, INFO: Skip_connection: True -2024-02-20 13:07:27, INFO: Number of layers: 1 -2024-02-20 13:07:27, INFO: Similarity_func: concatenation -2024-02-20 13:07:27, INFO: Layerwise_graph: False -2024-02-20 13:07:27, INFO: Skip_connection: True -2024-02-20 13:07:27, INFO: Number of layers: 1 -2024-02-20 13:07:27, INFO: Planning depth: 1 -2024-02-20 13:07:27, INFO: Planning width: 10 -2024-02-20 13:07:27, INFO: Sparse search: None -2024-02-20 13:07:29, INFO: human number: 10 -2024-02-20 13:07:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:29, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:34, INFO: Using device: cpu -2024-02-20 13:07:34, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:34, INFO: Similarity_func: concatenation -2024-02-20 13:07:34, INFO: Layerwise_graph: False -2024-02-20 13:07:34, INFO: Skip_connection: True -2024-02-20 13:07:34, INFO: Number of layers: 1 -2024-02-20 13:07:34, INFO: Similarity_func: concatenation -2024-02-20 13:07:34, INFO: Layerwise_graph: False -2024-02-20 13:07:34, INFO: Skip_connection: True -2024-02-20 13:07:34, INFO: Number of layers: 1 -2024-02-20 13:07:34, INFO: Planning depth: 1 -2024-02-20 13:07:34, INFO: Planning width: 10 -2024-02-20 13:07:34, INFO: Sparse search: None -2024-02-20 13:07:37, INFO: human number: 10 -2024-02-20 13:07:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:37, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:42, INFO: Using device: cpu -2024-02-20 13:07:42, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:42, INFO: Similarity_func: concatenation -2024-02-20 13:07:42, INFO: Layerwise_graph: False -2024-02-20 13:07:42, INFO: Skip_connection: True -2024-02-20 13:07:42, INFO: Number of layers: 1 -2024-02-20 13:07:42, INFO: Similarity_func: concatenation -2024-02-20 13:07:42, INFO: Layerwise_graph: False -2024-02-20 13:07:42, INFO: Skip_connection: True -2024-02-20 13:07:42, INFO: Number of layers: 1 -2024-02-20 13:07:42, INFO: Planning depth: 1 -2024-02-20 13:07:42, INFO: Planning width: 10 -2024-02-20 13:07:42, INFO: Sparse search: None -2024-02-20 13:07:45, INFO: human number: 10 -2024-02-20 13:07:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:45, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:50, INFO: Using device: cpu -2024-02-20 13:07:50, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:50, INFO: Similarity_func: concatenation -2024-02-20 13:07:50, INFO: Layerwise_graph: False -2024-02-20 13:07:50, INFO: Skip_connection: True -2024-02-20 13:07:50, INFO: Number of layers: 1 -2024-02-20 13:07:50, INFO: Similarity_func: concatenation -2024-02-20 13:07:50, INFO: Layerwise_graph: False -2024-02-20 13:07:50, INFO: Skip_connection: True -2024-02-20 13:07:50, INFO: Number of layers: 1 -2024-02-20 13:07:50, INFO: Planning depth: 1 -2024-02-20 13:07:50, INFO: Planning width: 10 -2024-02-20 13:07:50, INFO: Sparse search: None -2024-02-20 13:07:53, INFO: human number: 10 -2024-02-20 13:07:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:07:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:07:53, INFO: Square width: 10, circle width: 4 -2024-02-20 13:07:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:07:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:07:58, INFO: Using device: cpu -2024-02-20 13:07:58, INFO: Loaded RL weights with best VAL -2024-02-20 13:07:58, INFO: Similarity_func: concatenation -2024-02-20 13:07:58, INFO: Layerwise_graph: False -2024-02-20 13:07:58, INFO: Skip_connection: True -2024-02-20 13:07:58, INFO: Number of layers: 1 -2024-02-20 13:07:58, INFO: Similarity_func: concatenation -2024-02-20 13:07:58, INFO: Layerwise_graph: False -2024-02-20 13:07:58, INFO: Skip_connection: True -2024-02-20 13:07:58, INFO: Number of layers: 1 -2024-02-20 13:07:58, INFO: Planning depth: 1 -2024-02-20 13:07:58, INFO: Planning width: 10 -2024-02-20 13:07:58, INFO: Sparse search: None -2024-02-20 13:08:01, INFO: human number: 10 -2024-02-20 13:08:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:01, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:05, INFO: Using device: cpu -2024-02-20 13:08:05, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:05, INFO: Similarity_func: concatenation -2024-02-20 13:08:05, INFO: Layerwise_graph: False -2024-02-20 13:08:05, INFO: Skip_connection: True -2024-02-20 13:08:05, INFO: Number of layers: 1 -2024-02-20 13:08:05, INFO: Similarity_func: concatenation -2024-02-20 13:08:05, INFO: Layerwise_graph: False -2024-02-20 13:08:05, INFO: Skip_connection: True -2024-02-20 13:08:05, INFO: Number of layers: 1 -2024-02-20 13:08:05, INFO: Planning depth: 1 -2024-02-20 13:08:05, INFO: Planning width: 10 -2024-02-20 13:08:05, INFO: Sparse search: None -2024-02-20 13:08:08, INFO: human number: 10 -2024-02-20 13:08:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:08, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:13, INFO: Using device: cpu -2024-02-20 13:08:13, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:13, INFO: Similarity_func: concatenation -2024-02-20 13:08:13, INFO: Layerwise_graph: False -2024-02-20 13:08:13, INFO: Skip_connection: True -2024-02-20 13:08:13, INFO: Number of layers: 1 -2024-02-20 13:08:13, INFO: Similarity_func: concatenation -2024-02-20 13:08:13, INFO: Layerwise_graph: False -2024-02-20 13:08:13, INFO: Skip_connection: True -2024-02-20 13:08:13, INFO: Number of layers: 1 -2024-02-20 13:08:13, INFO: Planning depth: 1 -2024-02-20 13:08:13, INFO: Planning width: 10 -2024-02-20 13:08:13, INFO: Sparse search: None -2024-02-20 13:08:15, INFO: human number: 10 -2024-02-20 13:08:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:15, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:21, INFO: Using device: cpu -2024-02-20 13:08:21, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:21, INFO: Similarity_func: concatenation -2024-02-20 13:08:21, INFO: Layerwise_graph: False -2024-02-20 13:08:21, INFO: Skip_connection: True -2024-02-20 13:08:21, INFO: Number of layers: 1 -2024-02-20 13:08:21, INFO: Similarity_func: concatenation -2024-02-20 13:08:21, INFO: Layerwise_graph: False -2024-02-20 13:08:21, INFO: Skip_connection: True -2024-02-20 13:08:21, INFO: Number of layers: 1 -2024-02-20 13:08:21, INFO: Planning depth: 1 -2024-02-20 13:08:21, INFO: Planning width: 10 -2024-02-20 13:08:21, INFO: Sparse search: None -2024-02-20 13:08:24, INFO: human number: 10 -2024-02-20 13:08:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:24, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:29, INFO: Using device: cpu -2024-02-20 13:08:29, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:29, INFO: Similarity_func: concatenation -2024-02-20 13:08:29, INFO: Layerwise_graph: False -2024-02-20 13:08:29, INFO: Skip_connection: True -2024-02-20 13:08:29, INFO: Number of layers: 1 -2024-02-20 13:08:29, INFO: Similarity_func: concatenation -2024-02-20 13:08:29, INFO: Layerwise_graph: False -2024-02-20 13:08:29, INFO: Skip_connection: True -2024-02-20 13:08:29, INFO: Number of layers: 1 -2024-02-20 13:08:29, INFO: Planning depth: 1 -2024-02-20 13:08:29, INFO: Planning width: 10 -2024-02-20 13:08:29, INFO: Sparse search: None -2024-02-20 13:08:31, INFO: human number: 10 -2024-02-20 13:08:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:31, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:37, INFO: Using device: cpu -2024-02-20 13:08:37, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:37, INFO: Similarity_func: concatenation -2024-02-20 13:08:37, INFO: Layerwise_graph: False -2024-02-20 13:08:37, INFO: Skip_connection: True -2024-02-20 13:08:37, INFO: Number of layers: 1 -2024-02-20 13:08:37, INFO: Similarity_func: concatenation -2024-02-20 13:08:37, INFO: Layerwise_graph: False -2024-02-20 13:08:37, INFO: Skip_connection: True -2024-02-20 13:08:37, INFO: Number of layers: 1 -2024-02-20 13:08:37, INFO: Planning depth: 1 -2024-02-20 13:08:37, INFO: Planning width: 10 -2024-02-20 13:08:37, INFO: Sparse search: None -2024-02-20 13:08:40, INFO: human number: 10 -2024-02-20 13:08:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:40, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:44, INFO: Using device: cpu -2024-02-20 13:08:44, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:44, INFO: Similarity_func: concatenation -2024-02-20 13:08:44, INFO: Layerwise_graph: False -2024-02-20 13:08:44, INFO: Skip_connection: True -2024-02-20 13:08:44, INFO: Number of layers: 1 -2024-02-20 13:08:44, INFO: Similarity_func: concatenation -2024-02-20 13:08:44, INFO: Layerwise_graph: False -2024-02-20 13:08:44, INFO: Skip_connection: True -2024-02-20 13:08:44, INFO: Number of layers: 1 -2024-02-20 13:08:44, INFO: Planning depth: 1 -2024-02-20 13:08:44, INFO: Planning width: 10 -2024-02-20 13:08:44, INFO: Sparse search: None -2024-02-20 13:08:47, INFO: human number: 10 -2024-02-20 13:08:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:47, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:08:52, INFO: Using device: cpu -2024-02-20 13:08:52, INFO: Loaded RL weights with best VAL -2024-02-20 13:08:52, INFO: Similarity_func: concatenation -2024-02-20 13:08:52, INFO: Layerwise_graph: False -2024-02-20 13:08:52, INFO: Skip_connection: True -2024-02-20 13:08:52, INFO: Number of layers: 1 -2024-02-20 13:08:52, INFO: Similarity_func: concatenation -2024-02-20 13:08:52, INFO: Layerwise_graph: False -2024-02-20 13:08:52, INFO: Skip_connection: True -2024-02-20 13:08:52, INFO: Number of layers: 1 -2024-02-20 13:08:52, INFO: Planning depth: 1 -2024-02-20 13:08:52, INFO: Planning width: 10 -2024-02-20 13:08:52, INFO: Sparse search: None -2024-02-20 13:08:55, INFO: human number: 10 -2024-02-20 13:08:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:08:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:08:55, INFO: Square width: 10, circle width: 4 -2024-02-20 13:08:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:08:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:00, INFO: Using device: cpu -2024-02-20 13:09:00, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:00, INFO: Similarity_func: concatenation -2024-02-20 13:09:00, INFO: Layerwise_graph: False -2024-02-20 13:09:00, INFO: Skip_connection: True -2024-02-20 13:09:00, INFO: Number of layers: 1 -2024-02-20 13:09:00, INFO: Similarity_func: concatenation -2024-02-20 13:09:00, INFO: Layerwise_graph: False -2024-02-20 13:09:00, INFO: Skip_connection: True -2024-02-20 13:09:00, INFO: Number of layers: 1 -2024-02-20 13:09:00, INFO: Planning depth: 1 -2024-02-20 13:09:00, INFO: Planning width: 10 -2024-02-20 13:09:00, INFO: Sparse search: None -2024-02-20 13:09:02, INFO: human number: 10 -2024-02-20 13:09:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:02, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:07, INFO: Using device: cpu -2024-02-20 13:09:07, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:07, INFO: Similarity_func: concatenation -2024-02-20 13:09:07, INFO: Layerwise_graph: False -2024-02-20 13:09:07, INFO: Skip_connection: True -2024-02-20 13:09:07, INFO: Number of layers: 1 -2024-02-20 13:09:07, INFO: Similarity_func: concatenation -2024-02-20 13:09:07, INFO: Layerwise_graph: False -2024-02-20 13:09:07, INFO: Skip_connection: True -2024-02-20 13:09:07, INFO: Number of layers: 1 -2024-02-20 13:09:07, INFO: Planning depth: 1 -2024-02-20 13:09:07, INFO: Planning width: 10 -2024-02-20 13:09:07, INFO: Sparse search: None -2024-02-20 13:09:09, INFO: human number: 10 -2024-02-20 13:09:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:09, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:15, INFO: Using device: cpu -2024-02-20 13:09:15, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:15, INFO: Similarity_func: concatenation -2024-02-20 13:09:15, INFO: Layerwise_graph: False -2024-02-20 13:09:15, INFO: Skip_connection: True -2024-02-20 13:09:15, INFO: Number of layers: 1 -2024-02-20 13:09:15, INFO: Similarity_func: concatenation -2024-02-20 13:09:15, INFO: Layerwise_graph: False -2024-02-20 13:09:15, INFO: Skip_connection: True -2024-02-20 13:09:15, INFO: Number of layers: 1 -2024-02-20 13:09:15, INFO: Planning depth: 1 -2024-02-20 13:09:15, INFO: Planning width: 10 -2024-02-20 13:09:15, INFO: Sparse search: None -2024-02-20 13:09:17, INFO: human number: 10 -2024-02-20 13:09:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:17, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:22, INFO: Using device: cpu -2024-02-20 13:09:22, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:22, INFO: Similarity_func: concatenation -2024-02-20 13:09:22, INFO: Layerwise_graph: False -2024-02-20 13:09:22, INFO: Skip_connection: True -2024-02-20 13:09:22, INFO: Number of layers: 1 -2024-02-20 13:09:22, INFO: Similarity_func: concatenation -2024-02-20 13:09:22, INFO: Layerwise_graph: False -2024-02-20 13:09:22, INFO: Skip_connection: True -2024-02-20 13:09:22, INFO: Number of layers: 1 -2024-02-20 13:09:22, INFO: Planning depth: 1 -2024-02-20 13:09:22, INFO: Planning width: 10 -2024-02-20 13:09:22, INFO: Sparse search: None -2024-02-20 13:09:25, INFO: human number: 10 -2024-02-20 13:09:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:25, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:30, INFO: Using device: cpu -2024-02-20 13:09:30, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:30, INFO: Similarity_func: concatenation -2024-02-20 13:09:30, INFO: Layerwise_graph: False -2024-02-20 13:09:30, INFO: Skip_connection: True -2024-02-20 13:09:30, INFO: Number of layers: 1 -2024-02-20 13:09:30, INFO: Similarity_func: concatenation -2024-02-20 13:09:30, INFO: Layerwise_graph: False -2024-02-20 13:09:30, INFO: Skip_connection: True -2024-02-20 13:09:30, INFO: Number of layers: 1 -2024-02-20 13:09:30, INFO: Planning depth: 1 -2024-02-20 13:09:30, INFO: Planning width: 10 -2024-02-20 13:09:30, INFO: Sparse search: None -2024-02-20 13:09:32, INFO: human number: 10 -2024-02-20 13:09:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:32, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:37, INFO: Using device: cpu -2024-02-20 13:09:37, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:37, INFO: Similarity_func: concatenation -2024-02-20 13:09:37, INFO: Layerwise_graph: False -2024-02-20 13:09:37, INFO: Skip_connection: True -2024-02-20 13:09:37, INFO: Number of layers: 1 -2024-02-20 13:09:37, INFO: Similarity_func: concatenation -2024-02-20 13:09:37, INFO: Layerwise_graph: False -2024-02-20 13:09:37, INFO: Skip_connection: True -2024-02-20 13:09:37, INFO: Number of layers: 1 -2024-02-20 13:09:37, INFO: Planning depth: 1 -2024-02-20 13:09:37, INFO: Planning width: 10 -2024-02-20 13:09:37, INFO: Sparse search: None -2024-02-20 13:09:40, INFO: human number: 10 -2024-02-20 13:09:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:40, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:44, INFO: Using device: cpu -2024-02-20 13:09:44, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:44, INFO: Similarity_func: concatenation -2024-02-20 13:09:44, INFO: Layerwise_graph: False -2024-02-20 13:09:44, INFO: Skip_connection: True -2024-02-20 13:09:44, INFO: Number of layers: 1 -2024-02-20 13:09:44, INFO: Similarity_func: concatenation -2024-02-20 13:09:44, INFO: Layerwise_graph: False -2024-02-20 13:09:44, INFO: Skip_connection: True -2024-02-20 13:09:44, INFO: Number of layers: 1 -2024-02-20 13:09:44, INFO: Planning depth: 1 -2024-02-20 13:09:44, INFO: Planning width: 10 -2024-02-20 13:09:44, INFO: Sparse search: None -2024-02-20 13:09:47, INFO: human number: 10 -2024-02-20 13:09:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:47, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:09:52, INFO: Using device: cpu -2024-02-20 13:09:52, INFO: Loaded RL weights with best VAL -2024-02-20 13:09:52, INFO: Similarity_func: concatenation -2024-02-20 13:09:52, INFO: Layerwise_graph: False -2024-02-20 13:09:52, INFO: Skip_connection: True -2024-02-20 13:09:52, INFO: Number of layers: 1 -2024-02-20 13:09:52, INFO: Similarity_func: concatenation -2024-02-20 13:09:52, INFO: Layerwise_graph: False -2024-02-20 13:09:52, INFO: Skip_connection: True -2024-02-20 13:09:52, INFO: Number of layers: 1 -2024-02-20 13:09:52, INFO: Planning depth: 1 -2024-02-20 13:09:52, INFO: Planning width: 10 -2024-02-20 13:09:52, INFO: Sparse search: None -2024-02-20 13:09:55, INFO: human number: 10 -2024-02-20 13:09:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:09:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:09:55, INFO: Square width: 10, circle width: 4 -2024-02-20 13:09:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:09:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:00, INFO: Using device: cpu -2024-02-20 13:10:00, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:00, INFO: Similarity_func: concatenation -2024-02-20 13:10:00, INFO: Layerwise_graph: False -2024-02-20 13:10:00, INFO: Skip_connection: True -2024-02-20 13:10:00, INFO: Number of layers: 1 -2024-02-20 13:10:00, INFO: Similarity_func: concatenation -2024-02-20 13:10:00, INFO: Layerwise_graph: False -2024-02-20 13:10:00, INFO: Skip_connection: True -2024-02-20 13:10:00, INFO: Number of layers: 1 -2024-02-20 13:10:00, INFO: Planning depth: 1 -2024-02-20 13:10:00, INFO: Planning width: 10 -2024-02-20 13:10:00, INFO: Sparse search: None -2024-02-20 13:10:02, INFO: human number: 10 -2024-02-20 13:10:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:02, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:07, INFO: Using device: cpu -2024-02-20 13:10:07, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:07, INFO: Similarity_func: concatenation -2024-02-20 13:10:07, INFO: Layerwise_graph: False -2024-02-20 13:10:07, INFO: Skip_connection: True -2024-02-20 13:10:07, INFO: Number of layers: 1 -2024-02-20 13:10:07, INFO: Similarity_func: concatenation -2024-02-20 13:10:07, INFO: Layerwise_graph: False -2024-02-20 13:10:07, INFO: Skip_connection: True -2024-02-20 13:10:07, INFO: Number of layers: 1 -2024-02-20 13:10:07, INFO: Planning depth: 1 -2024-02-20 13:10:07, INFO: Planning width: 10 -2024-02-20 13:10:07, INFO: Sparse search: None -2024-02-20 13:10:10, INFO: human number: 10 -2024-02-20 13:10:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:10, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:15, INFO: Using device: cpu -2024-02-20 13:10:15, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:15, INFO: Similarity_func: concatenation -2024-02-20 13:10:15, INFO: Layerwise_graph: False -2024-02-20 13:10:15, INFO: Skip_connection: True -2024-02-20 13:10:15, INFO: Number of layers: 1 -2024-02-20 13:10:15, INFO: Similarity_func: concatenation -2024-02-20 13:10:15, INFO: Layerwise_graph: False -2024-02-20 13:10:15, INFO: Skip_connection: True -2024-02-20 13:10:15, INFO: Number of layers: 1 -2024-02-20 13:10:15, INFO: Planning depth: 1 -2024-02-20 13:10:15, INFO: Planning width: 10 -2024-02-20 13:10:15, INFO: Sparse search: None -2024-02-20 13:10:18, INFO: human number: 10 -2024-02-20 13:10:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:18, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:23, INFO: Using device: cpu -2024-02-20 13:10:23, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:23, INFO: Similarity_func: concatenation -2024-02-20 13:10:23, INFO: Layerwise_graph: False -2024-02-20 13:10:23, INFO: Skip_connection: True -2024-02-20 13:10:23, INFO: Number of layers: 1 -2024-02-20 13:10:23, INFO: Similarity_func: concatenation -2024-02-20 13:10:23, INFO: Layerwise_graph: False -2024-02-20 13:10:23, INFO: Skip_connection: True -2024-02-20 13:10:23, INFO: Number of layers: 1 -2024-02-20 13:10:23, INFO: Planning depth: 1 -2024-02-20 13:10:23, INFO: Planning width: 10 -2024-02-20 13:10:23, INFO: Sparse search: None -2024-02-20 13:10:26, INFO: human number: 10 -2024-02-20 13:10:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:26, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:31, INFO: Using device: cpu -2024-02-20 13:10:31, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:31, INFO: Similarity_func: concatenation -2024-02-20 13:10:31, INFO: Layerwise_graph: False -2024-02-20 13:10:31, INFO: Skip_connection: True -2024-02-20 13:10:31, INFO: Number of layers: 1 -2024-02-20 13:10:31, INFO: Similarity_func: concatenation -2024-02-20 13:10:31, INFO: Layerwise_graph: False -2024-02-20 13:10:31, INFO: Skip_connection: True -2024-02-20 13:10:31, INFO: Number of layers: 1 -2024-02-20 13:10:31, INFO: Planning depth: 1 -2024-02-20 13:10:31, INFO: Planning width: 10 -2024-02-20 13:10:31, INFO: Sparse search: None -2024-02-20 13:10:34, INFO: human number: 10 -2024-02-20 13:10:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:34, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:38, INFO: Using device: cpu -2024-02-20 13:10:38, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:38, INFO: Similarity_func: concatenation -2024-02-20 13:10:38, INFO: Layerwise_graph: False -2024-02-20 13:10:38, INFO: Skip_connection: True -2024-02-20 13:10:38, INFO: Number of layers: 1 -2024-02-20 13:10:38, INFO: Similarity_func: concatenation -2024-02-20 13:10:38, INFO: Layerwise_graph: False -2024-02-20 13:10:38, INFO: Skip_connection: True -2024-02-20 13:10:38, INFO: Number of layers: 1 -2024-02-20 13:10:38, INFO: Planning depth: 1 -2024-02-20 13:10:38, INFO: Planning width: 10 -2024-02-20 13:10:38, INFO: Sparse search: None -2024-02-20 13:10:41, INFO: human number: 10 -2024-02-20 13:10:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:41, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:46, INFO: Using device: cpu -2024-02-20 13:10:46, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:46, INFO: Similarity_func: concatenation -2024-02-20 13:10:46, INFO: Layerwise_graph: False -2024-02-20 13:10:46, INFO: Skip_connection: True -2024-02-20 13:10:46, INFO: Number of layers: 1 -2024-02-20 13:10:46, INFO: Similarity_func: concatenation -2024-02-20 13:10:46, INFO: Layerwise_graph: False -2024-02-20 13:10:46, INFO: Skip_connection: True -2024-02-20 13:10:46, INFO: Number of layers: 1 -2024-02-20 13:10:46, INFO: Planning depth: 1 -2024-02-20 13:10:46, INFO: Planning width: 10 -2024-02-20 13:10:46, INFO: Sparse search: None -2024-02-20 13:10:48, INFO: human number: 10 -2024-02-20 13:10:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:48, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:10:54, INFO: Using device: cpu -2024-02-20 13:10:54, INFO: Loaded RL weights with best VAL -2024-02-20 13:10:54, INFO: Similarity_func: concatenation -2024-02-20 13:10:54, INFO: Layerwise_graph: False -2024-02-20 13:10:54, INFO: Skip_connection: True -2024-02-20 13:10:54, INFO: Number of layers: 1 -2024-02-20 13:10:54, INFO: Similarity_func: concatenation -2024-02-20 13:10:54, INFO: Layerwise_graph: False -2024-02-20 13:10:54, INFO: Skip_connection: True -2024-02-20 13:10:54, INFO: Number of layers: 1 -2024-02-20 13:10:54, INFO: Planning depth: 1 -2024-02-20 13:10:54, INFO: Planning width: 10 -2024-02-20 13:10:54, INFO: Sparse search: None -2024-02-20 13:10:56, INFO: human number: 10 -2024-02-20 13:10:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:10:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:10:56, INFO: Square width: 10, circle width: 4 -2024-02-20 13:10:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:10:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:01, INFO: Using device: cpu -2024-02-20 13:11:01, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:01, INFO: Similarity_func: concatenation -2024-02-20 13:11:01, INFO: Layerwise_graph: False -2024-02-20 13:11:01, INFO: Skip_connection: True -2024-02-20 13:11:01, INFO: Number of layers: 1 -2024-02-20 13:11:01, INFO: Similarity_func: concatenation -2024-02-20 13:11:01, INFO: Layerwise_graph: False -2024-02-20 13:11:01, INFO: Skip_connection: True -2024-02-20 13:11:01, INFO: Number of layers: 1 -2024-02-20 13:11:01, INFO: Planning depth: 1 -2024-02-20 13:11:01, INFO: Planning width: 10 -2024-02-20 13:11:01, INFO: Sparse search: None -2024-02-20 13:11:04, INFO: human number: 10 -2024-02-20 13:11:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:04, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:09, INFO: Using device: cpu -2024-02-20 13:11:09, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:09, INFO: Similarity_func: concatenation -2024-02-20 13:11:09, INFO: Layerwise_graph: False -2024-02-20 13:11:09, INFO: Skip_connection: True -2024-02-20 13:11:09, INFO: Number of layers: 1 -2024-02-20 13:11:09, INFO: Similarity_func: concatenation -2024-02-20 13:11:09, INFO: Layerwise_graph: False -2024-02-20 13:11:09, INFO: Skip_connection: True -2024-02-20 13:11:09, INFO: Number of layers: 1 -2024-02-20 13:11:09, INFO: Planning depth: 1 -2024-02-20 13:11:09, INFO: Planning width: 10 -2024-02-20 13:11:09, INFO: Sparse search: None -2024-02-20 13:11:12, INFO: human number: 10 -2024-02-20 13:11:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:12, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:17, INFO: Using device: cpu -2024-02-20 13:11:17, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:17, INFO: Similarity_func: concatenation -2024-02-20 13:11:17, INFO: Layerwise_graph: False -2024-02-20 13:11:17, INFO: Skip_connection: True -2024-02-20 13:11:17, INFO: Number of layers: 1 -2024-02-20 13:11:17, INFO: Similarity_func: concatenation -2024-02-20 13:11:17, INFO: Layerwise_graph: False -2024-02-20 13:11:17, INFO: Skip_connection: True -2024-02-20 13:11:17, INFO: Number of layers: 1 -2024-02-20 13:11:17, INFO: Planning depth: 1 -2024-02-20 13:11:17, INFO: Planning width: 10 -2024-02-20 13:11:17, INFO: Sparse search: None -2024-02-20 13:11:20, INFO: human number: 10 -2024-02-20 13:11:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:20, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:24, INFO: Using device: cpu -2024-02-20 13:11:24, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:24, INFO: Similarity_func: concatenation -2024-02-20 13:11:24, INFO: Layerwise_graph: False -2024-02-20 13:11:24, INFO: Skip_connection: True -2024-02-20 13:11:24, INFO: Number of layers: 1 -2024-02-20 13:11:24, INFO: Similarity_func: concatenation -2024-02-20 13:11:24, INFO: Layerwise_graph: False -2024-02-20 13:11:24, INFO: Skip_connection: True -2024-02-20 13:11:24, INFO: Number of layers: 1 -2024-02-20 13:11:24, INFO: Planning depth: 1 -2024-02-20 13:11:24, INFO: Planning width: 10 -2024-02-20 13:11:24, INFO: Sparse search: None -2024-02-20 13:11:27, INFO: human number: 10 -2024-02-20 13:11:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:27, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:33, INFO: Using device: cpu -2024-02-20 13:11:33, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:33, INFO: Similarity_func: concatenation -2024-02-20 13:11:33, INFO: Layerwise_graph: False -2024-02-20 13:11:33, INFO: Skip_connection: True -2024-02-20 13:11:33, INFO: Number of layers: 1 -2024-02-20 13:11:33, INFO: Similarity_func: concatenation -2024-02-20 13:11:33, INFO: Layerwise_graph: False -2024-02-20 13:11:33, INFO: Skip_connection: True -2024-02-20 13:11:33, INFO: Number of layers: 1 -2024-02-20 13:11:33, INFO: Planning depth: 1 -2024-02-20 13:11:33, INFO: Planning width: 10 -2024-02-20 13:11:33, INFO: Sparse search: None -2024-02-20 13:11:35, INFO: human number: 10 -2024-02-20 13:11:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:35, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:41, INFO: Using device: cpu -2024-02-20 13:11:41, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:41, INFO: Similarity_func: concatenation -2024-02-20 13:11:41, INFO: Layerwise_graph: False -2024-02-20 13:11:41, INFO: Skip_connection: True -2024-02-20 13:11:41, INFO: Number of layers: 1 -2024-02-20 13:11:41, INFO: Similarity_func: concatenation -2024-02-20 13:11:41, INFO: Layerwise_graph: False -2024-02-20 13:11:41, INFO: Skip_connection: True -2024-02-20 13:11:41, INFO: Number of layers: 1 -2024-02-20 13:11:41, INFO: Planning depth: 1 -2024-02-20 13:11:41, INFO: Planning width: 10 -2024-02-20 13:11:41, INFO: Sparse search: None -2024-02-20 13:11:44, INFO: human number: 10 -2024-02-20 13:11:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:44, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:49, INFO: Using device: cpu -2024-02-20 13:11:49, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:49, INFO: Similarity_func: concatenation -2024-02-20 13:11:49, INFO: Layerwise_graph: False -2024-02-20 13:11:49, INFO: Skip_connection: True -2024-02-20 13:11:49, INFO: Number of layers: 1 -2024-02-20 13:11:49, INFO: Similarity_func: concatenation -2024-02-20 13:11:49, INFO: Layerwise_graph: False -2024-02-20 13:11:49, INFO: Skip_connection: True -2024-02-20 13:11:49, INFO: Number of layers: 1 -2024-02-20 13:11:49, INFO: Planning depth: 1 -2024-02-20 13:11:49, INFO: Planning width: 10 -2024-02-20 13:11:49, INFO: Sparse search: None -2024-02-20 13:11:52, INFO: human number: 10 -2024-02-20 13:11:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:52, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:11:56, INFO: Using device: cpu -2024-02-20 13:11:56, INFO: Loaded RL weights with best VAL -2024-02-20 13:11:56, INFO: Similarity_func: concatenation -2024-02-20 13:11:56, INFO: Layerwise_graph: False -2024-02-20 13:11:56, INFO: Skip_connection: True -2024-02-20 13:11:56, INFO: Number of layers: 1 -2024-02-20 13:11:56, INFO: Similarity_func: concatenation -2024-02-20 13:11:56, INFO: Layerwise_graph: False -2024-02-20 13:11:56, INFO: Skip_connection: True -2024-02-20 13:11:56, INFO: Number of layers: 1 -2024-02-20 13:11:56, INFO: Planning depth: 1 -2024-02-20 13:11:56, INFO: Planning width: 10 -2024-02-20 13:11:56, INFO: Sparse search: None -2024-02-20 13:11:59, INFO: human number: 10 -2024-02-20 13:11:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:11:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:11:59, INFO: Square width: 10, circle width: 4 -2024-02-20 13:11:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:11:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:04, INFO: Using device: cpu -2024-02-20 13:12:04, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:04, INFO: Similarity_func: concatenation -2024-02-20 13:12:04, INFO: Layerwise_graph: False -2024-02-20 13:12:04, INFO: Skip_connection: True -2024-02-20 13:12:04, INFO: Number of layers: 1 -2024-02-20 13:12:04, INFO: Similarity_func: concatenation -2024-02-20 13:12:04, INFO: Layerwise_graph: False -2024-02-20 13:12:04, INFO: Skip_connection: True -2024-02-20 13:12:04, INFO: Number of layers: 1 -2024-02-20 13:12:04, INFO: Planning depth: 1 -2024-02-20 13:12:04, INFO: Planning width: 10 -2024-02-20 13:12:04, INFO: Sparse search: None -2024-02-20 13:12:06, INFO: human number: 10 -2024-02-20 13:12:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:06, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:12, INFO: Using device: cpu -2024-02-20 13:12:12, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:12, INFO: Similarity_func: concatenation -2024-02-20 13:12:12, INFO: Layerwise_graph: False -2024-02-20 13:12:12, INFO: Skip_connection: True -2024-02-20 13:12:12, INFO: Number of layers: 1 -2024-02-20 13:12:12, INFO: Similarity_func: concatenation -2024-02-20 13:12:12, INFO: Layerwise_graph: False -2024-02-20 13:12:12, INFO: Skip_connection: True -2024-02-20 13:12:12, INFO: Number of layers: 1 -2024-02-20 13:12:12, INFO: Planning depth: 1 -2024-02-20 13:12:12, INFO: Planning width: 10 -2024-02-20 13:12:12, INFO: Sparse search: None -2024-02-20 13:12:14, INFO: human number: 10 -2024-02-20 13:12:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:14, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:19, INFO: Using device: cpu -2024-02-20 13:12:19, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:19, INFO: Similarity_func: concatenation -2024-02-20 13:12:19, INFO: Layerwise_graph: False -2024-02-20 13:12:19, INFO: Skip_connection: True -2024-02-20 13:12:19, INFO: Number of layers: 1 -2024-02-20 13:12:19, INFO: Similarity_func: concatenation -2024-02-20 13:12:19, INFO: Layerwise_graph: False -2024-02-20 13:12:19, INFO: Skip_connection: True -2024-02-20 13:12:19, INFO: Number of layers: 1 -2024-02-20 13:12:19, INFO: Planning depth: 1 -2024-02-20 13:12:19, INFO: Planning width: 10 -2024-02-20 13:12:19, INFO: Sparse search: None -2024-02-20 13:12:22, INFO: human number: 10 -2024-02-20 13:12:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:22, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:27, INFO: Using device: cpu -2024-02-20 13:12:27, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:27, INFO: Similarity_func: concatenation -2024-02-20 13:12:27, INFO: Layerwise_graph: False -2024-02-20 13:12:27, INFO: Skip_connection: True -2024-02-20 13:12:27, INFO: Number of layers: 1 -2024-02-20 13:12:27, INFO: Similarity_func: concatenation -2024-02-20 13:12:27, INFO: Layerwise_graph: False -2024-02-20 13:12:27, INFO: Skip_connection: True -2024-02-20 13:12:27, INFO: Number of layers: 1 -2024-02-20 13:12:27, INFO: Planning depth: 1 -2024-02-20 13:12:27, INFO: Planning width: 10 -2024-02-20 13:12:27, INFO: Sparse search: None -2024-02-20 13:12:29, INFO: human number: 10 -2024-02-20 13:12:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:29, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:34, INFO: Using device: cpu -2024-02-20 13:12:34, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:34, INFO: Similarity_func: concatenation -2024-02-20 13:12:34, INFO: Layerwise_graph: False -2024-02-20 13:12:34, INFO: Skip_connection: True -2024-02-20 13:12:34, INFO: Number of layers: 1 -2024-02-20 13:12:34, INFO: Similarity_func: concatenation -2024-02-20 13:12:34, INFO: Layerwise_graph: False -2024-02-20 13:12:34, INFO: Skip_connection: True -2024-02-20 13:12:34, INFO: Number of layers: 1 -2024-02-20 13:12:34, INFO: Planning depth: 1 -2024-02-20 13:12:34, INFO: Planning width: 10 -2024-02-20 13:12:34, INFO: Sparse search: None -2024-02-20 13:12:37, INFO: human number: 10 -2024-02-20 13:12:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:37, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:42, INFO: Using device: cpu -2024-02-20 13:12:42, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:42, INFO: Similarity_func: concatenation -2024-02-20 13:12:42, INFO: Layerwise_graph: False -2024-02-20 13:12:42, INFO: Skip_connection: True -2024-02-20 13:12:42, INFO: Number of layers: 1 -2024-02-20 13:12:42, INFO: Similarity_func: concatenation -2024-02-20 13:12:42, INFO: Layerwise_graph: False -2024-02-20 13:12:42, INFO: Skip_connection: True -2024-02-20 13:12:42, INFO: Number of layers: 1 -2024-02-20 13:12:42, INFO: Planning depth: 1 -2024-02-20 13:12:42, INFO: Planning width: 10 -2024-02-20 13:12:42, INFO: Sparse search: None -2024-02-20 13:12:45, INFO: human number: 10 -2024-02-20 13:12:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:45, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:51, INFO: Using device: cpu -2024-02-20 13:12:51, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:51, INFO: Similarity_func: concatenation -2024-02-20 13:12:51, INFO: Layerwise_graph: False -2024-02-20 13:12:51, INFO: Skip_connection: True -2024-02-20 13:12:51, INFO: Number of layers: 1 -2024-02-20 13:12:51, INFO: Similarity_func: concatenation -2024-02-20 13:12:51, INFO: Layerwise_graph: False -2024-02-20 13:12:51, INFO: Skip_connection: True -2024-02-20 13:12:51, INFO: Number of layers: 1 -2024-02-20 13:12:51, INFO: Planning depth: 1 -2024-02-20 13:12:51, INFO: Planning width: 10 -2024-02-20 13:12:51, INFO: Sparse search: None -2024-02-20 13:12:54, INFO: human number: 10 -2024-02-20 13:12:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:12:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:12:54, INFO: Square width: 10, circle width: 4 -2024-02-20 13:12:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:12:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:12:58, INFO: Using device: cpu -2024-02-20 13:12:58, INFO: Loaded RL weights with best VAL -2024-02-20 13:12:58, INFO: Similarity_func: concatenation -2024-02-20 13:12:58, INFO: Layerwise_graph: False -2024-02-20 13:12:58, INFO: Skip_connection: True -2024-02-20 13:12:58, INFO: Number of layers: 1 -2024-02-20 13:12:58, INFO: Similarity_func: concatenation -2024-02-20 13:12:58, INFO: Layerwise_graph: False -2024-02-20 13:12:58, INFO: Skip_connection: True -2024-02-20 13:12:58, INFO: Number of layers: 1 -2024-02-20 13:12:58, INFO: Planning depth: 1 -2024-02-20 13:12:58, INFO: Planning width: 10 -2024-02-20 13:12:58, INFO: Sparse search: None -2024-02-20 13:13:01, INFO: human number: 10 -2024-02-20 13:13:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:01, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:13:06, INFO: Using device: cpu -2024-02-20 13:13:06, INFO: Loaded RL weights with best VAL -2024-02-20 13:13:06, INFO: Similarity_func: concatenation -2024-02-20 13:13:06, INFO: Layerwise_graph: False -2024-02-20 13:13:06, INFO: Skip_connection: True -2024-02-20 13:13:06, INFO: Number of layers: 1 -2024-02-20 13:13:06, INFO: Similarity_func: concatenation -2024-02-20 13:13:06, INFO: Layerwise_graph: False -2024-02-20 13:13:06, INFO: Skip_connection: True -2024-02-20 13:13:06, INFO: Number of layers: 1 -2024-02-20 13:13:06, INFO: Planning depth: 1 -2024-02-20 13:13:06, INFO: Planning width: 10 -2024-02-20 13:13:06, INFO: Sparse search: None -2024-02-20 13:13:09, INFO: human number: 10 -2024-02-20 13:13:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:09, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:13:14, INFO: Using device: cpu -2024-02-20 13:13:14, INFO: Loaded RL weights with best VAL -2024-02-20 13:13:14, INFO: Similarity_func: concatenation -2024-02-20 13:13:14, INFO: Layerwise_graph: False -2024-02-20 13:13:14, INFO: Skip_connection: True -2024-02-20 13:13:14, INFO: Number of layers: 1 -2024-02-20 13:13:14, INFO: Similarity_func: concatenation -2024-02-20 13:13:14, INFO: Layerwise_graph: False -2024-02-20 13:13:14, INFO: Skip_connection: True -2024-02-20 13:13:14, INFO: Number of layers: 1 -2024-02-20 13:13:14, INFO: Planning depth: 1 -2024-02-20 13:13:14, INFO: Planning width: 10 -2024-02-20 13:13:14, INFO: Sparse search: None -2024-02-20 13:13:17, INFO: human number: 10 -2024-02-20 13:13:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:17, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:13:22, INFO: Using device: cpu -2024-02-20 13:13:22, INFO: Loaded RL weights with best VAL -2024-02-20 13:13:22, INFO: Similarity_func: concatenation -2024-02-20 13:13:22, INFO: Layerwise_graph: False -2024-02-20 13:13:22, INFO: Skip_connection: True -2024-02-20 13:13:22, INFO: Number of layers: 1 -2024-02-20 13:13:22, INFO: Similarity_func: concatenation -2024-02-20 13:13:22, INFO: Layerwise_graph: False -2024-02-20 13:13:22, INFO: Skip_connection: True -2024-02-20 13:13:22, INFO: Number of layers: 1 -2024-02-20 13:13:22, INFO: Planning depth: 1 -2024-02-20 13:13:22, INFO: Planning width: 10 -2024-02-20 13:13:22, INFO: Sparse search: None -2024-02-20 13:13:25, INFO: human number: 10 -2024-02-20 13:13:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:25, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:13:30, INFO: Using device: cpu -2024-02-20 13:13:30, INFO: Loaded RL weights with best VAL -2024-02-20 13:13:30, INFO: Similarity_func: concatenation -2024-02-20 13:13:30, INFO: Layerwise_graph: False -2024-02-20 13:13:30, INFO: Skip_connection: True -2024-02-20 13:13:30, INFO: Number of layers: 1 -2024-02-20 13:13:30, INFO: Similarity_func: concatenation -2024-02-20 13:13:30, INFO: Layerwise_graph: False -2024-02-20 13:13:30, INFO: Skip_connection: True -2024-02-20 13:13:30, INFO: Number of layers: 1 -2024-02-20 13:13:30, INFO: Planning depth: 1 -2024-02-20 13:13:30, INFO: Planning width: 10 -2024-02-20 13:13:30, INFO: Sparse search: None -2024-02-20 13:13:33, INFO: human number: 10 -2024-02-20 13:13:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:33, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 13:13:38, INFO: Using device: cpu -2024-02-20 13:13:38, INFO: Loaded RL weights with best VAL -2024-02-20 13:13:38, INFO: Similarity_func: concatenation -2024-02-20 13:13:38, INFO: Layerwise_graph: False -2024-02-20 13:13:38, INFO: Skip_connection: True -2024-02-20 13:13:38, INFO: Number of layers: 1 -2024-02-20 13:13:38, INFO: Similarity_func: concatenation -2024-02-20 13:13:38, INFO: Layerwise_graph: False -2024-02-20 13:13:38, INFO: Skip_connection: True -2024-02-20 13:13:38, INFO: Number of layers: 1 -2024-02-20 13:13:38, INFO: Planning depth: 1 -2024-02-20 13:13:38, INFO: Planning width: 10 -2024-02-20 13:13:38, INFO: Sparse search: None -2024-02-20 13:13:41, INFO: human number: 10 -2024-02-20 13:13:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 13:13:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 13:13:41, INFO: Square width: 10, circle width: 4 -2024-02-20 13:13:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 13:13:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 14:17:59, INFO: Using device: cpu -2024-02-20 14:17:59, INFO: Loaded RL weights with best VAL -2024-02-20 14:17:59, INFO: Similarity_func: concatenation -2024-02-20 14:17:59, INFO: Layerwise_graph: False -2024-02-20 14:17:59, INFO: Skip_connection: True -2024-02-20 14:17:59, INFO: Number of layers: 1 -2024-02-20 14:17:59, INFO: Similarity_func: concatenation -2024-02-20 14:17:59, INFO: Layerwise_graph: False -2024-02-20 14:17:59, INFO: Skip_connection: True -2024-02-20 14:17:59, INFO: Number of layers: 1 -2024-02-20 14:17:59, INFO: Planning depth: 1 -2024-02-20 14:17:59, INFO: Planning width: 10 -2024-02-20 14:17:59, INFO: Sparse search: None -2024-02-20 14:18:02, INFO: human number: 10 -2024-02-20 14:18:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 14:18:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 14:18:02, INFO: Square width: 10, circle width: 4 -2024-02-20 14:18:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 14:18:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 14:29:07, INFO: Using device: cpu -2024-02-20 14:29:07, INFO: Loaded RL weights with best VAL -2024-02-20 14:29:07, INFO: Similarity_func: concatenation -2024-02-20 14:29:07, INFO: Layerwise_graph: False -2024-02-20 14:29:07, INFO: Skip_connection: True -2024-02-20 14:29:07, INFO: Number of layers: 1 -2024-02-20 14:29:07, INFO: Similarity_func: concatenation -2024-02-20 14:29:07, INFO: Layerwise_graph: False -2024-02-20 14:29:07, INFO: Skip_connection: True -2024-02-20 14:29:07, INFO: Number of layers: 1 -2024-02-20 14:29:07, INFO: Planning depth: 1 -2024-02-20 14:29:07, INFO: Planning width: 10 -2024-02-20 14:29:07, INFO: Sparse search: None -2024-02-20 14:29:09, INFO: human number: 10 -2024-02-20 14:29:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 14:29:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 14:29:09, INFO: Square width: 10, circle width: 4 -2024-02-20 14:29:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 14:29:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 14:29:13, INFO: Animation.save using -2024-02-20 14:29:17, INFO: Animation.save using -2024-02-20 14:29:21, INFO: Animation.save using -2024-02-20 14:30:16, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954902 -2024-02-20 15:11:06, INFO: Using device: cpu -2024-02-20 15:11:06, INFO: Loaded RL weights with best VAL -2024-02-20 15:11:06, INFO: Similarity_func: concatenation -2024-02-20 15:11:06, INFO: Layerwise_graph: False -2024-02-20 15:11:06, INFO: Skip_connection: True -2024-02-20 15:11:06, INFO: Number of layers: 1 -2024-02-20 15:11:06, INFO: Similarity_func: concatenation -2024-02-20 15:11:06, INFO: Layerwise_graph: False -2024-02-20 15:11:06, INFO: Skip_connection: True -2024-02-20 15:11:06, INFO: Number of layers: 1 -2024-02-20 15:11:06, INFO: Planning depth: 1 -2024-02-20 15:11:06, INFO: Planning width: 10 -2024-02-20 15:11:06, INFO: Sparse search: None -2024-02-20 15:11:09, INFO: human number: 10 -2024-02-20 15:11:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:11:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:11:09, INFO: Square width: 10, circle width: 4 -2024-02-20 15:11:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:11:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:11:14, INFO: Using device: cpu -2024-02-20 15:11:14, INFO: Loaded RL weights with best VAL -2024-02-20 15:11:14, INFO: Similarity_func: concatenation -2024-02-20 15:11:14, INFO: Layerwise_graph: False -2024-02-20 15:11:14, INFO: Skip_connection: True -2024-02-20 15:11:14, INFO: Number of layers: 1 -2024-02-20 15:11:14, INFO: Similarity_func: concatenation -2024-02-20 15:11:14, INFO: Layerwise_graph: False -2024-02-20 15:11:14, INFO: Skip_connection: True -2024-02-20 15:11:14, INFO: Number of layers: 1 -2024-02-20 15:11:14, INFO: Planning depth: 1 -2024-02-20 15:11:14, INFO: Planning width: 10 -2024-02-20 15:11:14, INFO: Sparse search: None -2024-02-20 15:11:17, INFO: human number: 10 -2024-02-20 15:11:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:11:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:11:17, INFO: Square width: 10, circle width: 4 -2024-02-20 15:11:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:11:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:11:22, INFO: Using device: cpu -2024-02-20 15:11:22, INFO: Loaded RL weights with best VAL -2024-02-20 15:11:22, INFO: Similarity_func: concatenation -2024-02-20 15:11:22, INFO: Layerwise_graph: False -2024-02-20 15:11:22, INFO: Skip_connection: True -2024-02-20 15:11:22, INFO: Number of layers: 1 -2024-02-20 15:11:22, INFO: Similarity_func: concatenation -2024-02-20 15:11:22, INFO: Layerwise_graph: False -2024-02-20 15:11:22, INFO: Skip_connection: True -2024-02-20 15:11:22, INFO: Number of layers: 1 -2024-02-20 15:11:22, INFO: Planning depth: 1 -2024-02-20 15:11:22, INFO: Planning width: 10 -2024-02-20 15:11:22, INFO: Sparse search: None -2024-02-20 15:11:25, INFO: human number: 10 -2024-02-20 15:11:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:11:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:11:25, INFO: Square width: 10, circle width: 4 -2024-02-20 15:11:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:11:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:12:49, INFO: Using device: cpu -2024-02-20 15:12:49, INFO: Loaded RL weights with best VAL -2024-02-20 15:12:49, INFO: Similarity_func: concatenation -2024-02-20 15:12:49, INFO: Layerwise_graph: False -2024-02-20 15:12:49, INFO: Skip_connection: True -2024-02-20 15:12:49, INFO: Number of layers: 1 -2024-02-20 15:12:49, INFO: Similarity_func: concatenation -2024-02-20 15:12:49, INFO: Layerwise_graph: False -2024-02-20 15:12:49, INFO: Skip_connection: True -2024-02-20 15:12:49, INFO: Number of layers: 1 -2024-02-20 15:12:49, INFO: Planning depth: 1 -2024-02-20 15:12:49, INFO: Planning width: 10 -2024-02-20 15:12:49, INFO: Sparse search: None -2024-02-20 15:12:51, INFO: human number: 10 -2024-02-20 15:12:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:12:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:12:51, INFO: Square width: 10, circle width: 4 -2024-02-20 15:12:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:12:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:12:56, INFO: Using device: cpu -2024-02-20 15:12:56, INFO: Loaded RL weights with best VAL -2024-02-20 15:12:56, INFO: Similarity_func: concatenation -2024-02-20 15:12:56, INFO: Layerwise_graph: False -2024-02-20 15:12:56, INFO: Skip_connection: True -2024-02-20 15:12:56, INFO: Number of layers: 1 -2024-02-20 15:12:56, INFO: Similarity_func: concatenation -2024-02-20 15:12:56, INFO: Layerwise_graph: False -2024-02-20 15:12:56, INFO: Skip_connection: True -2024-02-20 15:12:56, INFO: Number of layers: 1 -2024-02-20 15:12:56, INFO: Planning depth: 1 -2024-02-20 15:12:56, INFO: Planning width: 10 -2024-02-20 15:12:56, INFO: Sparse search: None -2024-02-20 15:12:59, INFO: human number: 10 -2024-02-20 15:12:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:12:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:12:59, INFO: Square width: 10, circle width: 4 -2024-02-20 15:12:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:12:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:03, INFO: Using device: cpu -2024-02-20 15:13:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:03, INFO: Similarity_func: concatenation -2024-02-20 15:13:03, INFO: Layerwise_graph: False -2024-02-20 15:13:03, INFO: Skip_connection: True -2024-02-20 15:13:03, INFO: Number of layers: 1 -2024-02-20 15:13:03, INFO: Similarity_func: concatenation -2024-02-20 15:13:03, INFO: Layerwise_graph: False -2024-02-20 15:13:03, INFO: Skip_connection: True -2024-02-20 15:13:03, INFO: Number of layers: 1 -2024-02-20 15:13:03, INFO: Planning depth: 1 -2024-02-20 15:13:03, INFO: Planning width: 10 -2024-02-20 15:13:03, INFO: Sparse search: None -2024-02-20 15:13:06, INFO: human number: 10 -2024-02-20 15:13:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:11, INFO: Using device: cpu -2024-02-20 15:13:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:11, INFO: Similarity_func: concatenation -2024-02-20 15:13:11, INFO: Layerwise_graph: False -2024-02-20 15:13:11, INFO: Skip_connection: True -2024-02-20 15:13:11, INFO: Number of layers: 1 -2024-02-20 15:13:11, INFO: Similarity_func: concatenation -2024-02-20 15:13:11, INFO: Layerwise_graph: False -2024-02-20 15:13:11, INFO: Skip_connection: True -2024-02-20 15:13:11, INFO: Number of layers: 1 -2024-02-20 15:13:11, INFO: Planning depth: 1 -2024-02-20 15:13:11, INFO: Planning width: 10 -2024-02-20 15:13:11, INFO: Sparse search: None -2024-02-20 15:13:13, INFO: human number: 10 -2024-02-20 15:13:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:13, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:18, INFO: Using device: cpu -2024-02-20 15:13:18, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:18, INFO: Similarity_func: concatenation -2024-02-20 15:13:18, INFO: Layerwise_graph: False -2024-02-20 15:13:18, INFO: Skip_connection: True -2024-02-20 15:13:18, INFO: Number of layers: 1 -2024-02-20 15:13:19, INFO: Similarity_func: concatenation -2024-02-20 15:13:19, INFO: Layerwise_graph: False -2024-02-20 15:13:19, INFO: Skip_connection: True -2024-02-20 15:13:19, INFO: Number of layers: 1 -2024-02-20 15:13:19, INFO: Planning depth: 1 -2024-02-20 15:13:19, INFO: Planning width: 10 -2024-02-20 15:13:19, INFO: Sparse search: None -2024-02-20 15:13:21, INFO: human number: 10 -2024-02-20 15:13:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:21, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:26, INFO: Using device: cpu -2024-02-20 15:13:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:26, INFO: Similarity_func: concatenation -2024-02-20 15:13:26, INFO: Layerwise_graph: False -2024-02-20 15:13:26, INFO: Skip_connection: True -2024-02-20 15:13:26, INFO: Number of layers: 1 -2024-02-20 15:13:26, INFO: Similarity_func: concatenation -2024-02-20 15:13:26, INFO: Layerwise_graph: False -2024-02-20 15:13:26, INFO: Skip_connection: True -2024-02-20 15:13:26, INFO: Number of layers: 1 -2024-02-20 15:13:26, INFO: Planning depth: 1 -2024-02-20 15:13:26, INFO: Planning width: 10 -2024-02-20 15:13:26, INFO: Sparse search: None -2024-02-20 15:13:29, INFO: human number: 10 -2024-02-20 15:13:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:33, INFO: Using device: cpu -2024-02-20 15:13:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:33, INFO: Similarity_func: concatenation -2024-02-20 15:13:33, INFO: Layerwise_graph: False -2024-02-20 15:13:33, INFO: Skip_connection: True -2024-02-20 15:13:33, INFO: Number of layers: 1 -2024-02-20 15:13:33, INFO: Similarity_func: concatenation -2024-02-20 15:13:33, INFO: Layerwise_graph: False -2024-02-20 15:13:33, INFO: Skip_connection: True -2024-02-20 15:13:33, INFO: Number of layers: 1 -2024-02-20 15:13:33, INFO: Planning depth: 1 -2024-02-20 15:13:33, INFO: Planning width: 10 -2024-02-20 15:13:33, INFO: Sparse search: None -2024-02-20 15:13:36, INFO: human number: 10 -2024-02-20 15:13:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:36, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:41, INFO: Using device: cpu -2024-02-20 15:13:41, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:41, INFO: Similarity_func: concatenation -2024-02-20 15:13:41, INFO: Layerwise_graph: False -2024-02-20 15:13:41, INFO: Skip_connection: True -2024-02-20 15:13:41, INFO: Number of layers: 1 -2024-02-20 15:13:41, INFO: Similarity_func: concatenation -2024-02-20 15:13:41, INFO: Layerwise_graph: False -2024-02-20 15:13:41, INFO: Skip_connection: True -2024-02-20 15:13:41, INFO: Number of layers: 1 -2024-02-20 15:13:41, INFO: Planning depth: 1 -2024-02-20 15:13:41, INFO: Planning width: 10 -2024-02-20 15:13:41, INFO: Sparse search: None -2024-02-20 15:13:43, INFO: human number: 10 -2024-02-20 15:13:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:13:51, INFO: Using device: cpu -2024-02-20 15:13:51, INFO: Loaded RL weights with best VAL -2024-02-20 15:13:51, INFO: Similarity_func: concatenation -2024-02-20 15:13:51, INFO: Layerwise_graph: False -2024-02-20 15:13:51, INFO: Skip_connection: True -2024-02-20 15:13:51, INFO: Number of layers: 1 -2024-02-20 15:13:51, INFO: Similarity_func: concatenation -2024-02-20 15:13:51, INFO: Layerwise_graph: False -2024-02-20 15:13:51, INFO: Skip_connection: True -2024-02-20 15:13:51, INFO: Number of layers: 1 -2024-02-20 15:13:51, INFO: Planning depth: 1 -2024-02-20 15:13:51, INFO: Planning width: 10 -2024-02-20 15:13:51, INFO: Sparse search: None -2024-02-20 15:13:54, INFO: human number: 10 -2024-02-20 15:13:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:13:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:13:54, INFO: Square width: 10, circle width: 4 -2024-02-20 15:13:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:13:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:03, INFO: Using device: cpu -2024-02-20 15:14:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:03, INFO: Similarity_func: concatenation -2024-02-20 15:14:03, INFO: Layerwise_graph: False -2024-02-20 15:14:03, INFO: Skip_connection: True -2024-02-20 15:14:03, INFO: Number of layers: 1 -2024-02-20 15:14:03, INFO: Similarity_func: concatenation -2024-02-20 15:14:03, INFO: Layerwise_graph: False -2024-02-20 15:14:03, INFO: Skip_connection: True -2024-02-20 15:14:03, INFO: Number of layers: 1 -2024-02-20 15:14:03, INFO: Planning depth: 1 -2024-02-20 15:14:03, INFO: Planning width: 10 -2024-02-20 15:14:03, INFO: Sparse search: None -2024-02-20 15:14:05, INFO: human number: 10 -2024-02-20 15:14:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:14:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:14:05, INFO: Square width: 10, circle width: 4 -2024-02-20 15:14:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:14:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:10, INFO: Using device: cpu -2024-02-20 15:14:10, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:10, INFO: Similarity_func: concatenation -2024-02-20 15:14:10, INFO: Layerwise_graph: False -2024-02-20 15:14:10, INFO: Skip_connection: True -2024-02-20 15:14:10, INFO: Number of layers: 1 -2024-02-20 15:14:10, INFO: Similarity_func: concatenation -2024-02-20 15:14:10, INFO: Layerwise_graph: False -2024-02-20 15:14:10, INFO: Skip_connection: True -2024-02-20 15:14:10, INFO: Number of layers: 1 -2024-02-20 15:14:10, INFO: Planning depth: 1 -2024-02-20 15:14:10, INFO: Planning width: 10 -2024-02-20 15:14:10, INFO: Sparse search: None -2024-02-20 15:14:13, INFO: human number: 10 -2024-02-20 15:14:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:14:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:14:13, INFO: Square width: 10, circle width: 4 -2024-02-20 15:14:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:14:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:18, INFO: Using device: cpu -2024-02-20 15:14:18, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:18, INFO: Similarity_func: concatenation -2024-02-20 15:14:18, INFO: Layerwise_graph: False -2024-02-20 15:14:18, INFO: Skip_connection: True -2024-02-20 15:14:18, INFO: Number of layers: 1 -2024-02-20 15:14:18, INFO: Similarity_func: concatenation -2024-02-20 15:14:18, INFO: Layerwise_graph: False -2024-02-20 15:14:18, INFO: Skip_connection: True -2024-02-20 15:14:18, INFO: Number of layers: 1 -2024-02-20 15:14:18, INFO: Planning depth: 1 -2024-02-20 15:14:18, INFO: Planning width: 10 -2024-02-20 15:14:18, INFO: Sparse search: None -2024-02-20 15:14:20, INFO: human number: 10 -2024-02-20 15:14:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:14:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:14:20, INFO: Square width: 10, circle width: 4 -2024-02-20 15:14:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:14:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:26, INFO: Using device: cpu -2024-02-20 15:14:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:26, INFO: Similarity_func: concatenation -2024-02-20 15:14:26, INFO: Layerwise_graph: False -2024-02-20 15:14:26, INFO: Skip_connection: True -2024-02-20 15:14:26, INFO: Number of layers: 1 -2024-02-20 15:14:26, INFO: Similarity_func: concatenation -2024-02-20 15:14:26, INFO: Layerwise_graph: False -2024-02-20 15:14:26, INFO: Skip_connection: True -2024-02-20 15:14:26, INFO: Number of layers: 1 -2024-02-20 15:14:26, INFO: Planning depth: 1 -2024-02-20 15:14:26, INFO: Planning width: 10 -2024-02-20 15:14:26, INFO: Sparse search: None -2024-02-20 15:14:29, INFO: human number: 10 -2024-02-20 15:14:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:14:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:14:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:14:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:14:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:33, INFO: Using device: cpu -2024-02-20 15:14:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:33, INFO: Similarity_func: concatenation -2024-02-20 15:14:33, INFO: Layerwise_graph: False -2024-02-20 15:14:33, INFO: Skip_connection: True -2024-02-20 15:14:33, INFO: Number of layers: 1 -2024-02-20 15:14:33, INFO: Similarity_func: concatenation -2024-02-20 15:14:33, INFO: Layerwise_graph: False -2024-02-20 15:14:33, INFO: Skip_connection: True -2024-02-20 15:14:33, INFO: Number of layers: 1 -2024-02-20 15:14:33, INFO: Planning depth: 1 -2024-02-20 15:14:33, INFO: Planning width: 10 -2024-02-20 15:14:33, INFO: Sparse search: None -2024-02-20 15:14:36, INFO: human number: 10 -2024-02-20 15:14:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:14:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:14:36, INFO: Square width: 10, circle width: 4 -2024-02-20 15:14:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:14:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:14:42, INFO: Using device: cpu -2024-02-20 15:14:42, INFO: Loaded RL weights with best VAL -2024-02-20 15:14:42, INFO: Similarity_func: concatenation -2024-02-20 15:14:42, INFO: Layerwise_graph: False -2024-02-20 15:14:42, INFO: Skip_connection: True -2024-02-20 15:14:42, INFO: Number of layers: 1 -2024-02-20 15:14:42, INFO: Similarity_func: concatenation -2024-02-20 15:14:42, INFO: Layerwise_graph: False -2024-02-20 15:14:42, INFO: Skip_connection: True -2024-02-20 15:14:42, INFO: Number of layers: 1 -2024-02-20 15:14:42, INFO: Planning depth: 1 -2024-02-20 15:14:42, INFO: Planning width: 10 -2024-02-20 15:14:42, INFO: Sparse search: None -2024-02-20 15:15:47, INFO: Using device: cpu -2024-02-20 15:15:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:15:47, INFO: Similarity_func: concatenation -2024-02-20 15:15:47, INFO: Layerwise_graph: False -2024-02-20 15:15:47, INFO: Skip_connection: True -2024-02-20 15:15:47, INFO: Number of layers: 1 -2024-02-20 15:15:47, INFO: Similarity_func: concatenation -2024-02-20 15:15:47, INFO: Layerwise_graph: False -2024-02-20 15:15:47, INFO: Skip_connection: True -2024-02-20 15:15:47, INFO: Number of layers: 1 -2024-02-20 15:15:47, INFO: Planning depth: 1 -2024-02-20 15:15:47, INFO: Planning width: 10 -2024-02-20 15:15:47, INFO: Sparse search: None -2024-02-20 15:15:49, INFO: human number: 10 -2024-02-20 15:15:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:15:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:15:49, INFO: Square width: 10, circle width: 4 -2024-02-20 15:15:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:15:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:15:54, INFO: Using device: cpu -2024-02-20 15:15:54, INFO: Loaded RL weights with best VAL -2024-02-20 15:15:54, INFO: Similarity_func: concatenation -2024-02-20 15:15:54, INFO: Layerwise_graph: False -2024-02-20 15:15:54, INFO: Skip_connection: True -2024-02-20 15:15:54, INFO: Number of layers: 1 -2024-02-20 15:15:54, INFO: Similarity_func: concatenation -2024-02-20 15:15:54, INFO: Layerwise_graph: False -2024-02-20 15:15:54, INFO: Skip_connection: True -2024-02-20 15:15:54, INFO: Number of layers: 1 -2024-02-20 15:15:54, INFO: Planning depth: 1 -2024-02-20 15:15:54, INFO: Planning width: 10 -2024-02-20 15:15:54, INFO: Sparse search: None -2024-02-20 15:15:57, INFO: human number: 10 -2024-02-20 15:15:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:15:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:15:57, INFO: Square width: 10, circle width: 4 -2024-02-20 15:15:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:15:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:16:02, INFO: Using device: cpu -2024-02-20 15:16:02, INFO: Loaded RL weights with best VAL -2024-02-20 15:16:02, INFO: Similarity_func: concatenation -2024-02-20 15:16:02, INFO: Layerwise_graph: False -2024-02-20 15:16:02, INFO: Skip_connection: True -2024-02-20 15:16:02, INFO: Number of layers: 1 -2024-02-20 15:16:02, INFO: Similarity_func: concatenation -2024-02-20 15:16:02, INFO: Layerwise_graph: False -2024-02-20 15:16:02, INFO: Skip_connection: True -2024-02-20 15:16:02, INFO: Number of layers: 1 -2024-02-20 15:16:02, INFO: Planning depth: 1 -2024-02-20 15:16:02, INFO: Planning width: 10 -2024-02-20 15:16:02, INFO: Sparse search: None -2024-02-20 15:16:05, INFO: human number: 10 -2024-02-20 15:16:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:16:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:16:05, INFO: Square width: 10, circle width: 4 -2024-02-20 15:16:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:16:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:16:12, INFO: Using device: cpu -2024-02-20 15:16:12, INFO: Loaded RL weights with best VAL -2024-02-20 15:16:12, INFO: Similarity_func: concatenation -2024-02-20 15:16:12, INFO: Layerwise_graph: False -2024-02-20 15:16:12, INFO: Skip_connection: True -2024-02-20 15:16:12, INFO: Number of layers: 1 -2024-02-20 15:16:12, INFO: Similarity_func: concatenation -2024-02-20 15:16:12, INFO: Layerwise_graph: False -2024-02-20 15:16:12, INFO: Skip_connection: True -2024-02-20 15:16:12, INFO: Number of layers: 1 -2024-02-20 15:16:12, INFO: Planning depth: 1 -2024-02-20 15:16:12, INFO: Planning width: 10 -2024-02-20 15:16:12, INFO: Sparse search: None -2024-02-20 15:16:15, INFO: human number: 10 -2024-02-20 15:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:16:15, INFO: Square width: 10, circle width: 4 -2024-02-20 15:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:16:23, INFO: Using device: cpu -2024-02-20 15:16:23, INFO: Loaded RL weights with best VAL -2024-02-20 15:16:23, INFO: Similarity_func: concatenation -2024-02-20 15:16:23, INFO: Layerwise_graph: False -2024-02-20 15:16:23, INFO: Skip_connection: True -2024-02-20 15:16:23, INFO: Number of layers: 1 -2024-02-20 15:16:23, INFO: Similarity_func: concatenation -2024-02-20 15:16:23, INFO: Layerwise_graph: False -2024-02-20 15:16:23, INFO: Skip_connection: True -2024-02-20 15:16:23, INFO: Number of layers: 1 -2024-02-20 15:16:23, INFO: Planning depth: 1 -2024-02-20 15:16:23, INFO: Planning width: 10 -2024-02-20 15:16:23, INFO: Sparse search: None -2024-02-20 15:16:26, INFO: human number: 10 -2024-02-20 15:16:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:16:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:16:26, INFO: Square width: 10, circle width: 4 -2024-02-20 15:16:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:16:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:16:30, INFO: Using device: cpu -2024-02-20 15:16:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:16:30, INFO: Similarity_func: concatenation -2024-02-20 15:16:30, INFO: Layerwise_graph: False -2024-02-20 15:16:30, INFO: Skip_connection: True -2024-02-20 15:16:30, INFO: Number of layers: 1 -2024-02-20 15:16:30, INFO: Similarity_func: concatenation -2024-02-20 15:16:30, INFO: Layerwise_graph: False -2024-02-20 15:16:30, INFO: Skip_connection: True -2024-02-20 15:16:30, INFO: Number of layers: 1 -2024-02-20 15:16:30, INFO: Planning depth: 1 -2024-02-20 15:16:30, INFO: Planning width: 10 -2024-02-20 15:16:30, INFO: Sparse search: None -2024-02-20 15:16:33, INFO: human number: 10 -2024-02-20 15:16:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:16:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:16:33, INFO: Square width: 10, circle width: 4 -2024-02-20 15:16:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:16:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:16:35, INFO: Animation.save using -2024-02-20 15:16:57, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.141197 -2024-02-20 15:17:00, INFO: Using device: cpu -2024-02-20 15:17:00, INFO: Loaded RL weights with best VAL -2024-02-20 15:17:00, INFO: Similarity_func: concatenation -2024-02-20 15:17:00, INFO: Layerwise_graph: False -2024-02-20 15:17:00, INFO: Skip_connection: True -2024-02-20 15:17:00, INFO: Number of layers: 1 -2024-02-20 15:17:00, INFO: Similarity_func: concatenation -2024-02-20 15:17:00, INFO: Layerwise_graph: False -2024-02-20 15:17:00, INFO: Skip_connection: True -2024-02-20 15:17:00, INFO: Number of layers: 1 -2024-02-20 15:17:00, INFO: Planning depth: 1 -2024-02-20 15:17:00, INFO: Planning width: 10 -2024-02-20 15:17:00, INFO: Sparse search: None -2024-02-20 15:17:03, INFO: human number: 10 -2024-02-20 15:17:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:17:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:17:03, INFO: Square width: 10, circle width: 4 -2024-02-20 15:17:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:17:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:17:04, INFO: Animation.save using -2024-02-20 15:17:44, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.728659 -2024-02-20 15:17:47, INFO: Using device: cpu -2024-02-20 15:17:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:17:47, INFO: Similarity_func: concatenation -2024-02-20 15:17:47, INFO: Layerwise_graph: False -2024-02-20 15:17:47, INFO: Skip_connection: True -2024-02-20 15:17:47, INFO: Number of layers: 1 -2024-02-20 15:17:47, INFO: Similarity_func: concatenation -2024-02-20 15:17:47, INFO: Layerwise_graph: False -2024-02-20 15:17:47, INFO: Skip_connection: True -2024-02-20 15:17:47, INFO: Number of layers: 1 -2024-02-20 15:17:47, INFO: Planning depth: 1 -2024-02-20 15:17:47, INFO: Planning width: 10 -2024-02-20 15:17:47, INFO: Sparse search: None -2024-02-20 15:17:50, INFO: human number: 10 -2024-02-20 15:17:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:17:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:17:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:17:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:17:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:17:55, INFO: Using device: cpu -2024-02-20 15:17:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:17:55, INFO: Similarity_func: concatenation -2024-02-20 15:17:55, INFO: Layerwise_graph: False -2024-02-20 15:17:55, INFO: Skip_connection: True -2024-02-20 15:17:55, INFO: Number of layers: 1 -2024-02-20 15:17:55, INFO: Similarity_func: concatenation -2024-02-20 15:17:55, INFO: Layerwise_graph: False -2024-02-20 15:17:55, INFO: Skip_connection: True -2024-02-20 15:17:55, INFO: Number of layers: 1 -2024-02-20 15:17:55, INFO: Planning depth: 1 -2024-02-20 15:17:55, INFO: Planning width: 10 -2024-02-20 15:17:55, INFO: Sparse search: None -2024-02-20 15:17:57, INFO: human number: 10 -2024-02-20 15:17:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:17:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:17:57, INFO: Square width: 10, circle width: 4 -2024-02-20 15:17:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:17:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:18:02, INFO: Using device: cpu -2024-02-20 15:18:02, INFO: Loaded RL weights with best VAL -2024-02-20 15:18:02, INFO: Similarity_func: concatenation -2024-02-20 15:18:02, INFO: Layerwise_graph: False -2024-02-20 15:18:02, INFO: Skip_connection: True -2024-02-20 15:18:02, INFO: Number of layers: 1 -2024-02-20 15:18:02, INFO: Similarity_func: concatenation -2024-02-20 15:18:02, INFO: Layerwise_graph: False -2024-02-20 15:18:02, INFO: Skip_connection: True -2024-02-20 15:18:02, INFO: Number of layers: 1 -2024-02-20 15:18:02, INFO: Planning depth: 1 -2024-02-20 15:18:02, INFO: Planning width: 10 -2024-02-20 15:18:02, INFO: Sparse search: None -2024-02-20 15:18:05, INFO: human number: 10 -2024-02-20 15:18:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:18:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:18:05, INFO: Square width: 10, circle width: 4 -2024-02-20 15:18:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:18:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:18:09, INFO: Animation.save using -2024-02-20 15:18:44, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.927750 -2024-02-20 15:18:47, INFO: Using device: cpu -2024-02-20 15:18:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:18:47, INFO: Similarity_func: concatenation -2024-02-20 15:18:47, INFO: Layerwise_graph: False -2024-02-20 15:18:47, INFO: Skip_connection: True -2024-02-20 15:18:47, INFO: Number of layers: 1 -2024-02-20 15:18:47, INFO: Similarity_func: concatenation -2024-02-20 15:18:47, INFO: Layerwise_graph: False -2024-02-20 15:18:47, INFO: Skip_connection: True -2024-02-20 15:18:47, INFO: Number of layers: 1 -2024-02-20 15:18:47, INFO: Planning depth: 1 -2024-02-20 15:18:47, INFO: Planning width: 10 -2024-02-20 15:18:47, INFO: Sparse search: None -2024-02-20 15:18:50, INFO: human number: 10 -2024-02-20 15:18:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:18:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:18:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:18:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:18:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:18:54, INFO: Using device: cpu -2024-02-20 15:18:54, INFO: Loaded RL weights with best VAL -2024-02-20 15:18:54, INFO: Similarity_func: concatenation -2024-02-20 15:18:54, INFO: Layerwise_graph: False -2024-02-20 15:18:54, INFO: Skip_connection: True -2024-02-20 15:18:54, INFO: Number of layers: 1 -2024-02-20 15:18:54, INFO: Similarity_func: concatenation -2024-02-20 15:18:54, INFO: Layerwise_graph: False -2024-02-20 15:18:54, INFO: Skip_connection: True -2024-02-20 15:18:54, INFO: Number of layers: 1 -2024-02-20 15:18:54, INFO: Planning depth: 1 -2024-02-20 15:18:54, INFO: Planning width: 10 -2024-02-20 15:18:54, INFO: Sparse search: None -2024-02-20 15:18:57, INFO: human number: 10 -2024-02-20 15:18:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:18:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:18:57, INFO: Square width: 10, circle width: 4 -2024-02-20 15:18:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:18:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:02, INFO: Using device: cpu -2024-02-20 15:19:02, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:03, INFO: Similarity_func: concatenation -2024-02-20 15:19:03, INFO: Layerwise_graph: False -2024-02-20 15:19:03, INFO: Skip_connection: True -2024-02-20 15:19:03, INFO: Number of layers: 1 -2024-02-20 15:19:03, INFO: Similarity_func: concatenation -2024-02-20 15:19:03, INFO: Layerwise_graph: False -2024-02-20 15:19:03, INFO: Skip_connection: True -2024-02-20 15:19:03, INFO: Number of layers: 1 -2024-02-20 15:19:03, INFO: Planning depth: 1 -2024-02-20 15:19:03, INFO: Planning width: 10 -2024-02-20 15:19:03, INFO: Sparse search: None -2024-02-20 15:19:05, INFO: human number: 10 -2024-02-20 15:19:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:05, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:11, INFO: Using device: cpu -2024-02-20 15:19:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:11, INFO: Similarity_func: concatenation -2024-02-20 15:19:11, INFO: Layerwise_graph: False -2024-02-20 15:19:11, INFO: Skip_connection: True -2024-02-20 15:19:11, INFO: Number of layers: 1 -2024-02-20 15:19:11, INFO: Similarity_func: concatenation -2024-02-20 15:19:11, INFO: Layerwise_graph: False -2024-02-20 15:19:11, INFO: Skip_connection: True -2024-02-20 15:19:11, INFO: Number of layers: 1 -2024-02-20 15:19:11, INFO: Planning depth: 1 -2024-02-20 15:19:11, INFO: Planning width: 10 -2024-02-20 15:19:11, INFO: Sparse search: None -2024-02-20 15:19:13, INFO: human number: 10 -2024-02-20 15:19:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:13, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:19, INFO: Using device: cpu -2024-02-20 15:19:19, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:19, INFO: Similarity_func: concatenation -2024-02-20 15:19:19, INFO: Layerwise_graph: False -2024-02-20 15:19:19, INFO: Skip_connection: True -2024-02-20 15:19:19, INFO: Number of layers: 1 -2024-02-20 15:19:19, INFO: Similarity_func: concatenation -2024-02-20 15:19:19, INFO: Layerwise_graph: False -2024-02-20 15:19:19, INFO: Skip_connection: True -2024-02-20 15:19:19, INFO: Number of layers: 1 -2024-02-20 15:19:19, INFO: Planning depth: 1 -2024-02-20 15:19:19, INFO: Planning width: 10 -2024-02-20 15:19:19, INFO: Sparse search: None -2024-02-20 15:19:22, INFO: human number: 10 -2024-02-20 15:19:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:22, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:28, INFO: Using device: cpu -2024-02-20 15:19:28, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:28, INFO: Similarity_func: concatenation -2024-02-20 15:19:28, INFO: Layerwise_graph: False -2024-02-20 15:19:28, INFO: Skip_connection: True -2024-02-20 15:19:28, INFO: Number of layers: 1 -2024-02-20 15:19:28, INFO: Similarity_func: concatenation -2024-02-20 15:19:28, INFO: Layerwise_graph: False -2024-02-20 15:19:28, INFO: Skip_connection: True -2024-02-20 15:19:28, INFO: Number of layers: 1 -2024-02-20 15:19:28, INFO: Planning depth: 1 -2024-02-20 15:19:28, INFO: Planning width: 10 -2024-02-20 15:19:28, INFO: Sparse search: None -2024-02-20 15:19:30, INFO: human number: 10 -2024-02-20 15:19:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:30, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:35, INFO: Using device: cpu -2024-02-20 15:19:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:35, INFO: Similarity_func: concatenation -2024-02-20 15:19:35, INFO: Layerwise_graph: False -2024-02-20 15:19:35, INFO: Skip_connection: True -2024-02-20 15:19:35, INFO: Number of layers: 1 -2024-02-20 15:19:35, INFO: Similarity_func: concatenation -2024-02-20 15:19:35, INFO: Layerwise_graph: False -2024-02-20 15:19:35, INFO: Skip_connection: True -2024-02-20 15:19:35, INFO: Number of layers: 1 -2024-02-20 15:19:35, INFO: Planning depth: 1 -2024-02-20 15:19:35, INFO: Planning width: 10 -2024-02-20 15:19:35, INFO: Sparse search: None -2024-02-20 15:19:38, INFO: human number: 10 -2024-02-20 15:19:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:43, INFO: Using device: cpu -2024-02-20 15:19:43, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:43, INFO: Similarity_func: concatenation -2024-02-20 15:19:43, INFO: Layerwise_graph: False -2024-02-20 15:19:43, INFO: Skip_connection: True -2024-02-20 15:19:43, INFO: Number of layers: 1 -2024-02-20 15:19:43, INFO: Similarity_func: concatenation -2024-02-20 15:19:43, INFO: Layerwise_graph: False -2024-02-20 15:19:43, INFO: Skip_connection: True -2024-02-20 15:19:43, INFO: Number of layers: 1 -2024-02-20 15:19:43, INFO: Planning depth: 1 -2024-02-20 15:19:43, INFO: Planning width: 10 -2024-02-20 15:19:43, INFO: Sparse search: None -2024-02-20 15:19:46, INFO: human number: 10 -2024-02-20 15:19:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:46, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:51, INFO: Using device: cpu -2024-02-20 15:19:51, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:51, INFO: Similarity_func: concatenation -2024-02-20 15:19:51, INFO: Layerwise_graph: False -2024-02-20 15:19:51, INFO: Skip_connection: True -2024-02-20 15:19:51, INFO: Number of layers: 1 -2024-02-20 15:19:51, INFO: Similarity_func: concatenation -2024-02-20 15:19:51, INFO: Layerwise_graph: False -2024-02-20 15:19:51, INFO: Skip_connection: True -2024-02-20 15:19:51, INFO: Number of layers: 1 -2024-02-20 15:19:51, INFO: Planning depth: 1 -2024-02-20 15:19:51, INFO: Planning width: 10 -2024-02-20 15:19:51, INFO: Sparse search: None -2024-02-20 15:19:54, INFO: human number: 10 -2024-02-20 15:19:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:19:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:19:54, INFO: Square width: 10, circle width: 4 -2024-02-20 15:19:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:19:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:19:58, INFO: Using device: cpu -2024-02-20 15:19:58, INFO: Loaded RL weights with best VAL -2024-02-20 15:19:58, INFO: Similarity_func: concatenation -2024-02-20 15:19:58, INFO: Layerwise_graph: False -2024-02-20 15:19:58, INFO: Skip_connection: True -2024-02-20 15:19:58, INFO: Number of layers: 1 -2024-02-20 15:19:58, INFO: Similarity_func: concatenation -2024-02-20 15:19:58, INFO: Layerwise_graph: False -2024-02-20 15:19:58, INFO: Skip_connection: True -2024-02-20 15:19:58, INFO: Number of layers: 1 -2024-02-20 15:19:58, INFO: Planning depth: 1 -2024-02-20 15:19:58, INFO: Planning width: 10 -2024-02-20 15:19:58, INFO: Sparse search: None -2024-02-20 15:20:01, INFO: human number: 10 -2024-02-20 15:20:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:20:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:20:01, INFO: Square width: 10, circle width: 4 -2024-02-20 15:20:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:20:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:20:57, INFO: Using device: cpu -2024-02-20 15:20:57, INFO: Loaded RL weights with best VAL -2024-02-20 15:20:57, INFO: Similarity_func: concatenation -2024-02-20 15:20:57, INFO: Layerwise_graph: False -2024-02-20 15:20:57, INFO: Skip_connection: True -2024-02-20 15:20:57, INFO: Number of layers: 1 -2024-02-20 15:20:57, INFO: Similarity_func: concatenation -2024-02-20 15:20:57, INFO: Layerwise_graph: False -2024-02-20 15:20:57, INFO: Skip_connection: True -2024-02-20 15:20:57, INFO: Number of layers: 1 -2024-02-20 15:20:57, INFO: Planning depth: 1 -2024-02-20 15:20:57, INFO: Planning width: 10 -2024-02-20 15:20:57, INFO: Sparse search: None -2024-02-20 15:21:28, INFO: Using device: cpu -2024-02-20 15:21:28, INFO: Loaded RL weights with best VAL -2024-02-20 15:21:28, INFO: Similarity_func: concatenation -2024-02-20 15:21:28, INFO: Layerwise_graph: False -2024-02-20 15:21:28, INFO: Skip_connection: True -2024-02-20 15:21:28, INFO: Number of layers: 1 -2024-02-20 15:21:28, INFO: Similarity_func: concatenation -2024-02-20 15:21:28, INFO: Layerwise_graph: False -2024-02-20 15:21:28, INFO: Skip_connection: True -2024-02-20 15:21:28, INFO: Number of layers: 1 -2024-02-20 15:21:28, INFO: Planning depth: 1 -2024-02-20 15:21:28, INFO: Planning width: 10 -2024-02-20 15:21:28, INFO: Sparse search: None -2024-02-20 15:21:31, INFO: human number: 10 -2024-02-20 15:21:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:21:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:21:31, INFO: Square width: 10, circle width: 4 -2024-02-20 15:21:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:21:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:21:35, INFO: Using device: cpu -2024-02-20 15:21:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:21:35, INFO: Similarity_func: concatenation -2024-02-20 15:21:35, INFO: Layerwise_graph: False -2024-02-20 15:21:35, INFO: Skip_connection: True -2024-02-20 15:21:35, INFO: Number of layers: 1 -2024-02-20 15:21:35, INFO: Similarity_func: concatenation -2024-02-20 15:21:35, INFO: Layerwise_graph: False -2024-02-20 15:21:35, INFO: Skip_connection: True -2024-02-20 15:21:35, INFO: Number of layers: 1 -2024-02-20 15:21:35, INFO: Planning depth: 1 -2024-02-20 15:21:35, INFO: Planning width: 10 -2024-02-20 15:21:35, INFO: Sparse search: None -2024-02-20 15:21:38, INFO: human number: 10 -2024-02-20 15:21:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:21:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:21:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:21:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:21:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:21:43, INFO: Using device: cpu -2024-02-20 15:21:43, INFO: Loaded RL weights with best VAL -2024-02-20 15:21:43, INFO: Similarity_func: concatenation -2024-02-20 15:21:43, INFO: Layerwise_graph: False -2024-02-20 15:21:43, INFO: Skip_connection: True -2024-02-20 15:21:43, INFO: Number of layers: 1 -2024-02-20 15:21:43, INFO: Similarity_func: concatenation -2024-02-20 15:21:43, INFO: Layerwise_graph: False -2024-02-20 15:21:43, INFO: Skip_connection: True -2024-02-20 15:21:43, INFO: Number of layers: 1 -2024-02-20 15:21:43, INFO: Planning depth: 1 -2024-02-20 15:21:43, INFO: Planning width: 10 -2024-02-20 15:21:43, INFO: Sparse search: None -2024-02-20 15:21:46, INFO: human number: 10 -2024-02-20 15:21:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:21:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:21:46, INFO: Square width: 10, circle width: 4 -2024-02-20 15:21:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:21:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:21:51, INFO: Using device: cpu -2024-02-20 15:21:51, INFO: Loaded RL weights with best VAL -2024-02-20 15:21:51, INFO: Similarity_func: concatenation -2024-02-20 15:21:51, INFO: Layerwise_graph: False -2024-02-20 15:21:51, INFO: Skip_connection: True -2024-02-20 15:21:51, INFO: Number of layers: 1 -2024-02-20 15:21:51, INFO: Similarity_func: concatenation -2024-02-20 15:21:51, INFO: Layerwise_graph: False -2024-02-20 15:21:51, INFO: Skip_connection: True -2024-02-20 15:21:51, INFO: Number of layers: 1 -2024-02-20 15:21:51, INFO: Planning depth: 1 -2024-02-20 15:21:51, INFO: Planning width: 10 -2024-02-20 15:21:51, INFO: Sparse search: None -2024-02-20 15:21:53, INFO: human number: 10 -2024-02-20 15:21:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:21:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:21:53, INFO: Square width: 10, circle width: 4 -2024-02-20 15:21:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:21:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:21:59, INFO: Using device: cpu -2024-02-20 15:21:59, INFO: Loaded RL weights with best VAL -2024-02-20 15:21:59, INFO: Similarity_func: concatenation -2024-02-20 15:21:59, INFO: Layerwise_graph: False -2024-02-20 15:21:59, INFO: Skip_connection: True -2024-02-20 15:21:59, INFO: Number of layers: 1 -2024-02-20 15:21:59, INFO: Similarity_func: concatenation -2024-02-20 15:21:59, INFO: Layerwise_graph: False -2024-02-20 15:21:59, INFO: Skip_connection: True -2024-02-20 15:21:59, INFO: Number of layers: 1 -2024-02-20 15:21:59, INFO: Planning depth: 1 -2024-02-20 15:21:59, INFO: Planning width: 10 -2024-02-20 15:21:59, INFO: Sparse search: None -2024-02-20 15:22:02, INFO: human number: 10 -2024-02-20 15:22:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:22:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:22:02, INFO: Square width: 10, circle width: 4 -2024-02-20 15:22:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:22:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:22:06, INFO: Using device: cpu -2024-02-20 15:22:06, INFO: Loaded RL weights with best VAL -2024-02-20 15:22:06, INFO: Similarity_func: concatenation -2024-02-20 15:22:06, INFO: Layerwise_graph: False -2024-02-20 15:22:06, INFO: Skip_connection: True -2024-02-20 15:22:06, INFO: Number of layers: 1 -2024-02-20 15:22:06, INFO: Similarity_func: concatenation -2024-02-20 15:22:06, INFO: Layerwise_graph: False -2024-02-20 15:22:06, INFO: Skip_connection: True -2024-02-20 15:22:06, INFO: Number of layers: 1 -2024-02-20 15:22:06, INFO: Planning depth: 1 -2024-02-20 15:22:06, INFO: Planning width: 10 -2024-02-20 15:22:06, INFO: Sparse search: None -2024-02-20 15:22:09, INFO: human number: 10 -2024-02-20 15:22:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:22:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:22:09, INFO: Square width: 10, circle width: 4 -2024-02-20 15:22:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:22:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:22:11, INFO: Animation.save using -2024-02-20 15:22:32, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.141197 -2024-02-20 15:22:35, INFO: Using device: cpu -2024-02-20 15:22:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:22:35, INFO: Similarity_func: concatenation -2024-02-20 15:22:35, INFO: Layerwise_graph: False -2024-02-20 15:22:35, INFO: Skip_connection: True -2024-02-20 15:22:35, INFO: Number of layers: 1 -2024-02-20 15:22:35, INFO: Similarity_func: concatenation -2024-02-20 15:22:35, INFO: Layerwise_graph: False -2024-02-20 15:22:35, INFO: Skip_connection: True -2024-02-20 15:22:35, INFO: Number of layers: 1 -2024-02-20 15:22:35, INFO: Planning depth: 1 -2024-02-20 15:22:35, INFO: Planning width: 10 -2024-02-20 15:22:35, INFO: Sparse search: None -2024-02-20 15:22:38, INFO: human number: 10 -2024-02-20 15:22:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:22:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:22:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:22:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:22:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:22:40, INFO: Animation.save using -2024-02-20 15:23:29, INFO: Using device: cpu -2024-02-20 15:23:29, INFO: Loaded RL weights with best VAL -2024-02-20 15:23:29, INFO: Similarity_func: concatenation -2024-02-20 15:23:29, INFO: Layerwise_graph: False -2024-02-20 15:23:29, INFO: Skip_connection: True -2024-02-20 15:23:29, INFO: Number of layers: 1 -2024-02-20 15:23:29, INFO: Similarity_func: concatenation -2024-02-20 15:23:29, INFO: Layerwise_graph: False -2024-02-20 15:23:29, INFO: Skip_connection: True -2024-02-20 15:23:29, INFO: Number of layers: 1 -2024-02-20 15:23:29, INFO: Planning depth: 1 -2024-02-20 15:23:29, INFO: Planning width: 10 -2024-02-20 15:23:29, INFO: Sparse search: None -2024-02-20 15:23:31, INFO: human number: 10 -2024-02-20 15:23:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:23:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:23:31, INFO: Square width: 10, circle width: 4 -2024-02-20 15:23:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:23:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:23:35, INFO: Using device: cpu -2024-02-20 15:23:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:23:35, INFO: Similarity_func: concatenation -2024-02-20 15:23:35, INFO: Layerwise_graph: False -2024-02-20 15:23:35, INFO: Skip_connection: True -2024-02-20 15:23:35, INFO: Number of layers: 1 -2024-02-20 15:23:35, INFO: Similarity_func: concatenation -2024-02-20 15:23:35, INFO: Layerwise_graph: False -2024-02-20 15:23:35, INFO: Skip_connection: True -2024-02-20 15:23:35, INFO: Number of layers: 1 -2024-02-20 15:23:35, INFO: Planning depth: 1 -2024-02-20 15:23:35, INFO: Planning width: 10 -2024-02-20 15:23:35, INFO: Sparse search: None -2024-02-20 15:23:38, INFO: human number: 10 -2024-02-20 15:23:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:23:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:23:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:23:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:23:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:23:43, INFO: Using device: cpu -2024-02-20 15:23:43, INFO: Loaded RL weights with best VAL -2024-02-20 15:23:43, INFO: Similarity_func: concatenation -2024-02-20 15:23:43, INFO: Layerwise_graph: False -2024-02-20 15:23:43, INFO: Skip_connection: True -2024-02-20 15:23:43, INFO: Number of layers: 1 -2024-02-20 15:23:43, INFO: Similarity_func: concatenation -2024-02-20 15:23:43, INFO: Layerwise_graph: False -2024-02-20 15:23:43, INFO: Skip_connection: True -2024-02-20 15:23:43, INFO: Number of layers: 1 -2024-02-20 15:23:43, INFO: Planning depth: 1 -2024-02-20 15:23:43, INFO: Planning width: 10 -2024-02-20 15:23:43, INFO: Sparse search: None -2024-02-20 15:23:46, INFO: human number: 10 -2024-02-20 15:23:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:23:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:23:46, INFO: Square width: 10, circle width: 4 -2024-02-20 15:23:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:23:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:23:50, INFO: Using device: cpu -2024-02-20 15:23:50, INFO: Loaded RL weights with best VAL -2024-02-20 15:23:50, INFO: Similarity_func: concatenation -2024-02-20 15:23:50, INFO: Layerwise_graph: False -2024-02-20 15:23:50, INFO: Skip_connection: True -2024-02-20 15:23:50, INFO: Number of layers: 1 -2024-02-20 15:23:50, INFO: Similarity_func: concatenation -2024-02-20 15:23:50, INFO: Layerwise_graph: False -2024-02-20 15:23:50, INFO: Skip_connection: True -2024-02-20 15:23:50, INFO: Number of layers: 1 -2024-02-20 15:23:50, INFO: Planning depth: 1 -2024-02-20 15:23:50, INFO: Planning width: 10 -2024-02-20 15:23:50, INFO: Sparse search: None -2024-02-20 15:23:53, INFO: human number: 10 -2024-02-20 15:23:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:23:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:23:53, INFO: Square width: 10, circle width: 4 -2024-02-20 15:23:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:23:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:23:58, INFO: Using device: cpu -2024-02-20 15:23:58, INFO: Loaded RL weights with best VAL -2024-02-20 15:23:58, INFO: Similarity_func: concatenation -2024-02-20 15:23:58, INFO: Layerwise_graph: False -2024-02-20 15:23:58, INFO: Skip_connection: True -2024-02-20 15:23:58, INFO: Number of layers: 1 -2024-02-20 15:23:58, INFO: Similarity_func: concatenation -2024-02-20 15:23:58, INFO: Layerwise_graph: False -2024-02-20 15:23:58, INFO: Skip_connection: True -2024-02-20 15:23:58, INFO: Number of layers: 1 -2024-02-20 15:23:58, INFO: Planning depth: 1 -2024-02-20 15:23:58, INFO: Planning width: 10 -2024-02-20 15:23:58, INFO: Sparse search: None -2024-02-20 15:24:01, INFO: human number: 10 -2024-02-20 15:24:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:24:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:24:01, INFO: Square width: 10, circle width: 4 -2024-02-20 15:24:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:24:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:24:05, INFO: Using device: cpu -2024-02-20 15:24:05, INFO: Loaded RL weights with best VAL -2024-02-20 15:24:05, INFO: Similarity_func: concatenation -2024-02-20 15:24:05, INFO: Layerwise_graph: False -2024-02-20 15:24:05, INFO: Skip_connection: True -2024-02-20 15:24:05, INFO: Number of layers: 1 -2024-02-20 15:24:05, INFO: Similarity_func: concatenation -2024-02-20 15:24:05, INFO: Layerwise_graph: False -2024-02-20 15:24:05, INFO: Skip_connection: True -2024-02-20 15:24:05, INFO: Number of layers: 1 -2024-02-20 15:24:05, INFO: Planning depth: 1 -2024-02-20 15:24:05, INFO: Planning width: 10 -2024-02-20 15:24:05, INFO: Sparse search: None -2024-02-20 15:24:08, INFO: human number: 10 -2024-02-20 15:24:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:24:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:24:08, INFO: Square width: 10, circle width: 4 -2024-02-20 15:24:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:24:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:24:09, INFO: Animation.save using -2024-02-20 15:24:33, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.141197 -2024-02-20 15:24:36, INFO: Using device: cpu -2024-02-20 15:24:36, INFO: Loaded RL weights with best VAL -2024-02-20 15:24:36, INFO: Similarity_func: concatenation -2024-02-20 15:24:36, INFO: Layerwise_graph: False -2024-02-20 15:24:36, INFO: Skip_connection: True -2024-02-20 15:24:36, INFO: Number of layers: 1 -2024-02-20 15:24:36, INFO: Similarity_func: concatenation -2024-02-20 15:24:36, INFO: Layerwise_graph: False -2024-02-20 15:24:36, INFO: Skip_connection: True -2024-02-20 15:24:36, INFO: Number of layers: 1 -2024-02-20 15:24:36, INFO: Planning depth: 1 -2024-02-20 15:24:36, INFO: Planning width: 10 -2024-02-20 15:24:36, INFO: Sparse search: None -2024-02-20 15:24:39, INFO: human number: 10 -2024-02-20 15:24:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:24:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:24:39, INFO: Square width: 10, circle width: 4 -2024-02-20 15:24:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:24:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:24:41, INFO: Animation.save using -2024-02-20 15:25:22, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.728659 -2024-02-20 15:25:25, INFO: Using device: cpu -2024-02-20 15:25:25, INFO: Loaded RL weights with best VAL -2024-02-20 15:25:25, INFO: Similarity_func: concatenation -2024-02-20 15:25:25, INFO: Layerwise_graph: False -2024-02-20 15:25:25, INFO: Skip_connection: True -2024-02-20 15:25:25, INFO: Number of layers: 1 -2024-02-20 15:25:25, INFO: Similarity_func: concatenation -2024-02-20 15:25:25, INFO: Layerwise_graph: False -2024-02-20 15:25:25, INFO: Skip_connection: True -2024-02-20 15:25:25, INFO: Number of layers: 1 -2024-02-20 15:25:25, INFO: Planning depth: 1 -2024-02-20 15:25:25, INFO: Planning width: 10 -2024-02-20 15:25:25, INFO: Sparse search: None -2024-02-20 15:25:28, INFO: human number: 10 -2024-02-20 15:25:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:25:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:25:28, INFO: Square width: 10, circle width: 4 -2024-02-20 15:25:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:25:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:25:33, INFO: Using device: cpu -2024-02-20 15:25:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:25:33, INFO: Similarity_func: concatenation -2024-02-20 15:25:33, INFO: Layerwise_graph: False -2024-02-20 15:25:33, INFO: Skip_connection: True -2024-02-20 15:25:33, INFO: Number of layers: 1 -2024-02-20 15:25:33, INFO: Similarity_func: concatenation -2024-02-20 15:25:33, INFO: Layerwise_graph: False -2024-02-20 15:25:33, INFO: Skip_connection: True -2024-02-20 15:25:33, INFO: Number of layers: 1 -2024-02-20 15:25:33, INFO: Planning depth: 1 -2024-02-20 15:25:33, INFO: Planning width: 10 -2024-02-20 15:25:33, INFO: Sparse search: None -2024-02-20 15:25:35, INFO: human number: 10 -2024-02-20 15:25:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:25:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:25:35, INFO: Square width: 10, circle width: 4 -2024-02-20 15:25:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:25:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:25:41, INFO: Using device: cpu -2024-02-20 15:25:41, INFO: Loaded RL weights with best VAL -2024-02-20 15:25:41, INFO: Similarity_func: concatenation -2024-02-20 15:25:41, INFO: Layerwise_graph: False -2024-02-20 15:25:41, INFO: Skip_connection: True -2024-02-20 15:25:41, INFO: Number of layers: 1 -2024-02-20 15:25:41, INFO: Similarity_func: concatenation -2024-02-20 15:25:41, INFO: Layerwise_graph: False -2024-02-20 15:25:41, INFO: Skip_connection: True -2024-02-20 15:25:41, INFO: Number of layers: 1 -2024-02-20 15:25:41, INFO: Planning depth: 1 -2024-02-20 15:25:41, INFO: Planning width: 10 -2024-02-20 15:25:41, INFO: Sparse search: None -2024-02-20 15:25:44, INFO: human number: 10 -2024-02-20 15:25:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:25:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:25:44, INFO: Square width: 10, circle width: 4 -2024-02-20 15:25:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:25:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:25:46, INFO: Animation.save using -2024-02-20 15:26:20, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.927750 -2024-02-20 15:26:22, INFO: Using device: cpu -2024-02-20 15:26:22, INFO: Loaded RL weights with best VAL -2024-02-20 15:26:22, INFO: Similarity_func: concatenation -2024-02-20 15:26:22, INFO: Layerwise_graph: False -2024-02-20 15:26:22, INFO: Skip_connection: True -2024-02-20 15:26:22, INFO: Number of layers: 1 -2024-02-20 15:26:22, INFO: Similarity_func: concatenation -2024-02-20 15:26:22, INFO: Layerwise_graph: False -2024-02-20 15:26:22, INFO: Skip_connection: True -2024-02-20 15:26:22, INFO: Number of layers: 1 -2024-02-20 15:26:22, INFO: Planning depth: 1 -2024-02-20 15:26:22, INFO: Planning width: 10 -2024-02-20 15:26:22, INFO: Sparse search: None -2024-02-20 15:26:25, INFO: human number: 10 -2024-02-20 15:26:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:26:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:26:25, INFO: Square width: 10, circle width: 4 -2024-02-20 15:26:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:26:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:26:30, INFO: Using device: cpu -2024-02-20 15:26:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:26:30, INFO: Similarity_func: concatenation -2024-02-20 15:26:30, INFO: Layerwise_graph: False -2024-02-20 15:26:30, INFO: Skip_connection: True -2024-02-20 15:26:30, INFO: Number of layers: 1 -2024-02-20 15:26:30, INFO: Similarity_func: concatenation -2024-02-20 15:26:30, INFO: Layerwise_graph: False -2024-02-20 15:26:30, INFO: Skip_connection: True -2024-02-20 15:26:30, INFO: Number of layers: 1 -2024-02-20 15:26:30, INFO: Planning depth: 1 -2024-02-20 15:26:30, INFO: Planning width: 10 -2024-02-20 15:26:30, INFO: Sparse search: None -2024-02-20 15:26:33, INFO: human number: 10 -2024-02-20 15:26:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:26:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:26:33, INFO: Square width: 10, circle width: 4 -2024-02-20 15:26:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:26:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:26:37, INFO: Using device: cpu -2024-02-20 15:26:37, INFO: Loaded RL weights with best VAL -2024-02-20 15:26:37, INFO: Similarity_func: concatenation -2024-02-20 15:26:37, INFO: Layerwise_graph: False -2024-02-20 15:26:37, INFO: Skip_connection: True -2024-02-20 15:26:37, INFO: Number of layers: 1 -2024-02-20 15:26:37, INFO: Similarity_func: concatenation -2024-02-20 15:26:37, INFO: Layerwise_graph: False -2024-02-20 15:26:37, INFO: Skip_connection: True -2024-02-20 15:26:37, INFO: Number of layers: 1 -2024-02-20 15:26:37, INFO: Planning depth: 1 -2024-02-20 15:26:37, INFO: Planning width: 10 -2024-02-20 15:26:37, INFO: Sparse search: None -2024-02-20 15:26:40, INFO: human number: 10 -2024-02-20 15:26:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:26:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:26:40, INFO: Square width: 10, circle width: 4 -2024-02-20 15:26:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:26:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:26:45, INFO: Using device: cpu -2024-02-20 15:26:45, INFO: Loaded RL weights with best VAL -2024-02-20 15:26:45, INFO: Similarity_func: concatenation -2024-02-20 15:26:45, INFO: Layerwise_graph: False -2024-02-20 15:26:45, INFO: Skip_connection: True -2024-02-20 15:26:45, INFO: Number of layers: 1 -2024-02-20 15:26:45, INFO: Similarity_func: concatenation -2024-02-20 15:26:45, INFO: Layerwise_graph: False -2024-02-20 15:26:45, INFO: Skip_connection: True -2024-02-20 15:26:45, INFO: Number of layers: 1 -2024-02-20 15:26:45, INFO: Planning depth: 1 -2024-02-20 15:26:45, INFO: Planning width: 10 -2024-02-20 15:26:45, INFO: Sparse search: None -2024-02-20 15:26:48, INFO: human number: 10 -2024-02-20 15:26:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:26:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:26:48, INFO: Square width: 10, circle width: 4 -2024-02-20 15:26:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:26:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:26:55, INFO: Using device: cpu -2024-02-20 15:26:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:26:55, INFO: Similarity_func: concatenation -2024-02-20 15:26:55, INFO: Layerwise_graph: False -2024-02-20 15:26:55, INFO: Skip_connection: True -2024-02-20 15:26:55, INFO: Number of layers: 1 -2024-02-20 15:26:55, INFO: Similarity_func: concatenation -2024-02-20 15:26:55, INFO: Layerwise_graph: False -2024-02-20 15:26:55, INFO: Skip_connection: True -2024-02-20 15:26:55, INFO: Number of layers: 1 -2024-02-20 15:26:55, INFO: Planning depth: 1 -2024-02-20 15:26:55, INFO: Planning width: 10 -2024-02-20 15:26:55, INFO: Sparse search: None -2024-02-20 15:26:57, INFO: human number: 10 -2024-02-20 15:26:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:26:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:26:57, INFO: Square width: 10, circle width: 4 -2024-02-20 15:26:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:26:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:03, INFO: Using device: cpu -2024-02-20 15:27:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:03, INFO: Similarity_func: concatenation -2024-02-20 15:27:03, INFO: Layerwise_graph: False -2024-02-20 15:27:03, INFO: Skip_connection: True -2024-02-20 15:27:03, INFO: Number of layers: 1 -2024-02-20 15:27:03, INFO: Similarity_func: concatenation -2024-02-20 15:27:03, INFO: Layerwise_graph: False -2024-02-20 15:27:03, INFO: Skip_connection: True -2024-02-20 15:27:03, INFO: Number of layers: 1 -2024-02-20 15:27:03, INFO: Planning depth: 1 -2024-02-20 15:27:03, INFO: Planning width: 10 -2024-02-20 15:27:03, INFO: Sparse search: None -2024-02-20 15:27:06, INFO: human number: 10 -2024-02-20 15:27:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:11, INFO: Using device: cpu -2024-02-20 15:27:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:11, INFO: Similarity_func: concatenation -2024-02-20 15:27:11, INFO: Layerwise_graph: False -2024-02-20 15:27:11, INFO: Skip_connection: True -2024-02-20 15:27:11, INFO: Number of layers: 1 -2024-02-20 15:27:11, INFO: Similarity_func: concatenation -2024-02-20 15:27:11, INFO: Layerwise_graph: False -2024-02-20 15:27:11, INFO: Skip_connection: True -2024-02-20 15:27:11, INFO: Number of layers: 1 -2024-02-20 15:27:11, INFO: Planning depth: 1 -2024-02-20 15:27:11, INFO: Planning width: 10 -2024-02-20 15:27:11, INFO: Sparse search: None -2024-02-20 15:27:14, INFO: human number: 10 -2024-02-20 15:27:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:14, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:19, INFO: Using device: cpu -2024-02-20 15:27:19, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:19, INFO: Similarity_func: concatenation -2024-02-20 15:27:19, INFO: Layerwise_graph: False -2024-02-20 15:27:19, INFO: Skip_connection: True -2024-02-20 15:27:19, INFO: Number of layers: 1 -2024-02-20 15:27:19, INFO: Similarity_func: concatenation -2024-02-20 15:27:19, INFO: Layerwise_graph: False -2024-02-20 15:27:19, INFO: Skip_connection: True -2024-02-20 15:27:19, INFO: Number of layers: 1 -2024-02-20 15:27:19, INFO: Planning depth: 1 -2024-02-20 15:27:19, INFO: Planning width: 10 -2024-02-20 15:27:19, INFO: Sparse search: None -2024-02-20 15:27:22, INFO: human number: 10 -2024-02-20 15:27:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:22, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:26, INFO: Using device: cpu -2024-02-20 15:27:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:26, INFO: Similarity_func: concatenation -2024-02-20 15:27:26, INFO: Layerwise_graph: False -2024-02-20 15:27:26, INFO: Skip_connection: True -2024-02-20 15:27:26, INFO: Number of layers: 1 -2024-02-20 15:27:26, INFO: Similarity_func: concatenation -2024-02-20 15:27:26, INFO: Layerwise_graph: False -2024-02-20 15:27:26, INFO: Skip_connection: True -2024-02-20 15:27:26, INFO: Number of layers: 1 -2024-02-20 15:27:26, INFO: Planning depth: 1 -2024-02-20 15:27:26, INFO: Planning width: 10 -2024-02-20 15:27:26, INFO: Sparse search: None -2024-02-20 15:27:29, INFO: human number: 10 -2024-02-20 15:27:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:38, INFO: Using device: cpu -2024-02-20 15:27:38, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:38, INFO: Similarity_func: concatenation -2024-02-20 15:27:38, INFO: Layerwise_graph: False -2024-02-20 15:27:38, INFO: Skip_connection: True -2024-02-20 15:27:38, INFO: Number of layers: 1 -2024-02-20 15:27:38, INFO: Similarity_func: concatenation -2024-02-20 15:27:38, INFO: Layerwise_graph: False -2024-02-20 15:27:38, INFO: Skip_connection: True -2024-02-20 15:27:38, INFO: Number of layers: 1 -2024-02-20 15:27:38, INFO: Planning depth: 1 -2024-02-20 15:27:38, INFO: Planning width: 10 -2024-02-20 15:27:38, INFO: Sparse search: None -2024-02-20 15:27:41, INFO: human number: 10 -2024-02-20 15:27:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:41, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:46, INFO: Using device: cpu -2024-02-20 15:27:46, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:46, INFO: Similarity_func: concatenation -2024-02-20 15:27:46, INFO: Layerwise_graph: False -2024-02-20 15:27:46, INFO: Skip_connection: True -2024-02-20 15:27:46, INFO: Number of layers: 1 -2024-02-20 15:27:46, INFO: Similarity_func: concatenation -2024-02-20 15:27:46, INFO: Layerwise_graph: False -2024-02-20 15:27:46, INFO: Skip_connection: True -2024-02-20 15:27:46, INFO: Number of layers: 1 -2024-02-20 15:27:46, INFO: Planning depth: 1 -2024-02-20 15:27:46, INFO: Planning width: 10 -2024-02-20 15:27:46, INFO: Sparse search: None -2024-02-20 15:27:49, INFO: human number: 10 -2024-02-20 15:27:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:49, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:27:54, INFO: Using device: cpu -2024-02-20 15:27:54, INFO: Loaded RL weights with best VAL -2024-02-20 15:27:54, INFO: Similarity_func: concatenation -2024-02-20 15:27:54, INFO: Layerwise_graph: False -2024-02-20 15:27:54, INFO: Skip_connection: True -2024-02-20 15:27:54, INFO: Number of layers: 1 -2024-02-20 15:27:54, INFO: Similarity_func: concatenation -2024-02-20 15:27:54, INFO: Layerwise_graph: False -2024-02-20 15:27:54, INFO: Skip_connection: True -2024-02-20 15:27:54, INFO: Number of layers: 1 -2024-02-20 15:27:54, INFO: Planning depth: 1 -2024-02-20 15:27:54, INFO: Planning width: 10 -2024-02-20 15:27:54, INFO: Sparse search: None -2024-02-20 15:27:56, INFO: human number: 10 -2024-02-20 15:27:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:27:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:27:56, INFO: Square width: 10, circle width: 4 -2024-02-20 15:27:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:27:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:02, INFO: Using device: cpu -2024-02-20 15:28:02, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:02, INFO: Similarity_func: concatenation -2024-02-20 15:28:02, INFO: Layerwise_graph: False -2024-02-20 15:28:02, INFO: Skip_connection: True -2024-02-20 15:28:02, INFO: Number of layers: 1 -2024-02-20 15:28:02, INFO: Similarity_func: concatenation -2024-02-20 15:28:02, INFO: Layerwise_graph: False -2024-02-20 15:28:02, INFO: Skip_connection: True -2024-02-20 15:28:02, INFO: Number of layers: 1 -2024-02-20 15:28:02, INFO: Planning depth: 1 -2024-02-20 15:28:02, INFO: Planning width: 10 -2024-02-20 15:28:02, INFO: Sparse search: None -2024-02-20 15:28:04, INFO: human number: 10 -2024-02-20 15:28:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:04, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:09, INFO: Using device: cpu -2024-02-20 15:28:09, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:09, INFO: Similarity_func: concatenation -2024-02-20 15:28:09, INFO: Layerwise_graph: False -2024-02-20 15:28:09, INFO: Skip_connection: True -2024-02-20 15:28:09, INFO: Number of layers: 1 -2024-02-20 15:28:09, INFO: Similarity_func: concatenation -2024-02-20 15:28:09, INFO: Layerwise_graph: False -2024-02-20 15:28:09, INFO: Skip_connection: True -2024-02-20 15:28:09, INFO: Number of layers: 1 -2024-02-20 15:28:09, INFO: Planning depth: 1 -2024-02-20 15:28:09, INFO: Planning width: 10 -2024-02-20 15:28:09, INFO: Sparse search: None -2024-02-20 15:28:12, INFO: human number: 10 -2024-02-20 15:28:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:12, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:17, INFO: Using device: cpu -2024-02-20 15:28:17, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:17, INFO: Similarity_func: concatenation -2024-02-20 15:28:17, INFO: Layerwise_graph: False -2024-02-20 15:28:17, INFO: Skip_connection: True -2024-02-20 15:28:17, INFO: Number of layers: 1 -2024-02-20 15:28:17, INFO: Similarity_func: concatenation -2024-02-20 15:28:17, INFO: Layerwise_graph: False -2024-02-20 15:28:17, INFO: Skip_connection: True -2024-02-20 15:28:17, INFO: Number of layers: 1 -2024-02-20 15:28:17, INFO: Planning depth: 1 -2024-02-20 15:28:17, INFO: Planning width: 10 -2024-02-20 15:28:17, INFO: Sparse search: None -2024-02-20 15:28:19, INFO: human number: 10 -2024-02-20 15:28:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:19, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:25, INFO: Using device: cpu -2024-02-20 15:28:25, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:25, INFO: Similarity_func: concatenation -2024-02-20 15:28:25, INFO: Layerwise_graph: False -2024-02-20 15:28:25, INFO: Skip_connection: True -2024-02-20 15:28:25, INFO: Number of layers: 1 -2024-02-20 15:28:25, INFO: Similarity_func: concatenation -2024-02-20 15:28:25, INFO: Layerwise_graph: False -2024-02-20 15:28:25, INFO: Skip_connection: True -2024-02-20 15:28:25, INFO: Number of layers: 1 -2024-02-20 15:28:25, INFO: Planning depth: 1 -2024-02-20 15:28:25, INFO: Planning width: 10 -2024-02-20 15:28:25, INFO: Sparse search: None -2024-02-20 15:28:27, INFO: human number: 10 -2024-02-20 15:28:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:27, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:32, INFO: Using device: cpu -2024-02-20 15:28:32, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:32, INFO: Similarity_func: concatenation -2024-02-20 15:28:32, INFO: Layerwise_graph: False -2024-02-20 15:28:32, INFO: Skip_connection: True -2024-02-20 15:28:32, INFO: Number of layers: 1 -2024-02-20 15:28:32, INFO: Similarity_func: concatenation -2024-02-20 15:28:32, INFO: Layerwise_graph: False -2024-02-20 15:28:32, INFO: Skip_connection: True -2024-02-20 15:28:32, INFO: Number of layers: 1 -2024-02-20 15:28:32, INFO: Planning depth: 1 -2024-02-20 15:28:32, INFO: Planning width: 10 -2024-02-20 15:28:32, INFO: Sparse search: None -2024-02-20 15:28:35, INFO: human number: 10 -2024-02-20 15:28:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:35, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:39, INFO: Using device: cpu -2024-02-20 15:28:39, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:39, INFO: Similarity_func: concatenation -2024-02-20 15:28:39, INFO: Layerwise_graph: False -2024-02-20 15:28:39, INFO: Skip_connection: True -2024-02-20 15:28:39, INFO: Number of layers: 1 -2024-02-20 15:28:39, INFO: Similarity_func: concatenation -2024-02-20 15:28:39, INFO: Layerwise_graph: False -2024-02-20 15:28:39, INFO: Skip_connection: True -2024-02-20 15:28:39, INFO: Number of layers: 1 -2024-02-20 15:28:39, INFO: Planning depth: 1 -2024-02-20 15:28:39, INFO: Planning width: 10 -2024-02-20 15:28:39, INFO: Sparse search: None -2024-02-20 15:28:42, INFO: human number: 10 -2024-02-20 15:28:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:42, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:46, INFO: Using device: cpu -2024-02-20 15:28:46, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:46, INFO: Similarity_func: concatenation -2024-02-20 15:28:46, INFO: Layerwise_graph: False -2024-02-20 15:28:46, INFO: Skip_connection: True -2024-02-20 15:28:46, INFO: Number of layers: 1 -2024-02-20 15:28:46, INFO: Similarity_func: concatenation -2024-02-20 15:28:46, INFO: Layerwise_graph: False -2024-02-20 15:28:46, INFO: Skip_connection: True -2024-02-20 15:28:46, INFO: Number of layers: 1 -2024-02-20 15:28:46, INFO: Planning depth: 1 -2024-02-20 15:28:46, INFO: Planning width: 10 -2024-02-20 15:28:46, INFO: Sparse search: None -2024-02-20 15:28:49, INFO: human number: 10 -2024-02-20 15:28:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:49, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:28:55, INFO: Using device: cpu -2024-02-20 15:28:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:28:55, INFO: Similarity_func: concatenation -2024-02-20 15:28:55, INFO: Layerwise_graph: False -2024-02-20 15:28:55, INFO: Skip_connection: True -2024-02-20 15:28:55, INFO: Number of layers: 1 -2024-02-20 15:28:55, INFO: Similarity_func: concatenation -2024-02-20 15:28:55, INFO: Layerwise_graph: False -2024-02-20 15:28:55, INFO: Skip_connection: True -2024-02-20 15:28:55, INFO: Number of layers: 1 -2024-02-20 15:28:55, INFO: Planning depth: 1 -2024-02-20 15:28:55, INFO: Planning width: 10 -2024-02-20 15:28:55, INFO: Sparse search: None -2024-02-20 15:28:58, INFO: human number: 10 -2024-02-20 15:28:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:28:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:28:58, INFO: Square width: 10, circle width: 4 -2024-02-20 15:28:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:28:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:29:03, INFO: Using device: cpu -2024-02-20 15:29:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:29:03, INFO: Similarity_func: concatenation -2024-02-20 15:29:03, INFO: Layerwise_graph: False -2024-02-20 15:29:03, INFO: Skip_connection: True -2024-02-20 15:29:03, INFO: Number of layers: 1 -2024-02-20 15:29:03, INFO: Similarity_func: concatenation -2024-02-20 15:29:03, INFO: Layerwise_graph: False -2024-02-20 15:29:03, INFO: Skip_connection: True -2024-02-20 15:29:03, INFO: Number of layers: 1 -2024-02-20 15:29:03, INFO: Planning depth: 1 -2024-02-20 15:29:03, INFO: Planning width: 10 -2024-02-20 15:29:03, INFO: Sparse search: None -2024-02-20 15:29:06, INFO: human number: 10 -2024-02-20 15:29:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:29:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:29:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:29:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:29:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:29:08, INFO: Animation.save using -2024-02-20 15:29:44, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.824695 -2024-02-20 15:29:47, INFO: Using device: cpu -2024-02-20 15:29:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:29:47, INFO: Similarity_func: concatenation -2024-02-20 15:29:47, INFO: Layerwise_graph: False -2024-02-20 15:29:47, INFO: Skip_connection: True -2024-02-20 15:29:47, INFO: Number of layers: 1 -2024-02-20 15:29:47, INFO: Similarity_func: concatenation -2024-02-20 15:29:47, INFO: Layerwise_graph: False -2024-02-20 15:29:47, INFO: Skip_connection: True -2024-02-20 15:29:47, INFO: Number of layers: 1 -2024-02-20 15:29:47, INFO: Planning depth: 1 -2024-02-20 15:29:47, INFO: Planning width: 10 -2024-02-20 15:29:47, INFO: Sparse search: None -2024-02-20 15:29:50, INFO: human number: 10 -2024-02-20 15:29:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:29:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:29:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:29:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:29:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:29:55, INFO: Using device: cpu -2024-02-20 15:29:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:29:55, INFO: Similarity_func: concatenation -2024-02-20 15:29:55, INFO: Layerwise_graph: False -2024-02-20 15:29:55, INFO: Skip_connection: True -2024-02-20 15:29:55, INFO: Number of layers: 1 -2024-02-20 15:29:55, INFO: Similarity_func: concatenation -2024-02-20 15:29:55, INFO: Layerwise_graph: False -2024-02-20 15:29:55, INFO: Skip_connection: True -2024-02-20 15:29:55, INFO: Number of layers: 1 -2024-02-20 15:29:55, INFO: Planning depth: 1 -2024-02-20 15:29:55, INFO: Planning width: 10 -2024-02-20 15:29:55, INFO: Sparse search: None -2024-02-20 15:29:57, INFO: human number: 10 -2024-02-20 15:29:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:29:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:29:57, INFO: Square width: 10, circle width: 4 -2024-02-20 15:29:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:29:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:30:00, INFO: Animation.save using -2024-02-20 15:30:45, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.807009 -2024-02-20 15:30:48, INFO: Using device: cpu -2024-02-20 15:30:48, INFO: Loaded RL weights with best VAL -2024-02-20 15:30:48, INFO: Similarity_func: concatenation -2024-02-20 15:30:48, INFO: Layerwise_graph: False -2024-02-20 15:30:48, INFO: Skip_connection: True -2024-02-20 15:30:48, INFO: Number of layers: 1 -2024-02-20 15:30:48, INFO: Similarity_func: concatenation -2024-02-20 15:30:48, INFO: Layerwise_graph: False -2024-02-20 15:30:48, INFO: Skip_connection: True -2024-02-20 15:30:48, INFO: Number of layers: 1 -2024-02-20 15:30:48, INFO: Planning depth: 1 -2024-02-20 15:30:48, INFO: Planning width: 10 -2024-02-20 15:30:48, INFO: Sparse search: None -2024-02-20 15:30:51, INFO: human number: 10 -2024-02-20 15:30:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:30:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:30:51, INFO: Square width: 10, circle width: 4 -2024-02-20 15:30:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:30:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:30:53, INFO: Animation.save using -2024-02-20 15:31:30, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.831754 -2024-02-20 15:31:33, INFO: Using device: cpu -2024-02-20 15:31:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:31:33, INFO: Similarity_func: concatenation -2024-02-20 15:31:33, INFO: Layerwise_graph: False -2024-02-20 15:31:33, INFO: Skip_connection: True -2024-02-20 15:31:33, INFO: Number of layers: 1 -2024-02-20 15:31:33, INFO: Similarity_func: concatenation -2024-02-20 15:31:33, INFO: Layerwise_graph: False -2024-02-20 15:31:33, INFO: Skip_connection: True -2024-02-20 15:31:33, INFO: Number of layers: 1 -2024-02-20 15:31:33, INFO: Planning depth: 1 -2024-02-20 15:31:33, INFO: Planning width: 10 -2024-02-20 15:31:33, INFO: Sparse search: None -2024-02-20 15:31:36, INFO: human number: 10 -2024-02-20 15:31:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:31:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:31:36, INFO: Square width: 10, circle width: 4 -2024-02-20 15:31:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:31:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:31:40, INFO: Using device: cpu -2024-02-20 15:31:40, INFO: Loaded RL weights with best VAL -2024-02-20 15:31:40, INFO: Similarity_func: concatenation -2024-02-20 15:31:40, INFO: Layerwise_graph: False -2024-02-20 15:31:40, INFO: Skip_connection: True -2024-02-20 15:31:40, INFO: Number of layers: 1 -2024-02-20 15:31:40, INFO: Similarity_func: concatenation -2024-02-20 15:31:40, INFO: Layerwise_graph: False -2024-02-20 15:31:40, INFO: Skip_connection: True -2024-02-20 15:31:40, INFO: Number of layers: 1 -2024-02-20 15:31:40, INFO: Planning depth: 1 -2024-02-20 15:31:40, INFO: Planning width: 10 -2024-02-20 15:31:40, INFO: Sparse search: None -2024-02-20 15:31:43, INFO: human number: 10 -2024-02-20 15:31:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:31:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:31:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:31:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:31:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:31:45, INFO: Animation.save using -2024-02-20 15:32:27, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-20 15:32:30, INFO: Using device: cpu -2024-02-20 15:32:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:32:30, INFO: Similarity_func: concatenation -2024-02-20 15:32:30, INFO: Layerwise_graph: False -2024-02-20 15:32:30, INFO: Skip_connection: True -2024-02-20 15:32:30, INFO: Number of layers: 1 -2024-02-20 15:32:30, INFO: Similarity_func: concatenation -2024-02-20 15:32:30, INFO: Layerwise_graph: False -2024-02-20 15:32:30, INFO: Skip_connection: True -2024-02-20 15:32:30, INFO: Number of layers: 1 -2024-02-20 15:32:30, INFO: Planning depth: 1 -2024-02-20 15:32:30, INFO: Planning width: 10 -2024-02-20 15:32:30, INFO: Sparse search: None -2024-02-20 15:32:33, INFO: human number: 10 -2024-02-20 15:32:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:32:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:32:33, INFO: Square width: 10, circle width: 4 -2024-02-20 15:32:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:32:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:32:35, INFO: Animation.save using -2024-02-20 15:33:14, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.874990 -2024-02-20 15:33:17, INFO: Using device: cpu -2024-02-20 15:33:17, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:17, INFO: Similarity_func: concatenation -2024-02-20 15:33:17, INFO: Layerwise_graph: False -2024-02-20 15:33:17, INFO: Skip_connection: True -2024-02-20 15:33:17, INFO: Number of layers: 1 -2024-02-20 15:33:17, INFO: Similarity_func: concatenation -2024-02-20 15:33:17, INFO: Layerwise_graph: False -2024-02-20 15:33:17, INFO: Skip_connection: True -2024-02-20 15:33:17, INFO: Number of layers: 1 -2024-02-20 15:33:17, INFO: Planning depth: 1 -2024-02-20 15:33:17, INFO: Planning width: 10 -2024-02-20 15:33:17, INFO: Sparse search: None -2024-02-20 15:33:20, INFO: human number: 10 -2024-02-20 15:33:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:20, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:33:26, INFO: Using device: cpu -2024-02-20 15:33:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:26, INFO: Similarity_func: concatenation -2024-02-20 15:33:26, INFO: Layerwise_graph: False -2024-02-20 15:33:26, INFO: Skip_connection: True -2024-02-20 15:33:26, INFO: Number of layers: 1 -2024-02-20 15:33:26, INFO: Similarity_func: concatenation -2024-02-20 15:33:26, INFO: Layerwise_graph: False -2024-02-20 15:33:26, INFO: Skip_connection: True -2024-02-20 15:33:26, INFO: Number of layers: 1 -2024-02-20 15:33:26, INFO: Planning depth: 1 -2024-02-20 15:33:26, INFO: Planning width: 10 -2024-02-20 15:33:26, INFO: Sparse search: None -2024-02-20 15:33:29, INFO: human number: 10 -2024-02-20 15:33:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:33:34, INFO: Using device: cpu -2024-02-20 15:33:34, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:34, INFO: Similarity_func: concatenation -2024-02-20 15:33:34, INFO: Layerwise_graph: False -2024-02-20 15:33:34, INFO: Skip_connection: True -2024-02-20 15:33:34, INFO: Number of layers: 1 -2024-02-20 15:33:34, INFO: Similarity_func: concatenation -2024-02-20 15:33:34, INFO: Layerwise_graph: False -2024-02-20 15:33:34, INFO: Skip_connection: True -2024-02-20 15:33:34, INFO: Number of layers: 1 -2024-02-20 15:33:34, INFO: Planning depth: 1 -2024-02-20 15:33:34, INFO: Planning width: 10 -2024-02-20 15:33:34, INFO: Sparse search: None -2024-02-20 15:33:37, INFO: human number: 10 -2024-02-20 15:33:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:37, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:33:41, INFO: Using device: cpu -2024-02-20 15:33:41, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:41, INFO: Similarity_func: concatenation -2024-02-20 15:33:41, INFO: Layerwise_graph: False -2024-02-20 15:33:41, INFO: Skip_connection: True -2024-02-20 15:33:41, INFO: Number of layers: 1 -2024-02-20 15:33:41, INFO: Similarity_func: concatenation -2024-02-20 15:33:41, INFO: Layerwise_graph: False -2024-02-20 15:33:41, INFO: Skip_connection: True -2024-02-20 15:33:41, INFO: Number of layers: 1 -2024-02-20 15:33:41, INFO: Planning depth: 1 -2024-02-20 15:33:41, INFO: Planning width: 10 -2024-02-20 15:33:41, INFO: Sparse search: None -2024-02-20 15:33:44, INFO: human number: 10 -2024-02-20 15:33:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:44, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:33:49, INFO: Using device: cpu -2024-02-20 15:33:49, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:49, INFO: Similarity_func: concatenation -2024-02-20 15:33:49, INFO: Layerwise_graph: False -2024-02-20 15:33:49, INFO: Skip_connection: True -2024-02-20 15:33:49, INFO: Number of layers: 1 -2024-02-20 15:33:49, INFO: Similarity_func: concatenation -2024-02-20 15:33:49, INFO: Layerwise_graph: False -2024-02-20 15:33:49, INFO: Skip_connection: True -2024-02-20 15:33:49, INFO: Number of layers: 1 -2024-02-20 15:33:49, INFO: Planning depth: 1 -2024-02-20 15:33:49, INFO: Planning width: 10 -2024-02-20 15:33:49, INFO: Sparse search: None -2024-02-20 15:33:51, INFO: human number: 10 -2024-02-20 15:33:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:51, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:33:56, INFO: Using device: cpu -2024-02-20 15:33:56, INFO: Loaded RL weights with best VAL -2024-02-20 15:33:56, INFO: Similarity_func: concatenation -2024-02-20 15:33:56, INFO: Layerwise_graph: False -2024-02-20 15:33:56, INFO: Skip_connection: True -2024-02-20 15:33:56, INFO: Number of layers: 1 -2024-02-20 15:33:56, INFO: Similarity_func: concatenation -2024-02-20 15:33:56, INFO: Layerwise_graph: False -2024-02-20 15:33:56, INFO: Skip_connection: True -2024-02-20 15:33:56, INFO: Number of layers: 1 -2024-02-20 15:33:56, INFO: Planning depth: 1 -2024-02-20 15:33:56, INFO: Planning width: 10 -2024-02-20 15:33:56, INFO: Sparse search: None -2024-02-20 15:33:59, INFO: human number: 10 -2024-02-20 15:33:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:33:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:33:59, INFO: Square width: 10, circle width: 4 -2024-02-20 15:33:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:33:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:03, INFO: Using device: cpu -2024-02-20 15:34:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:03, INFO: Similarity_func: concatenation -2024-02-20 15:34:03, INFO: Layerwise_graph: False -2024-02-20 15:34:03, INFO: Skip_connection: True -2024-02-20 15:34:03, INFO: Number of layers: 1 -2024-02-20 15:34:03, INFO: Similarity_func: concatenation -2024-02-20 15:34:03, INFO: Layerwise_graph: False -2024-02-20 15:34:03, INFO: Skip_connection: True -2024-02-20 15:34:03, INFO: Number of layers: 1 -2024-02-20 15:34:03, INFO: Planning depth: 1 -2024-02-20 15:34:03, INFO: Planning width: 10 -2024-02-20 15:34:03, INFO: Sparse search: None -2024-02-20 15:34:06, INFO: human number: 10 -2024-02-20 15:34:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:11, INFO: Using device: cpu -2024-02-20 15:34:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:11, INFO: Similarity_func: concatenation -2024-02-20 15:34:11, INFO: Layerwise_graph: False -2024-02-20 15:34:11, INFO: Skip_connection: True -2024-02-20 15:34:11, INFO: Number of layers: 1 -2024-02-20 15:34:11, INFO: Similarity_func: concatenation -2024-02-20 15:34:11, INFO: Layerwise_graph: False -2024-02-20 15:34:11, INFO: Skip_connection: True -2024-02-20 15:34:11, INFO: Number of layers: 1 -2024-02-20 15:34:11, INFO: Planning depth: 1 -2024-02-20 15:34:11, INFO: Planning width: 10 -2024-02-20 15:34:11, INFO: Sparse search: None -2024-02-20 15:34:14, INFO: human number: 10 -2024-02-20 15:34:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:14, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:18, INFO: Using device: cpu -2024-02-20 15:34:18, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:18, INFO: Similarity_func: concatenation -2024-02-20 15:34:18, INFO: Layerwise_graph: False -2024-02-20 15:34:18, INFO: Skip_connection: True -2024-02-20 15:34:18, INFO: Number of layers: 1 -2024-02-20 15:34:18, INFO: Similarity_func: concatenation -2024-02-20 15:34:18, INFO: Layerwise_graph: False -2024-02-20 15:34:18, INFO: Skip_connection: True -2024-02-20 15:34:18, INFO: Number of layers: 1 -2024-02-20 15:34:18, INFO: Planning depth: 1 -2024-02-20 15:34:18, INFO: Planning width: 10 -2024-02-20 15:34:18, INFO: Sparse search: None -2024-02-20 15:34:21, INFO: human number: 10 -2024-02-20 15:34:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:21, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:26, INFO: Using device: cpu -2024-02-20 15:34:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:26, INFO: Similarity_func: concatenation -2024-02-20 15:34:26, INFO: Layerwise_graph: False -2024-02-20 15:34:26, INFO: Skip_connection: True -2024-02-20 15:34:26, INFO: Number of layers: 1 -2024-02-20 15:34:26, INFO: Similarity_func: concatenation -2024-02-20 15:34:26, INFO: Layerwise_graph: False -2024-02-20 15:34:26, INFO: Skip_connection: True -2024-02-20 15:34:26, INFO: Number of layers: 1 -2024-02-20 15:34:26, INFO: Planning depth: 1 -2024-02-20 15:34:26, INFO: Planning width: 10 -2024-02-20 15:34:26, INFO: Sparse search: None -2024-02-20 15:34:28, INFO: human number: 10 -2024-02-20 15:34:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:28, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:33, INFO: Using device: cpu -2024-02-20 15:34:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:33, INFO: Similarity_func: concatenation -2024-02-20 15:34:33, INFO: Layerwise_graph: False -2024-02-20 15:34:33, INFO: Skip_connection: True -2024-02-20 15:34:33, INFO: Number of layers: 1 -2024-02-20 15:34:33, INFO: Similarity_func: concatenation -2024-02-20 15:34:33, INFO: Layerwise_graph: False -2024-02-20 15:34:33, INFO: Skip_connection: True -2024-02-20 15:34:33, INFO: Number of layers: 1 -2024-02-20 15:34:33, INFO: Planning depth: 1 -2024-02-20 15:34:33, INFO: Planning width: 10 -2024-02-20 15:34:33, INFO: Sparse search: None -2024-02-20 15:34:36, INFO: human number: 10 -2024-02-20 15:34:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:36, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:41, INFO: Using device: cpu -2024-02-20 15:34:41, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:41, INFO: Similarity_func: concatenation -2024-02-20 15:34:41, INFO: Layerwise_graph: False -2024-02-20 15:34:41, INFO: Skip_connection: True -2024-02-20 15:34:41, INFO: Number of layers: 1 -2024-02-20 15:34:41, INFO: Similarity_func: concatenation -2024-02-20 15:34:41, INFO: Layerwise_graph: False -2024-02-20 15:34:41, INFO: Skip_connection: True -2024-02-20 15:34:41, INFO: Number of layers: 1 -2024-02-20 15:34:41, INFO: Planning depth: 1 -2024-02-20 15:34:41, INFO: Planning width: 10 -2024-02-20 15:34:41, INFO: Sparse search: None -2024-02-20 15:34:44, INFO: human number: 10 -2024-02-20 15:34:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:44, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:50, INFO: Using device: cpu -2024-02-20 15:34:50, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:50, INFO: Similarity_func: concatenation -2024-02-20 15:34:50, INFO: Layerwise_graph: False -2024-02-20 15:34:50, INFO: Skip_connection: True -2024-02-20 15:34:50, INFO: Number of layers: 1 -2024-02-20 15:34:50, INFO: Similarity_func: concatenation -2024-02-20 15:34:50, INFO: Layerwise_graph: False -2024-02-20 15:34:50, INFO: Skip_connection: True -2024-02-20 15:34:50, INFO: Number of layers: 1 -2024-02-20 15:34:50, INFO: Planning depth: 1 -2024-02-20 15:34:50, INFO: Planning width: 10 -2024-02-20 15:34:50, INFO: Sparse search: None -2024-02-20 15:34:53, INFO: human number: 10 -2024-02-20 15:34:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:34:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:34:53, INFO: Square width: 10, circle width: 4 -2024-02-20 15:34:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:34:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:34:58, INFO: Using device: cpu -2024-02-20 15:34:58, INFO: Loaded RL weights with best VAL -2024-02-20 15:34:58, INFO: Similarity_func: concatenation -2024-02-20 15:34:58, INFO: Layerwise_graph: False -2024-02-20 15:34:58, INFO: Skip_connection: True -2024-02-20 15:34:58, INFO: Number of layers: 1 -2024-02-20 15:34:58, INFO: Similarity_func: concatenation -2024-02-20 15:34:58, INFO: Layerwise_graph: False -2024-02-20 15:34:58, INFO: Skip_connection: True -2024-02-20 15:34:58, INFO: Number of layers: 1 -2024-02-20 15:34:58, INFO: Planning depth: 1 -2024-02-20 15:34:58, INFO: Planning width: 10 -2024-02-20 15:34:58, INFO: Sparse search: None -2024-02-20 15:35:00, INFO: human number: 10 -2024-02-20 15:35:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:00, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:05, INFO: Using device: cpu -2024-02-20 15:35:05, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:05, INFO: Similarity_func: concatenation -2024-02-20 15:35:05, INFO: Layerwise_graph: False -2024-02-20 15:35:05, INFO: Skip_connection: True -2024-02-20 15:35:05, INFO: Number of layers: 1 -2024-02-20 15:35:05, INFO: Similarity_func: concatenation -2024-02-20 15:35:05, INFO: Layerwise_graph: False -2024-02-20 15:35:05, INFO: Skip_connection: True -2024-02-20 15:35:05, INFO: Number of layers: 1 -2024-02-20 15:35:05, INFO: Planning depth: 1 -2024-02-20 15:35:05, INFO: Planning width: 10 -2024-02-20 15:35:05, INFO: Sparse search: None -2024-02-20 15:35:08, INFO: human number: 10 -2024-02-20 15:35:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:08, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:14, INFO: Using device: cpu -2024-02-20 15:35:14, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:14, INFO: Similarity_func: concatenation -2024-02-20 15:35:14, INFO: Layerwise_graph: False -2024-02-20 15:35:14, INFO: Skip_connection: True -2024-02-20 15:35:14, INFO: Number of layers: 1 -2024-02-20 15:35:14, INFO: Similarity_func: concatenation -2024-02-20 15:35:14, INFO: Layerwise_graph: False -2024-02-20 15:35:14, INFO: Skip_connection: True -2024-02-20 15:35:14, INFO: Number of layers: 1 -2024-02-20 15:35:14, INFO: Planning depth: 1 -2024-02-20 15:35:14, INFO: Planning width: 10 -2024-02-20 15:35:14, INFO: Sparse search: None -2024-02-20 15:35:16, INFO: human number: 10 -2024-02-20 15:35:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:16, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:21, INFO: Using device: cpu -2024-02-20 15:35:21, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:21, INFO: Similarity_func: concatenation -2024-02-20 15:35:21, INFO: Layerwise_graph: False -2024-02-20 15:35:21, INFO: Skip_connection: True -2024-02-20 15:35:21, INFO: Number of layers: 1 -2024-02-20 15:35:21, INFO: Similarity_func: concatenation -2024-02-20 15:35:21, INFO: Layerwise_graph: False -2024-02-20 15:35:21, INFO: Skip_connection: True -2024-02-20 15:35:21, INFO: Number of layers: 1 -2024-02-20 15:35:21, INFO: Planning depth: 1 -2024-02-20 15:35:21, INFO: Planning width: 10 -2024-02-20 15:35:21, INFO: Sparse search: None -2024-02-20 15:35:24, INFO: human number: 10 -2024-02-20 15:35:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:24, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:29, INFO: Using device: cpu -2024-02-20 15:35:29, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:29, INFO: Similarity_func: concatenation -2024-02-20 15:35:29, INFO: Layerwise_graph: False -2024-02-20 15:35:29, INFO: Skip_connection: True -2024-02-20 15:35:29, INFO: Number of layers: 1 -2024-02-20 15:35:29, INFO: Similarity_func: concatenation -2024-02-20 15:35:29, INFO: Layerwise_graph: False -2024-02-20 15:35:29, INFO: Skip_connection: True -2024-02-20 15:35:29, INFO: Number of layers: 1 -2024-02-20 15:35:29, INFO: Planning depth: 1 -2024-02-20 15:35:29, INFO: Planning width: 10 -2024-02-20 15:35:29, INFO: Sparse search: None -2024-02-20 15:35:32, INFO: human number: 10 -2024-02-20 15:35:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:32, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:37, INFO: Using device: cpu -2024-02-20 15:35:37, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:37, INFO: Similarity_func: concatenation -2024-02-20 15:35:37, INFO: Layerwise_graph: False -2024-02-20 15:35:37, INFO: Skip_connection: True -2024-02-20 15:35:37, INFO: Number of layers: 1 -2024-02-20 15:35:37, INFO: Similarity_func: concatenation -2024-02-20 15:35:37, INFO: Layerwise_graph: False -2024-02-20 15:35:37, INFO: Skip_connection: True -2024-02-20 15:35:37, INFO: Number of layers: 1 -2024-02-20 15:35:37, INFO: Planning depth: 1 -2024-02-20 15:35:37, INFO: Planning width: 10 -2024-02-20 15:35:37, INFO: Sparse search: None -2024-02-20 15:35:40, INFO: human number: 10 -2024-02-20 15:35:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:40, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:45, INFO: Using device: cpu -2024-02-20 15:35:45, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:45, INFO: Similarity_func: concatenation -2024-02-20 15:35:45, INFO: Layerwise_graph: False -2024-02-20 15:35:45, INFO: Skip_connection: True -2024-02-20 15:35:45, INFO: Number of layers: 1 -2024-02-20 15:35:45, INFO: Similarity_func: concatenation -2024-02-20 15:35:45, INFO: Layerwise_graph: False -2024-02-20 15:35:45, INFO: Skip_connection: True -2024-02-20 15:35:45, INFO: Number of layers: 1 -2024-02-20 15:35:45, INFO: Planning depth: 1 -2024-02-20 15:35:45, INFO: Planning width: 10 -2024-02-20 15:35:45, INFO: Sparse search: None -2024-02-20 15:35:48, INFO: human number: 10 -2024-02-20 15:35:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:48, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:52, INFO: Using device: cpu -2024-02-20 15:35:52, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:52, INFO: Similarity_func: concatenation -2024-02-20 15:35:52, INFO: Layerwise_graph: False -2024-02-20 15:35:52, INFO: Skip_connection: True -2024-02-20 15:35:52, INFO: Number of layers: 1 -2024-02-20 15:35:52, INFO: Similarity_func: concatenation -2024-02-20 15:35:52, INFO: Layerwise_graph: False -2024-02-20 15:35:52, INFO: Skip_connection: True -2024-02-20 15:35:52, INFO: Number of layers: 1 -2024-02-20 15:35:52, INFO: Planning depth: 1 -2024-02-20 15:35:52, INFO: Planning width: 10 -2024-02-20 15:35:52, INFO: Sparse search: None -2024-02-20 15:35:54, INFO: human number: 10 -2024-02-20 15:35:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:35:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:35:54, INFO: Square width: 10, circle width: 4 -2024-02-20 15:35:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:35:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:35:59, INFO: Using device: cpu -2024-02-20 15:35:59, INFO: Loaded RL weights with best VAL -2024-02-20 15:35:59, INFO: Similarity_func: concatenation -2024-02-20 15:35:59, INFO: Layerwise_graph: False -2024-02-20 15:35:59, INFO: Skip_connection: True -2024-02-20 15:35:59, INFO: Number of layers: 1 -2024-02-20 15:35:59, INFO: Similarity_func: concatenation -2024-02-20 15:35:59, INFO: Layerwise_graph: False -2024-02-20 15:35:59, INFO: Skip_connection: True -2024-02-20 15:35:59, INFO: Number of layers: 1 -2024-02-20 15:35:59, INFO: Planning depth: 1 -2024-02-20 15:35:59, INFO: Planning width: 10 -2024-02-20 15:35:59, INFO: Sparse search: None -2024-02-20 15:36:02, INFO: human number: 10 -2024-02-20 15:36:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:36:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:36:02, INFO: Square width: 10, circle width: 4 -2024-02-20 15:36:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:36:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:36:04, INFO: Animation.save using -2024-02-20 15:36:39, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.855249 -2024-02-20 15:36:42, INFO: Using device: cpu -2024-02-20 15:36:42, INFO: Loaded RL weights with best VAL -2024-02-20 15:36:42, INFO: Similarity_func: concatenation -2024-02-20 15:36:42, INFO: Layerwise_graph: False -2024-02-20 15:36:42, INFO: Skip_connection: True -2024-02-20 15:36:42, INFO: Number of layers: 1 -2024-02-20 15:36:42, INFO: Similarity_func: concatenation -2024-02-20 15:36:42, INFO: Layerwise_graph: False -2024-02-20 15:36:42, INFO: Skip_connection: True -2024-02-20 15:36:42, INFO: Number of layers: 1 -2024-02-20 15:36:42, INFO: Planning depth: 1 -2024-02-20 15:36:42, INFO: Planning width: 10 -2024-02-20 15:36:42, INFO: Sparse search: None -2024-02-20 15:36:45, INFO: human number: 10 -2024-02-20 15:36:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:36:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:36:45, INFO: Square width: 10, circle width: 4 -2024-02-20 15:36:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:36:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:36:50, INFO: Using device: cpu -2024-02-20 15:36:50, INFO: Loaded RL weights with best VAL -2024-02-20 15:36:50, INFO: Similarity_func: concatenation -2024-02-20 15:36:50, INFO: Layerwise_graph: False -2024-02-20 15:36:50, INFO: Skip_connection: True -2024-02-20 15:36:50, INFO: Number of layers: 1 -2024-02-20 15:36:50, INFO: Similarity_func: concatenation -2024-02-20 15:36:50, INFO: Layerwise_graph: False -2024-02-20 15:36:50, INFO: Skip_connection: True -2024-02-20 15:36:50, INFO: Number of layers: 1 -2024-02-20 15:36:50, INFO: Planning depth: 1 -2024-02-20 15:36:50, INFO: Planning width: 10 -2024-02-20 15:36:50, INFO: Sparse search: None -2024-02-20 15:36:53, INFO: human number: 10 -2024-02-20 15:36:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:36:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:36:53, INFO: Square width: 10, circle width: 4 -2024-02-20 15:36:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:36:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:36:57, INFO: Using device: cpu -2024-02-20 15:36:57, INFO: Loaded RL weights with best VAL -2024-02-20 15:36:57, INFO: Similarity_func: concatenation -2024-02-20 15:36:57, INFO: Layerwise_graph: False -2024-02-20 15:36:57, INFO: Skip_connection: True -2024-02-20 15:36:57, INFO: Number of layers: 1 -2024-02-20 15:36:57, INFO: Similarity_func: concatenation -2024-02-20 15:36:57, INFO: Layerwise_graph: False -2024-02-20 15:36:57, INFO: Skip_connection: True -2024-02-20 15:36:57, INFO: Number of layers: 1 -2024-02-20 15:36:57, INFO: Planning depth: 1 -2024-02-20 15:36:57, INFO: Planning width: 10 -2024-02-20 15:36:57, INFO: Sparse search: None -2024-02-20 15:37:00, INFO: human number: 10 -2024-02-20 15:37:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:00, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:05, INFO: Using device: cpu -2024-02-20 15:37:05, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:05, INFO: Similarity_func: concatenation -2024-02-20 15:37:05, INFO: Layerwise_graph: False -2024-02-20 15:37:05, INFO: Skip_connection: True -2024-02-20 15:37:05, INFO: Number of layers: 1 -2024-02-20 15:37:05, INFO: Similarity_func: concatenation -2024-02-20 15:37:05, INFO: Layerwise_graph: False -2024-02-20 15:37:05, INFO: Skip_connection: True -2024-02-20 15:37:05, INFO: Number of layers: 1 -2024-02-20 15:37:05, INFO: Planning depth: 1 -2024-02-20 15:37:05, INFO: Planning width: 10 -2024-02-20 15:37:05, INFO: Sparse search: None -2024-02-20 15:37:08, INFO: human number: 10 -2024-02-20 15:37:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:08, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:13, INFO: Using device: cpu -2024-02-20 15:37:13, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:13, INFO: Similarity_func: concatenation -2024-02-20 15:37:13, INFO: Layerwise_graph: False -2024-02-20 15:37:13, INFO: Skip_connection: True -2024-02-20 15:37:13, INFO: Number of layers: 1 -2024-02-20 15:37:13, INFO: Similarity_func: concatenation -2024-02-20 15:37:13, INFO: Layerwise_graph: False -2024-02-20 15:37:13, INFO: Skip_connection: True -2024-02-20 15:37:13, INFO: Number of layers: 1 -2024-02-20 15:37:13, INFO: Planning depth: 1 -2024-02-20 15:37:13, INFO: Planning width: 10 -2024-02-20 15:37:13, INFO: Sparse search: None -2024-02-20 15:37:15, INFO: human number: 10 -2024-02-20 15:37:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:15, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:20, INFO: Using device: cpu -2024-02-20 15:37:20, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:20, INFO: Similarity_func: concatenation -2024-02-20 15:37:20, INFO: Layerwise_graph: False -2024-02-20 15:37:20, INFO: Skip_connection: True -2024-02-20 15:37:20, INFO: Number of layers: 1 -2024-02-20 15:37:20, INFO: Similarity_func: concatenation -2024-02-20 15:37:20, INFO: Layerwise_graph: False -2024-02-20 15:37:20, INFO: Skip_connection: True -2024-02-20 15:37:20, INFO: Number of layers: 1 -2024-02-20 15:37:20, INFO: Planning depth: 1 -2024-02-20 15:37:20, INFO: Planning width: 10 -2024-02-20 15:37:20, INFO: Sparse search: None -2024-02-20 15:37:22, INFO: human number: 10 -2024-02-20 15:37:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:22, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:27, INFO: Using device: cpu -2024-02-20 15:37:27, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:27, INFO: Similarity_func: concatenation -2024-02-20 15:37:27, INFO: Layerwise_graph: False -2024-02-20 15:37:27, INFO: Skip_connection: True -2024-02-20 15:37:27, INFO: Number of layers: 1 -2024-02-20 15:37:27, INFO: Similarity_func: concatenation -2024-02-20 15:37:27, INFO: Layerwise_graph: False -2024-02-20 15:37:27, INFO: Skip_connection: True -2024-02-20 15:37:27, INFO: Number of layers: 1 -2024-02-20 15:37:27, INFO: Planning depth: 1 -2024-02-20 15:37:27, INFO: Planning width: 10 -2024-02-20 15:37:27, INFO: Sparse search: None -2024-02-20 15:37:30, INFO: human number: 10 -2024-02-20 15:37:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:30, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:37, INFO: Using device: cpu -2024-02-20 15:37:37, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:37, INFO: Similarity_func: concatenation -2024-02-20 15:37:37, INFO: Layerwise_graph: False -2024-02-20 15:37:37, INFO: Skip_connection: True -2024-02-20 15:37:37, INFO: Number of layers: 1 -2024-02-20 15:37:37, INFO: Similarity_func: concatenation -2024-02-20 15:37:37, INFO: Layerwise_graph: False -2024-02-20 15:37:37, INFO: Skip_connection: True -2024-02-20 15:37:37, INFO: Number of layers: 1 -2024-02-20 15:37:37, INFO: Planning depth: 1 -2024-02-20 15:37:37, INFO: Planning width: 10 -2024-02-20 15:37:37, INFO: Sparse search: None -2024-02-20 15:37:39, INFO: human number: 10 -2024-02-20 15:37:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:39, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:46, INFO: Using device: cpu -2024-02-20 15:37:46, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:46, INFO: Similarity_func: concatenation -2024-02-20 15:37:46, INFO: Layerwise_graph: False -2024-02-20 15:37:46, INFO: Skip_connection: True -2024-02-20 15:37:46, INFO: Number of layers: 1 -2024-02-20 15:37:46, INFO: Similarity_func: concatenation -2024-02-20 15:37:46, INFO: Layerwise_graph: False -2024-02-20 15:37:46, INFO: Skip_connection: True -2024-02-20 15:37:46, INFO: Number of layers: 1 -2024-02-20 15:37:46, INFO: Planning depth: 1 -2024-02-20 15:37:46, INFO: Planning width: 10 -2024-02-20 15:37:46, INFO: Sparse search: None -2024-02-20 15:37:49, INFO: human number: 10 -2024-02-20 15:37:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:49, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:54, INFO: Using device: cpu -2024-02-20 15:37:54, INFO: Loaded RL weights with best VAL -2024-02-20 15:37:54, INFO: Similarity_func: concatenation -2024-02-20 15:37:54, INFO: Layerwise_graph: False -2024-02-20 15:37:54, INFO: Skip_connection: True -2024-02-20 15:37:54, INFO: Number of layers: 1 -2024-02-20 15:37:54, INFO: Similarity_func: concatenation -2024-02-20 15:37:54, INFO: Layerwise_graph: False -2024-02-20 15:37:54, INFO: Skip_connection: True -2024-02-20 15:37:54, INFO: Number of layers: 1 -2024-02-20 15:37:54, INFO: Planning depth: 1 -2024-02-20 15:37:54, INFO: Planning width: 10 -2024-02-20 15:37:54, INFO: Sparse search: None -2024-02-20 15:37:56, INFO: human number: 10 -2024-02-20 15:37:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:37:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:37:56, INFO: Square width: 10, circle width: 4 -2024-02-20 15:37:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:37:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:37:58, INFO: Animation.save using -2024-02-20 15:38:27, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.025025 -2024-02-20 15:38:30, INFO: Using device: cpu -2024-02-20 15:38:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:38:30, INFO: Similarity_func: concatenation -2024-02-20 15:38:30, INFO: Layerwise_graph: False -2024-02-20 15:38:30, INFO: Skip_connection: True -2024-02-20 15:38:30, INFO: Number of layers: 1 -2024-02-20 15:38:30, INFO: Similarity_func: concatenation -2024-02-20 15:38:30, INFO: Layerwise_graph: False -2024-02-20 15:38:30, INFO: Skip_connection: True -2024-02-20 15:38:30, INFO: Number of layers: 1 -2024-02-20 15:38:30, INFO: Planning depth: 1 -2024-02-20 15:38:30, INFO: Planning width: 10 -2024-02-20 15:38:30, INFO: Sparse search: None -2024-02-20 15:38:33, INFO: human number: 10 -2024-02-20 15:38:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:38:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:38:33, INFO: Square width: 10, circle width: 4 -2024-02-20 15:38:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:38:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:38:38, INFO: Using device: cpu -2024-02-20 15:38:38, INFO: Loaded RL weights with best VAL -2024-02-20 15:38:38, INFO: Similarity_func: concatenation -2024-02-20 15:38:38, INFO: Layerwise_graph: False -2024-02-20 15:38:38, INFO: Skip_connection: True -2024-02-20 15:38:38, INFO: Number of layers: 1 -2024-02-20 15:38:38, INFO: Similarity_func: concatenation -2024-02-20 15:38:38, INFO: Layerwise_graph: False -2024-02-20 15:38:38, INFO: Skip_connection: True -2024-02-20 15:38:38, INFO: Number of layers: 1 -2024-02-20 15:38:38, INFO: Planning depth: 1 -2024-02-20 15:38:38, INFO: Planning width: 10 -2024-02-20 15:38:38, INFO: Sparse search: None -2024-02-20 15:38:41, INFO: human number: 10 -2024-02-20 15:38:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:38:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:38:41, INFO: Square width: 10, circle width: 4 -2024-02-20 15:38:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:38:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:38:46, INFO: Using device: cpu -2024-02-20 15:38:46, INFO: Loaded RL weights with best VAL -2024-02-20 15:38:46, INFO: Similarity_func: concatenation -2024-02-20 15:38:46, INFO: Layerwise_graph: False -2024-02-20 15:38:46, INFO: Skip_connection: True -2024-02-20 15:38:46, INFO: Number of layers: 1 -2024-02-20 15:38:46, INFO: Similarity_func: concatenation -2024-02-20 15:38:46, INFO: Layerwise_graph: False -2024-02-20 15:38:46, INFO: Skip_connection: True -2024-02-20 15:38:46, INFO: Number of layers: 1 -2024-02-20 15:38:46, INFO: Planning depth: 1 -2024-02-20 15:38:46, INFO: Planning width: 10 -2024-02-20 15:38:46, INFO: Sparse search: None -2024-02-20 15:38:48, INFO: human number: 10 -2024-02-20 15:38:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:38:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:38:48, INFO: Square width: 10, circle width: 4 -2024-02-20 15:38:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:38:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:38:51, INFO: Animation.save using -2024-02-20 15:39:26, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959918 -2024-02-20 15:39:30, INFO: Using device: cpu -2024-02-20 15:39:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:39:30, INFO: Similarity_func: concatenation -2024-02-20 15:39:30, INFO: Layerwise_graph: False -2024-02-20 15:39:30, INFO: Skip_connection: True -2024-02-20 15:39:30, INFO: Number of layers: 1 -2024-02-20 15:39:30, INFO: Similarity_func: concatenation -2024-02-20 15:39:30, INFO: Layerwise_graph: False -2024-02-20 15:39:30, INFO: Skip_connection: True -2024-02-20 15:39:30, INFO: Number of layers: 1 -2024-02-20 15:39:30, INFO: Planning depth: 1 -2024-02-20 15:39:30, INFO: Planning width: 10 -2024-02-20 15:39:30, INFO: Sparse search: None -2024-02-20 15:39:32, INFO: human number: 10 -2024-02-20 15:39:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:39:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:39:32, INFO: Square width: 10, circle width: 4 -2024-02-20 15:39:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:39:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:39:37, INFO: Using device: cpu -2024-02-20 15:39:37, INFO: Loaded RL weights with best VAL -2024-02-20 15:39:37, INFO: Similarity_func: concatenation -2024-02-20 15:39:37, INFO: Layerwise_graph: False -2024-02-20 15:39:37, INFO: Skip_connection: True -2024-02-20 15:39:37, INFO: Number of layers: 1 -2024-02-20 15:39:37, INFO: Similarity_func: concatenation -2024-02-20 15:39:37, INFO: Layerwise_graph: False -2024-02-20 15:39:37, INFO: Skip_connection: True -2024-02-20 15:39:37, INFO: Number of layers: 1 -2024-02-20 15:39:37, INFO: Planning depth: 1 -2024-02-20 15:39:37, INFO: Planning width: 10 -2024-02-20 15:39:37, INFO: Sparse search: None -2024-02-20 15:39:40, INFO: human number: 10 -2024-02-20 15:39:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:39:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:39:40, INFO: Square width: 10, circle width: 4 -2024-02-20 15:39:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:39:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:39:45, INFO: Using device: cpu -2024-02-20 15:39:45, INFO: Loaded RL weights with best VAL -2024-02-20 15:39:45, INFO: Similarity_func: concatenation -2024-02-20 15:39:45, INFO: Layerwise_graph: False -2024-02-20 15:39:45, INFO: Skip_connection: True -2024-02-20 15:39:45, INFO: Number of layers: 1 -2024-02-20 15:39:45, INFO: Similarity_func: concatenation -2024-02-20 15:39:45, INFO: Layerwise_graph: False -2024-02-20 15:39:45, INFO: Skip_connection: True -2024-02-20 15:39:45, INFO: Number of layers: 1 -2024-02-20 15:39:45, INFO: Planning depth: 1 -2024-02-20 15:39:45, INFO: Planning width: 10 -2024-02-20 15:39:45, INFO: Sparse search: None -2024-02-20 15:39:47, INFO: human number: 10 -2024-02-20 15:39:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:39:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:39:47, INFO: Square width: 10, circle width: 4 -2024-02-20 15:39:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:39:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:39:52, INFO: Using device: cpu -2024-02-20 15:39:52, INFO: Loaded RL weights with best VAL -2024-02-20 15:39:52, INFO: Similarity_func: concatenation -2024-02-20 15:39:52, INFO: Layerwise_graph: False -2024-02-20 15:39:52, INFO: Skip_connection: True -2024-02-20 15:39:52, INFO: Number of layers: 1 -2024-02-20 15:39:52, INFO: Similarity_func: concatenation -2024-02-20 15:39:52, INFO: Layerwise_graph: False -2024-02-20 15:39:52, INFO: Skip_connection: True -2024-02-20 15:39:52, INFO: Number of layers: 1 -2024-02-20 15:39:52, INFO: Planning depth: 1 -2024-02-20 15:39:52, INFO: Planning width: 10 -2024-02-20 15:39:52, INFO: Sparse search: None -2024-02-20 15:39:55, INFO: human number: 10 -2024-02-20 15:39:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:39:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:39:55, INFO: Square width: 10, circle width: 4 -2024-02-20 15:39:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:39:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:40:00, INFO: Using device: cpu -2024-02-20 15:40:00, INFO: Loaded RL weights with best VAL -2024-02-20 15:40:00, INFO: Similarity_func: concatenation -2024-02-20 15:40:00, INFO: Layerwise_graph: False -2024-02-20 15:40:00, INFO: Skip_connection: True -2024-02-20 15:40:00, INFO: Number of layers: 1 -2024-02-20 15:40:00, INFO: Similarity_func: concatenation -2024-02-20 15:40:00, INFO: Layerwise_graph: False -2024-02-20 15:40:00, INFO: Skip_connection: True -2024-02-20 15:40:00, INFO: Number of layers: 1 -2024-02-20 15:40:00, INFO: Planning depth: 1 -2024-02-20 15:40:00, INFO: Planning width: 10 -2024-02-20 15:40:00, INFO: Sparse search: None -2024-02-20 15:40:03, INFO: human number: 10 -2024-02-20 15:40:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:40:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:40:03, INFO: Square width: 10, circle width: 4 -2024-02-20 15:40:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:40:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:40:12, INFO: Using device: cpu -2024-02-20 15:40:12, INFO: Loaded RL weights with best VAL -2024-02-20 15:40:12, INFO: Similarity_func: concatenation -2024-02-20 15:40:12, INFO: Layerwise_graph: False -2024-02-20 15:40:12, INFO: Skip_connection: True -2024-02-20 15:40:12, INFO: Number of layers: 1 -2024-02-20 15:40:12, INFO: Similarity_func: concatenation -2024-02-20 15:40:12, INFO: Layerwise_graph: False -2024-02-20 15:40:12, INFO: Skip_connection: True -2024-02-20 15:40:12, INFO: Number of layers: 1 -2024-02-20 15:40:12, INFO: Planning depth: 1 -2024-02-20 15:40:12, INFO: Planning width: 10 -2024-02-20 15:40:12, INFO: Sparse search: None -2024-02-20 15:40:15, INFO: human number: 10 -2024-02-20 15:40:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:40:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:40:15, INFO: Square width: 10, circle width: 4 -2024-02-20 15:40:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:40:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:40:20, INFO: Using device: cpu -2024-02-20 15:40:20, INFO: Loaded RL weights with best VAL -2024-02-20 15:40:20, INFO: Similarity_func: concatenation -2024-02-20 15:40:20, INFO: Layerwise_graph: False -2024-02-20 15:40:20, INFO: Skip_connection: True -2024-02-20 15:40:20, INFO: Number of layers: 1 -2024-02-20 15:40:20, INFO: Similarity_func: concatenation -2024-02-20 15:40:20, INFO: Layerwise_graph: False -2024-02-20 15:40:20, INFO: Skip_connection: True -2024-02-20 15:40:20, INFO: Number of layers: 1 -2024-02-20 15:40:20, INFO: Planning depth: 1 -2024-02-20 15:40:20, INFO: Planning width: 10 -2024-02-20 15:40:20, INFO: Sparse search: None -2024-02-20 15:40:23, INFO: human number: 10 -2024-02-20 15:40:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:40:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:40:23, INFO: Square width: 10, circle width: 4 -2024-02-20 15:40:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:40:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:40:26, INFO: Animation.save using -2024-02-20 15:43:07, INFO: Using device: cpu -2024-02-20 15:43:07, INFO: Loaded RL weights with best VAL -2024-02-20 15:43:07, INFO: Similarity_func: concatenation -2024-02-20 15:43:07, INFO: Layerwise_graph: False -2024-02-20 15:43:07, INFO: Skip_connection: True -2024-02-20 15:43:07, INFO: Number of layers: 1 -2024-02-20 15:43:07, INFO: Similarity_func: concatenation -2024-02-20 15:43:07, INFO: Layerwise_graph: False -2024-02-20 15:43:07, INFO: Skip_connection: True -2024-02-20 15:43:07, INFO: Number of layers: 1 -2024-02-20 15:43:07, INFO: Planning depth: 1 -2024-02-20 15:43:07, INFO: Planning width: 10 -2024-02-20 15:43:07, INFO: Sparse search: None -2024-02-20 15:43:10, INFO: human number: 10 -2024-02-20 15:43:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:43:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:43:10, INFO: Square width: 10, circle width: 4 -2024-02-20 15:43:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:43:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:43:12, INFO: Animation.save using -2024-02-20 15:43:37, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-02-20 15:43:39, INFO: Using device: cpu -2024-02-20 15:43:39, INFO: Loaded RL weights with best VAL -2024-02-20 15:43:40, INFO: Similarity_func: concatenation -2024-02-20 15:43:40, INFO: Layerwise_graph: False -2024-02-20 15:43:40, INFO: Skip_connection: True -2024-02-20 15:43:40, INFO: Number of layers: 1 -2024-02-20 15:43:40, INFO: Similarity_func: concatenation -2024-02-20 15:43:40, INFO: Layerwise_graph: False -2024-02-20 15:43:40, INFO: Skip_connection: True -2024-02-20 15:43:40, INFO: Number of layers: 1 -2024-02-20 15:43:40, INFO: Planning depth: 1 -2024-02-20 15:43:40, INFO: Planning width: 10 -2024-02-20 15:43:40, INFO: Sparse search: None -2024-02-20 15:43:42, INFO: human number: 10 -2024-02-20 15:43:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:43:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:43:42, INFO: Square width: 10, circle width: 4 -2024-02-20 15:43:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:43:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:43:47, INFO: Using device: cpu -2024-02-20 15:43:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:43:47, INFO: Similarity_func: concatenation -2024-02-20 15:43:47, INFO: Layerwise_graph: False -2024-02-20 15:43:47, INFO: Skip_connection: True -2024-02-20 15:43:47, INFO: Number of layers: 1 -2024-02-20 15:43:47, INFO: Similarity_func: concatenation -2024-02-20 15:43:47, INFO: Layerwise_graph: False -2024-02-20 15:43:47, INFO: Skip_connection: True -2024-02-20 15:43:47, INFO: Number of layers: 1 -2024-02-20 15:43:47, INFO: Planning depth: 1 -2024-02-20 15:43:47, INFO: Planning width: 10 -2024-02-20 15:43:47, INFO: Sparse search: None -2024-02-20 15:43:50, INFO: human number: 10 -2024-02-20 15:43:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:43:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:43:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:43:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:43:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:43:55, INFO: Using device: cpu -2024-02-20 15:43:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:43:55, INFO: Similarity_func: concatenation -2024-02-20 15:43:55, INFO: Layerwise_graph: False -2024-02-20 15:43:55, INFO: Skip_connection: True -2024-02-20 15:43:55, INFO: Number of layers: 1 -2024-02-20 15:43:55, INFO: Similarity_func: concatenation -2024-02-20 15:43:55, INFO: Layerwise_graph: False -2024-02-20 15:43:55, INFO: Skip_connection: True -2024-02-20 15:43:55, INFO: Number of layers: 1 -2024-02-20 15:43:55, INFO: Planning depth: 1 -2024-02-20 15:43:55, INFO: Planning width: 10 -2024-02-20 15:43:55, INFO: Sparse search: None -2024-02-20 15:43:58, INFO: human number: 10 -2024-02-20 15:43:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:43:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:43:58, INFO: Square width: 10, circle width: 4 -2024-02-20 15:43:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:43:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:04, INFO: Using device: cpu -2024-02-20 15:44:04, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:04, INFO: Similarity_func: concatenation -2024-02-20 15:44:04, INFO: Layerwise_graph: False -2024-02-20 15:44:04, INFO: Skip_connection: True -2024-02-20 15:44:04, INFO: Number of layers: 1 -2024-02-20 15:44:04, INFO: Similarity_func: concatenation -2024-02-20 15:44:04, INFO: Layerwise_graph: False -2024-02-20 15:44:04, INFO: Skip_connection: True -2024-02-20 15:44:04, INFO: Number of layers: 1 -2024-02-20 15:44:04, INFO: Planning depth: 1 -2024-02-20 15:44:04, INFO: Planning width: 10 -2024-02-20 15:44:04, INFO: Sparse search: None -2024-02-20 15:44:06, INFO: human number: 10 -2024-02-20 15:44:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:11, INFO: Using device: cpu -2024-02-20 15:44:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:11, INFO: Similarity_func: concatenation -2024-02-20 15:44:11, INFO: Layerwise_graph: False -2024-02-20 15:44:11, INFO: Skip_connection: True -2024-02-20 15:44:11, INFO: Number of layers: 1 -2024-02-20 15:44:11, INFO: Similarity_func: concatenation -2024-02-20 15:44:11, INFO: Layerwise_graph: False -2024-02-20 15:44:11, INFO: Skip_connection: True -2024-02-20 15:44:11, INFO: Number of layers: 1 -2024-02-20 15:44:11, INFO: Planning depth: 1 -2024-02-20 15:44:11, INFO: Planning width: 10 -2024-02-20 15:44:11, INFO: Sparse search: None -2024-02-20 15:44:14, INFO: human number: 10 -2024-02-20 15:44:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:14, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:18, INFO: Using device: cpu -2024-02-20 15:44:18, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:18, INFO: Similarity_func: concatenation -2024-02-20 15:44:18, INFO: Layerwise_graph: False -2024-02-20 15:44:18, INFO: Skip_connection: True -2024-02-20 15:44:18, INFO: Number of layers: 1 -2024-02-20 15:44:18, INFO: Similarity_func: concatenation -2024-02-20 15:44:18, INFO: Layerwise_graph: False -2024-02-20 15:44:18, INFO: Skip_connection: True -2024-02-20 15:44:18, INFO: Number of layers: 1 -2024-02-20 15:44:18, INFO: Planning depth: 1 -2024-02-20 15:44:18, INFO: Planning width: 10 -2024-02-20 15:44:18, INFO: Sparse search: None -2024-02-20 15:44:21, INFO: human number: 10 -2024-02-20 15:44:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:21, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:26, INFO: Using device: cpu -2024-02-20 15:44:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:26, INFO: Similarity_func: concatenation -2024-02-20 15:44:26, INFO: Layerwise_graph: False -2024-02-20 15:44:26, INFO: Skip_connection: True -2024-02-20 15:44:26, INFO: Number of layers: 1 -2024-02-20 15:44:26, INFO: Similarity_func: concatenation -2024-02-20 15:44:26, INFO: Layerwise_graph: False -2024-02-20 15:44:26, INFO: Skip_connection: True -2024-02-20 15:44:26, INFO: Number of layers: 1 -2024-02-20 15:44:26, INFO: Planning depth: 1 -2024-02-20 15:44:26, INFO: Planning width: 10 -2024-02-20 15:44:26, INFO: Sparse search: None -2024-02-20 15:44:29, INFO: human number: 10 -2024-02-20 15:44:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:33, INFO: Using device: cpu -2024-02-20 15:44:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:33, INFO: Similarity_func: concatenation -2024-02-20 15:44:33, INFO: Layerwise_graph: False -2024-02-20 15:44:33, INFO: Skip_connection: True -2024-02-20 15:44:33, INFO: Number of layers: 1 -2024-02-20 15:44:33, INFO: Similarity_func: concatenation -2024-02-20 15:44:33, INFO: Layerwise_graph: False -2024-02-20 15:44:33, INFO: Skip_connection: True -2024-02-20 15:44:33, INFO: Number of layers: 1 -2024-02-20 15:44:33, INFO: Planning depth: 1 -2024-02-20 15:44:33, INFO: Planning width: 10 -2024-02-20 15:44:33, INFO: Sparse search: None -2024-02-20 15:44:36, INFO: human number: 10 -2024-02-20 15:44:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:36, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:40, INFO: Using device: cpu -2024-02-20 15:44:40, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:40, INFO: Similarity_func: concatenation -2024-02-20 15:44:40, INFO: Layerwise_graph: False -2024-02-20 15:44:40, INFO: Skip_connection: True -2024-02-20 15:44:40, INFO: Number of layers: 1 -2024-02-20 15:44:40, INFO: Similarity_func: concatenation -2024-02-20 15:44:40, INFO: Layerwise_graph: False -2024-02-20 15:44:40, INFO: Skip_connection: True -2024-02-20 15:44:40, INFO: Number of layers: 1 -2024-02-20 15:44:40, INFO: Planning depth: 1 -2024-02-20 15:44:40, INFO: Planning width: 10 -2024-02-20 15:44:40, INFO: Sparse search: None -2024-02-20 15:44:43, INFO: human number: 10 -2024-02-20 15:44:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:50, INFO: Using device: cpu -2024-02-20 15:44:50, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:50, INFO: Similarity_func: concatenation -2024-02-20 15:44:50, INFO: Layerwise_graph: False -2024-02-20 15:44:50, INFO: Skip_connection: True -2024-02-20 15:44:50, INFO: Number of layers: 1 -2024-02-20 15:44:50, INFO: Similarity_func: concatenation -2024-02-20 15:44:50, INFO: Layerwise_graph: False -2024-02-20 15:44:50, INFO: Skip_connection: True -2024-02-20 15:44:50, INFO: Number of layers: 1 -2024-02-20 15:44:50, INFO: Planning depth: 1 -2024-02-20 15:44:50, INFO: Planning width: 10 -2024-02-20 15:44:50, INFO: Sparse search: None -2024-02-20 15:44:52, INFO: human number: 10 -2024-02-20 15:44:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:44:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:44:52, INFO: Square width: 10, circle width: 4 -2024-02-20 15:44:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:44:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:44:57, INFO: Using device: cpu -2024-02-20 15:44:57, INFO: Loaded RL weights with best VAL -2024-02-20 15:44:57, INFO: Similarity_func: concatenation -2024-02-20 15:44:57, INFO: Layerwise_graph: False -2024-02-20 15:44:57, INFO: Skip_connection: True -2024-02-20 15:44:57, INFO: Number of layers: 1 -2024-02-20 15:44:57, INFO: Similarity_func: concatenation -2024-02-20 15:44:57, INFO: Layerwise_graph: False -2024-02-20 15:44:57, INFO: Skip_connection: True -2024-02-20 15:44:57, INFO: Number of layers: 1 -2024-02-20 15:44:57, INFO: Planning depth: 1 -2024-02-20 15:44:57, INFO: Planning width: 10 -2024-02-20 15:44:57, INFO: Sparse search: None -2024-02-20 15:45:00, INFO: human number: 10 -2024-02-20 15:45:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:45:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:45:00, INFO: Square width: 10, circle width: 4 -2024-02-20 15:45:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:45:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:45:03, INFO: Animation.save using -2024-02-20 15:45:53, INFO: It takes 15.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.756066 -2024-02-20 15:45:56, INFO: Using device: cpu -2024-02-20 15:45:56, INFO: Loaded RL weights with best VAL -2024-02-20 15:45:56, INFO: Similarity_func: concatenation -2024-02-20 15:45:56, INFO: Layerwise_graph: False -2024-02-20 15:45:56, INFO: Skip_connection: True -2024-02-20 15:45:56, INFO: Number of layers: 1 -2024-02-20 15:45:56, INFO: Similarity_func: concatenation -2024-02-20 15:45:56, INFO: Layerwise_graph: False -2024-02-20 15:45:56, INFO: Skip_connection: True -2024-02-20 15:45:56, INFO: Number of layers: 1 -2024-02-20 15:45:56, INFO: Planning depth: 1 -2024-02-20 15:45:56, INFO: Planning width: 10 -2024-02-20 15:45:56, INFO: Sparse search: None -2024-02-20 15:45:59, INFO: human number: 10 -2024-02-20 15:45:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:45:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:45:59, INFO: Square width: 10, circle width: 4 -2024-02-20 15:45:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:45:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:46:04, INFO: Using device: cpu -2024-02-20 15:46:04, INFO: Loaded RL weights with best VAL -2024-02-20 15:46:04, INFO: Similarity_func: concatenation -2024-02-20 15:46:04, INFO: Layerwise_graph: False -2024-02-20 15:46:04, INFO: Skip_connection: True -2024-02-20 15:46:04, INFO: Number of layers: 1 -2024-02-20 15:46:04, INFO: Similarity_func: concatenation -2024-02-20 15:46:04, INFO: Layerwise_graph: False -2024-02-20 15:46:04, INFO: Skip_connection: True -2024-02-20 15:46:04, INFO: Number of layers: 1 -2024-02-20 15:46:04, INFO: Planning depth: 1 -2024-02-20 15:46:04, INFO: Planning width: 10 -2024-02-20 15:46:04, INFO: Sparse search: None -2024-02-20 15:46:06, INFO: human number: 10 -2024-02-20 15:46:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:46:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:46:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:46:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:46:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:46:12, INFO: Using device: cpu -2024-02-20 15:46:12, INFO: Loaded RL weights with best VAL -2024-02-20 15:46:12, INFO: Similarity_func: concatenation -2024-02-20 15:46:12, INFO: Layerwise_graph: False -2024-02-20 15:46:12, INFO: Skip_connection: True -2024-02-20 15:46:12, INFO: Number of layers: 1 -2024-02-20 15:46:12, INFO: Similarity_func: concatenation -2024-02-20 15:46:12, INFO: Layerwise_graph: False -2024-02-20 15:46:12, INFO: Skip_connection: True -2024-02-20 15:46:12, INFO: Number of layers: 1 -2024-02-20 15:46:12, INFO: Planning depth: 1 -2024-02-20 15:46:12, INFO: Planning width: 10 -2024-02-20 15:46:12, INFO: Sparse search: None -2024-02-20 15:46:14, INFO: human number: 10 -2024-02-20 15:46:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:46:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:46:14, INFO: Square width: 10, circle width: 4 -2024-02-20 15:46:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:46:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:46:21, INFO: Using device: cpu -2024-02-20 15:46:21, INFO: Loaded RL weights with best VAL -2024-02-20 15:46:21, INFO: Similarity_func: concatenation -2024-02-20 15:46:21, INFO: Layerwise_graph: False -2024-02-20 15:46:21, INFO: Skip_connection: True -2024-02-20 15:46:21, INFO: Number of layers: 1 -2024-02-20 15:46:21, INFO: Similarity_func: concatenation -2024-02-20 15:46:21, INFO: Layerwise_graph: False -2024-02-20 15:46:21, INFO: Skip_connection: True -2024-02-20 15:46:21, INFO: Number of layers: 1 -2024-02-20 15:46:21, INFO: Planning depth: 1 -2024-02-20 15:46:21, INFO: Planning width: 10 -2024-02-20 15:46:21, INFO: Sparse search: None -2024-02-20 15:46:23, INFO: human number: 10 -2024-02-20 15:46:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:46:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:46:23, INFO: Square width: 10, circle width: 4 -2024-02-20 15:46:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:46:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:46:25, INFO: Animation.save using -2024-02-20 15:47:00, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.991122 -2024-02-20 15:47:03, INFO: Using device: cpu -2024-02-20 15:47:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:47:03, INFO: Similarity_func: concatenation -2024-02-20 15:47:03, INFO: Layerwise_graph: False -2024-02-20 15:47:03, INFO: Skip_connection: True -2024-02-20 15:47:03, INFO: Number of layers: 1 -2024-02-20 15:47:03, INFO: Similarity_func: concatenation -2024-02-20 15:47:03, INFO: Layerwise_graph: False -2024-02-20 15:47:03, INFO: Skip_connection: True -2024-02-20 15:47:03, INFO: Number of layers: 1 -2024-02-20 15:47:03, INFO: Planning depth: 1 -2024-02-20 15:47:03, INFO: Planning width: 10 -2024-02-20 15:47:03, INFO: Sparse search: None -2024-02-20 15:47:06, INFO: human number: 10 -2024-02-20 15:47:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:47:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:47:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:47:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:47:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:47:08, INFO: Animation.save using -2024-02-20 15:47:43, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954902 -2024-02-20 15:47:46, INFO: Using device: cpu -2024-02-20 15:47:46, INFO: Loaded RL weights with best VAL -2024-02-20 15:47:46, INFO: Similarity_func: concatenation -2024-02-20 15:47:46, INFO: Layerwise_graph: False -2024-02-20 15:47:46, INFO: Skip_connection: True -2024-02-20 15:47:46, INFO: Number of layers: 1 -2024-02-20 15:47:46, INFO: Similarity_func: concatenation -2024-02-20 15:47:46, INFO: Layerwise_graph: False -2024-02-20 15:47:46, INFO: Skip_connection: True -2024-02-20 15:47:46, INFO: Number of layers: 1 -2024-02-20 15:47:46, INFO: Planning depth: 1 -2024-02-20 15:47:46, INFO: Planning width: 10 -2024-02-20 15:47:46, INFO: Sparse search: None -2024-02-20 15:47:49, INFO: human number: 10 -2024-02-20 15:47:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:47:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:47:49, INFO: Square width: 10, circle width: 4 -2024-02-20 15:47:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:47:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:47:53, INFO: Using device: cpu -2024-02-20 15:47:53, INFO: Loaded RL weights with best VAL -2024-02-20 15:47:53, INFO: Similarity_func: concatenation -2024-02-20 15:47:53, INFO: Layerwise_graph: False -2024-02-20 15:47:53, INFO: Skip_connection: True -2024-02-20 15:47:53, INFO: Number of layers: 1 -2024-02-20 15:47:53, INFO: Similarity_func: concatenation -2024-02-20 15:47:53, INFO: Layerwise_graph: False -2024-02-20 15:47:53, INFO: Skip_connection: True -2024-02-20 15:47:53, INFO: Number of layers: 1 -2024-02-20 15:47:53, INFO: Planning depth: 1 -2024-02-20 15:47:53, INFO: Planning width: 10 -2024-02-20 15:47:53, INFO: Sparse search: None -2024-02-20 15:47:56, INFO: human number: 10 -2024-02-20 15:47:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:47:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:47:56, INFO: Square width: 10, circle width: 4 -2024-02-20 15:47:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:47:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:47:59, INFO: Animation.save using -2024-02-20 15:48:37, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.960888 -2024-02-20 15:48:40, INFO: Using device: cpu -2024-02-20 15:48:40, INFO: Loaded RL weights with best VAL -2024-02-20 15:48:40, INFO: Similarity_func: concatenation -2024-02-20 15:48:40, INFO: Layerwise_graph: False -2024-02-20 15:48:40, INFO: Skip_connection: True -2024-02-20 15:48:40, INFO: Number of layers: 1 -2024-02-20 15:48:40, INFO: Similarity_func: concatenation -2024-02-20 15:48:40, INFO: Layerwise_graph: False -2024-02-20 15:48:40, INFO: Skip_connection: True -2024-02-20 15:48:40, INFO: Number of layers: 1 -2024-02-20 15:48:40, INFO: Planning depth: 1 -2024-02-20 15:48:40, INFO: Planning width: 10 -2024-02-20 15:48:40, INFO: Sparse search: None -2024-02-20 15:48:43, INFO: human number: 10 -2024-02-20 15:48:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:48:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:48:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:48:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:48:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:48:45, INFO: Animation.save using -2024-02-20 15:49:25, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.919026 -2024-02-20 15:49:28, INFO: Using device: cpu -2024-02-20 15:49:28, INFO: Loaded RL weights with best VAL -2024-02-20 15:49:28, INFO: Similarity_func: concatenation -2024-02-20 15:49:28, INFO: Layerwise_graph: False -2024-02-20 15:49:28, INFO: Skip_connection: True -2024-02-20 15:49:28, INFO: Number of layers: 1 -2024-02-20 15:49:28, INFO: Similarity_func: concatenation -2024-02-20 15:49:28, INFO: Layerwise_graph: False -2024-02-20 15:49:28, INFO: Skip_connection: True -2024-02-20 15:49:28, INFO: Number of layers: 1 -2024-02-20 15:49:28, INFO: Planning depth: 1 -2024-02-20 15:49:28, INFO: Planning width: 10 -2024-02-20 15:49:28, INFO: Sparse search: None -2024-02-20 15:49:30, INFO: human number: 10 -2024-02-20 15:49:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:49:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:49:30, INFO: Square width: 10, circle width: 4 -2024-02-20 15:49:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:49:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:49:35, INFO: Using device: cpu -2024-02-20 15:49:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:49:35, INFO: Similarity_func: concatenation -2024-02-20 15:49:35, INFO: Layerwise_graph: False -2024-02-20 15:49:35, INFO: Skip_connection: True -2024-02-20 15:49:35, INFO: Number of layers: 1 -2024-02-20 15:49:35, INFO: Similarity_func: concatenation -2024-02-20 15:49:35, INFO: Layerwise_graph: False -2024-02-20 15:49:35, INFO: Skip_connection: True -2024-02-20 15:49:35, INFO: Number of layers: 1 -2024-02-20 15:49:35, INFO: Planning depth: 1 -2024-02-20 15:49:35, INFO: Planning width: 10 -2024-02-20 15:49:35, INFO: Sparse search: None -2024-02-20 15:49:38, INFO: human number: 10 -2024-02-20 15:49:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:49:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:49:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:49:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:49:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:49:40, INFO: Animation.save using -2024-02-20 15:50:22, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-20 15:50:26, INFO: Using device: cpu -2024-02-20 15:50:26, INFO: Loaded RL weights with best VAL -2024-02-20 15:50:26, INFO: Similarity_func: concatenation -2024-02-20 15:50:26, INFO: Layerwise_graph: False -2024-02-20 15:50:26, INFO: Skip_connection: True -2024-02-20 15:50:26, INFO: Number of layers: 1 -2024-02-20 15:50:26, INFO: Similarity_func: concatenation -2024-02-20 15:50:26, INFO: Layerwise_graph: False -2024-02-20 15:50:26, INFO: Skip_connection: True -2024-02-20 15:50:26, INFO: Number of layers: 1 -2024-02-20 15:50:26, INFO: Planning depth: 1 -2024-02-20 15:50:26, INFO: Planning width: 10 -2024-02-20 15:50:26, INFO: Sparse search: None -2024-02-20 15:50:28, INFO: human number: 10 -2024-02-20 15:50:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:50:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:50:28, INFO: Square width: 10, circle width: 4 -2024-02-20 15:50:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:50:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:50:35, INFO: Using device: cpu -2024-02-20 15:50:35, INFO: Loaded RL weights with best VAL -2024-02-20 15:50:35, INFO: Similarity_func: concatenation -2024-02-20 15:50:35, INFO: Layerwise_graph: False -2024-02-20 15:50:35, INFO: Skip_connection: True -2024-02-20 15:50:35, INFO: Number of layers: 1 -2024-02-20 15:50:35, INFO: Similarity_func: concatenation -2024-02-20 15:50:35, INFO: Layerwise_graph: False -2024-02-20 15:50:35, INFO: Skip_connection: True -2024-02-20 15:50:35, INFO: Number of layers: 1 -2024-02-20 15:50:35, INFO: Planning depth: 1 -2024-02-20 15:50:35, INFO: Planning width: 10 -2024-02-20 15:50:35, INFO: Sparse search: None -2024-02-20 15:50:38, INFO: human number: 10 -2024-02-20 15:50:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:50:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:50:38, INFO: Square width: 10, circle width: 4 -2024-02-20 15:50:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:50:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:50:43, INFO: Using device: cpu -2024-02-20 15:50:43, INFO: Loaded RL weights with best VAL -2024-02-20 15:50:43, INFO: Similarity_func: concatenation -2024-02-20 15:50:43, INFO: Layerwise_graph: False -2024-02-20 15:50:43, INFO: Skip_connection: True -2024-02-20 15:50:43, INFO: Number of layers: 1 -2024-02-20 15:50:43, INFO: Similarity_func: concatenation -2024-02-20 15:50:43, INFO: Layerwise_graph: False -2024-02-20 15:50:43, INFO: Skip_connection: True -2024-02-20 15:50:43, INFO: Number of layers: 1 -2024-02-20 15:50:43, INFO: Planning depth: 1 -2024-02-20 15:50:43, INFO: Planning width: 10 -2024-02-20 15:50:43, INFO: Sparse search: None -2024-02-20 15:50:45, INFO: human number: 10 -2024-02-20 15:50:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:50:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:50:45, INFO: Square width: 10, circle width: 4 -2024-02-20 15:50:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:50:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:50:47, INFO: Animation.save using -2024-02-20 15:51:13, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.023046 -2024-02-20 15:51:15, INFO: Using device: cpu -2024-02-20 15:51:15, INFO: Loaded RL weights with best VAL -2024-02-20 15:51:15, INFO: Similarity_func: concatenation -2024-02-20 15:51:15, INFO: Layerwise_graph: False -2024-02-20 15:51:15, INFO: Skip_connection: True -2024-02-20 15:51:15, INFO: Number of layers: 1 -2024-02-20 15:51:15, INFO: Similarity_func: concatenation -2024-02-20 15:51:15, INFO: Layerwise_graph: False -2024-02-20 15:51:15, INFO: Skip_connection: True -2024-02-20 15:51:15, INFO: Number of layers: 1 -2024-02-20 15:51:15, INFO: Planning depth: 1 -2024-02-20 15:51:15, INFO: Planning width: 10 -2024-02-20 15:51:15, INFO: Sparse search: None -2024-02-20 15:51:18, INFO: human number: 10 -2024-02-20 15:51:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:51:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:51:18, INFO: Square width: 10, circle width: 4 -2024-02-20 15:51:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:51:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:51:23, INFO: Using device: cpu -2024-02-20 15:51:23, INFO: Loaded RL weights with best VAL -2024-02-20 15:51:23, INFO: Similarity_func: concatenation -2024-02-20 15:51:23, INFO: Layerwise_graph: False -2024-02-20 15:51:23, INFO: Skip_connection: True -2024-02-20 15:51:23, INFO: Number of layers: 1 -2024-02-20 15:51:23, INFO: Similarity_func: concatenation -2024-02-20 15:51:23, INFO: Layerwise_graph: False -2024-02-20 15:51:23, INFO: Skip_connection: True -2024-02-20 15:51:23, INFO: Number of layers: 1 -2024-02-20 15:51:23, INFO: Planning depth: 1 -2024-02-20 15:51:23, INFO: Planning width: 10 -2024-02-20 15:51:23, INFO: Sparse search: None -2024-02-20 15:51:25, INFO: human number: 10 -2024-02-20 15:51:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:51:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:51:25, INFO: Square width: 10, circle width: 4 -2024-02-20 15:51:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:51:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:51:27, INFO: Animation.save using -2024-02-20 15:51:52, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029249 -2024-02-20 15:51:56, INFO: Using device: cpu -2024-02-20 15:51:56, INFO: Loaded RL weights with best VAL -2024-02-20 15:51:56, INFO: Similarity_func: concatenation -2024-02-20 15:51:56, INFO: Layerwise_graph: False -2024-02-20 15:51:56, INFO: Skip_connection: True -2024-02-20 15:51:56, INFO: Number of layers: 1 -2024-02-20 15:51:56, INFO: Similarity_func: concatenation -2024-02-20 15:51:56, INFO: Layerwise_graph: False -2024-02-20 15:51:56, INFO: Skip_connection: True -2024-02-20 15:51:56, INFO: Number of layers: 1 -2024-02-20 15:51:56, INFO: Planning depth: 1 -2024-02-20 15:51:56, INFO: Planning width: 10 -2024-02-20 15:51:56, INFO: Sparse search: None -2024-02-20 15:51:58, INFO: human number: 10 -2024-02-20 15:51:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:51:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:51:58, INFO: Square width: 10, circle width: 4 -2024-02-20 15:51:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:51:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:52:03, INFO: Using device: cpu -2024-02-20 15:52:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:52:03, INFO: Similarity_func: concatenation -2024-02-20 15:52:03, INFO: Layerwise_graph: False -2024-02-20 15:52:03, INFO: Skip_connection: True -2024-02-20 15:52:03, INFO: Number of layers: 1 -2024-02-20 15:52:03, INFO: Similarity_func: concatenation -2024-02-20 15:52:03, INFO: Layerwise_graph: False -2024-02-20 15:52:03, INFO: Skip_connection: True -2024-02-20 15:52:03, INFO: Number of layers: 1 -2024-02-20 15:52:03, INFO: Planning depth: 1 -2024-02-20 15:52:03, INFO: Planning width: 10 -2024-02-20 15:52:03, INFO: Sparse search: None -2024-02-20 15:52:06, INFO: human number: 10 -2024-02-20 15:52:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:52:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:52:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:52:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:52:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:52:11, INFO: Using device: cpu -2024-02-20 15:52:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:52:11, INFO: Similarity_func: concatenation -2024-02-20 15:52:11, INFO: Layerwise_graph: False -2024-02-20 15:52:11, INFO: Skip_connection: True -2024-02-20 15:52:11, INFO: Number of layers: 1 -2024-02-20 15:52:11, INFO: Similarity_func: concatenation -2024-02-20 15:52:11, INFO: Layerwise_graph: False -2024-02-20 15:52:11, INFO: Skip_connection: True -2024-02-20 15:52:11, INFO: Number of layers: 1 -2024-02-20 15:52:11, INFO: Planning depth: 1 -2024-02-20 15:52:11, INFO: Planning width: 10 -2024-02-20 15:52:11, INFO: Sparse search: None -2024-02-20 15:52:14, INFO: human number: 10 -2024-02-20 15:52:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:52:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:52:14, INFO: Square width: 10, circle width: 4 -2024-02-20 15:52:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:52:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:52:19, INFO: Using device: cpu -2024-02-20 15:52:19, INFO: Loaded RL weights with best VAL -2024-02-20 15:52:19, INFO: Similarity_func: concatenation -2024-02-20 15:52:19, INFO: Layerwise_graph: False -2024-02-20 15:52:19, INFO: Skip_connection: True -2024-02-20 15:52:19, INFO: Number of layers: 1 -2024-02-20 15:52:19, INFO: Similarity_func: concatenation -2024-02-20 15:52:19, INFO: Layerwise_graph: False -2024-02-20 15:52:19, INFO: Skip_connection: True -2024-02-20 15:52:19, INFO: Number of layers: 1 -2024-02-20 15:52:19, INFO: Planning depth: 1 -2024-02-20 15:52:19, INFO: Planning width: 10 -2024-02-20 15:52:19, INFO: Sparse search: None -2024-02-20 15:52:22, INFO: human number: 10 -2024-02-20 15:52:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:52:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:52:22, INFO: Square width: 10, circle width: 4 -2024-02-20 15:52:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:52:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:52:27, INFO: Using device: cpu -2024-02-20 15:52:27, INFO: Loaded RL weights with best VAL -2024-02-20 15:52:27, INFO: Similarity_func: concatenation -2024-02-20 15:52:27, INFO: Layerwise_graph: False -2024-02-20 15:52:27, INFO: Skip_connection: True -2024-02-20 15:52:27, INFO: Number of layers: 1 -2024-02-20 15:52:27, INFO: Similarity_func: concatenation -2024-02-20 15:52:27, INFO: Layerwise_graph: False -2024-02-20 15:52:27, INFO: Skip_connection: True -2024-02-20 15:52:27, INFO: Number of layers: 1 -2024-02-20 15:52:27, INFO: Planning depth: 1 -2024-02-20 15:52:27, INFO: Planning width: 10 -2024-02-20 15:52:27, INFO: Sparse search: None -2024-02-20 15:52:29, INFO: human number: 10 -2024-02-20 15:52:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:52:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:52:29, INFO: Square width: 10, circle width: 4 -2024-02-20 15:52:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:52:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:52:31, INFO: Animation.save using -2024-02-20 15:52:55, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.106573 -2024-02-20 15:52:58, INFO: Using device: cpu -2024-02-20 15:52:58, INFO: Loaded RL weights with best VAL -2024-02-20 15:52:58, INFO: Similarity_func: concatenation -2024-02-20 15:52:58, INFO: Layerwise_graph: False -2024-02-20 15:52:58, INFO: Skip_connection: True -2024-02-20 15:52:58, INFO: Number of layers: 1 -2024-02-20 15:52:58, INFO: Similarity_func: concatenation -2024-02-20 15:52:58, INFO: Layerwise_graph: False -2024-02-20 15:52:58, INFO: Skip_connection: True -2024-02-20 15:52:58, INFO: Number of layers: 1 -2024-02-20 15:52:58, INFO: Planning depth: 1 -2024-02-20 15:52:58, INFO: Planning width: 10 -2024-02-20 15:52:58, INFO: Sparse search: None -2024-02-20 15:53:01, INFO: human number: 10 -2024-02-20 15:53:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:01, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:06, INFO: Using device: cpu -2024-02-20 15:53:06, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:06, INFO: Similarity_func: concatenation -2024-02-20 15:53:06, INFO: Layerwise_graph: False -2024-02-20 15:53:06, INFO: Skip_connection: True -2024-02-20 15:53:06, INFO: Number of layers: 1 -2024-02-20 15:53:06, INFO: Similarity_func: concatenation -2024-02-20 15:53:06, INFO: Layerwise_graph: False -2024-02-20 15:53:06, INFO: Skip_connection: True -2024-02-20 15:53:06, INFO: Number of layers: 1 -2024-02-20 15:53:06, INFO: Planning depth: 1 -2024-02-20 15:53:06, INFO: Planning width: 10 -2024-02-20 15:53:06, INFO: Sparse search: None -2024-02-20 15:53:09, INFO: human number: 10 -2024-02-20 15:53:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:09, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:14, INFO: Using device: cpu -2024-02-20 15:53:14, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:14, INFO: Similarity_func: concatenation -2024-02-20 15:53:14, INFO: Layerwise_graph: False -2024-02-20 15:53:14, INFO: Skip_connection: True -2024-02-20 15:53:14, INFO: Number of layers: 1 -2024-02-20 15:53:14, INFO: Similarity_func: concatenation -2024-02-20 15:53:14, INFO: Layerwise_graph: False -2024-02-20 15:53:14, INFO: Skip_connection: True -2024-02-20 15:53:14, INFO: Number of layers: 1 -2024-02-20 15:53:14, INFO: Planning depth: 1 -2024-02-20 15:53:14, INFO: Planning width: 10 -2024-02-20 15:53:14, INFO: Sparse search: None -2024-02-20 15:53:17, INFO: human number: 10 -2024-02-20 15:53:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:17, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:22, INFO: Using device: cpu -2024-02-20 15:53:22, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:22, INFO: Similarity_func: concatenation -2024-02-20 15:53:22, INFO: Layerwise_graph: False -2024-02-20 15:53:22, INFO: Skip_connection: True -2024-02-20 15:53:22, INFO: Number of layers: 1 -2024-02-20 15:53:22, INFO: Similarity_func: concatenation -2024-02-20 15:53:22, INFO: Layerwise_graph: False -2024-02-20 15:53:22, INFO: Skip_connection: True -2024-02-20 15:53:22, INFO: Number of layers: 1 -2024-02-20 15:53:22, INFO: Planning depth: 1 -2024-02-20 15:53:22, INFO: Planning width: 10 -2024-02-20 15:53:22, INFO: Sparse search: None -2024-02-20 15:53:24, INFO: human number: 10 -2024-02-20 15:53:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:24, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:30, INFO: Using device: cpu -2024-02-20 15:53:30, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:30, INFO: Similarity_func: concatenation -2024-02-20 15:53:30, INFO: Layerwise_graph: False -2024-02-20 15:53:30, INFO: Skip_connection: True -2024-02-20 15:53:30, INFO: Number of layers: 1 -2024-02-20 15:53:30, INFO: Similarity_func: concatenation -2024-02-20 15:53:30, INFO: Layerwise_graph: False -2024-02-20 15:53:30, INFO: Skip_connection: True -2024-02-20 15:53:30, INFO: Number of layers: 1 -2024-02-20 15:53:30, INFO: Planning depth: 1 -2024-02-20 15:53:30, INFO: Planning width: 10 -2024-02-20 15:53:30, INFO: Sparse search: None -2024-02-20 15:53:33, INFO: human number: 10 -2024-02-20 15:53:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:33, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:38, INFO: Using device: cpu -2024-02-20 15:53:38, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:38, INFO: Similarity_func: concatenation -2024-02-20 15:53:38, INFO: Layerwise_graph: False -2024-02-20 15:53:38, INFO: Skip_connection: True -2024-02-20 15:53:38, INFO: Number of layers: 1 -2024-02-20 15:53:38, INFO: Similarity_func: concatenation -2024-02-20 15:53:38, INFO: Layerwise_graph: False -2024-02-20 15:53:38, INFO: Skip_connection: True -2024-02-20 15:53:38, INFO: Number of layers: 1 -2024-02-20 15:53:38, INFO: Planning depth: 1 -2024-02-20 15:53:38, INFO: Planning width: 10 -2024-02-20 15:53:38, INFO: Sparse search: None -2024-02-20 15:53:40, INFO: human number: 10 -2024-02-20 15:53:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:40, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:45, INFO: Using device: cpu -2024-02-20 15:53:45, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:45, INFO: Similarity_func: concatenation -2024-02-20 15:53:45, INFO: Layerwise_graph: False -2024-02-20 15:53:45, INFO: Skip_connection: True -2024-02-20 15:53:45, INFO: Number of layers: 1 -2024-02-20 15:53:45, INFO: Similarity_func: concatenation -2024-02-20 15:53:45, INFO: Layerwise_graph: False -2024-02-20 15:53:45, INFO: Skip_connection: True -2024-02-20 15:53:45, INFO: Number of layers: 1 -2024-02-20 15:53:45, INFO: Planning depth: 1 -2024-02-20 15:53:45, INFO: Planning width: 10 -2024-02-20 15:53:45, INFO: Sparse search: None -2024-02-20 15:53:48, INFO: human number: 10 -2024-02-20 15:53:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:48, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:53:52, INFO: Using device: cpu -2024-02-20 15:53:52, INFO: Loaded RL weights with best VAL -2024-02-20 15:53:52, INFO: Similarity_func: concatenation -2024-02-20 15:53:52, INFO: Layerwise_graph: False -2024-02-20 15:53:52, INFO: Skip_connection: True -2024-02-20 15:53:52, INFO: Number of layers: 1 -2024-02-20 15:53:52, INFO: Similarity_func: concatenation -2024-02-20 15:53:52, INFO: Layerwise_graph: False -2024-02-20 15:53:52, INFO: Skip_connection: True -2024-02-20 15:53:52, INFO: Number of layers: 1 -2024-02-20 15:53:52, INFO: Planning depth: 1 -2024-02-20 15:53:52, INFO: Planning width: 10 -2024-02-20 15:53:52, INFO: Sparse search: None -2024-02-20 15:53:55, INFO: human number: 10 -2024-02-20 15:53:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:53:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:53:55, INFO: Square width: 10, circle width: 4 -2024-02-20 15:53:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:53:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:54:01, INFO: Using device: cpu -2024-02-20 15:54:01, INFO: Loaded RL weights with best VAL -2024-02-20 15:54:01, INFO: Similarity_func: concatenation -2024-02-20 15:54:01, INFO: Layerwise_graph: False -2024-02-20 15:54:01, INFO: Skip_connection: True -2024-02-20 15:54:01, INFO: Number of layers: 1 -2024-02-20 15:54:01, INFO: Similarity_func: concatenation -2024-02-20 15:54:01, INFO: Layerwise_graph: False -2024-02-20 15:54:01, INFO: Skip_connection: True -2024-02-20 15:54:01, INFO: Number of layers: 1 -2024-02-20 15:54:01, INFO: Planning depth: 1 -2024-02-20 15:54:01, INFO: Planning width: 10 -2024-02-20 15:54:01, INFO: Sparse search: None -2024-02-20 15:54:03, INFO: human number: 10 -2024-02-20 15:54:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:54:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:54:03, INFO: Square width: 10, circle width: 4 -2024-02-20 15:54:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:54:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:54:05, INFO: Animation.save using -2024-02-20 15:54:34, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980005 -2024-02-20 15:54:37, INFO: Using device: cpu -2024-02-20 15:54:37, INFO: Loaded RL weights with best VAL -2024-02-20 15:54:37, INFO: Similarity_func: concatenation -2024-02-20 15:54:37, INFO: Layerwise_graph: False -2024-02-20 15:54:37, INFO: Skip_connection: True -2024-02-20 15:54:37, INFO: Number of layers: 1 -2024-02-20 15:54:37, INFO: Similarity_func: concatenation -2024-02-20 15:54:37, INFO: Layerwise_graph: False -2024-02-20 15:54:37, INFO: Skip_connection: True -2024-02-20 15:54:37, INFO: Number of layers: 1 -2024-02-20 15:54:37, INFO: Planning depth: 1 -2024-02-20 15:54:37, INFO: Planning width: 10 -2024-02-20 15:54:37, INFO: Sparse search: None -2024-02-20 15:54:40, INFO: human number: 10 -2024-02-20 15:54:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:54:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:54:40, INFO: Square width: 10, circle width: 4 -2024-02-20 15:54:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:54:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:54:44, INFO: Using device: cpu -2024-02-20 15:54:44, INFO: Loaded RL weights with best VAL -2024-02-20 15:54:44, INFO: Similarity_func: concatenation -2024-02-20 15:54:44, INFO: Layerwise_graph: False -2024-02-20 15:54:44, INFO: Skip_connection: True -2024-02-20 15:54:44, INFO: Number of layers: 1 -2024-02-20 15:54:44, INFO: Similarity_func: concatenation -2024-02-20 15:54:44, INFO: Layerwise_graph: False -2024-02-20 15:54:44, INFO: Skip_connection: True -2024-02-20 15:54:44, INFO: Number of layers: 1 -2024-02-20 15:54:44, INFO: Planning depth: 1 -2024-02-20 15:54:44, INFO: Planning width: 10 -2024-02-20 15:54:44, INFO: Sparse search: None -2024-02-20 15:54:47, INFO: human number: 10 -2024-02-20 15:54:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:54:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:54:47, INFO: Square width: 10, circle width: 4 -2024-02-20 15:54:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:54:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:54:52, INFO: Using device: cpu -2024-02-20 15:54:52, INFO: Loaded RL weights with best VAL -2024-02-20 15:54:52, INFO: Similarity_func: concatenation -2024-02-20 15:54:52, INFO: Layerwise_graph: False -2024-02-20 15:54:52, INFO: Skip_connection: True -2024-02-20 15:54:52, INFO: Number of layers: 1 -2024-02-20 15:54:52, INFO: Similarity_func: concatenation -2024-02-20 15:54:52, INFO: Layerwise_graph: False -2024-02-20 15:54:52, INFO: Skip_connection: True -2024-02-20 15:54:52, INFO: Number of layers: 1 -2024-02-20 15:54:52, INFO: Planning depth: 1 -2024-02-20 15:54:52, INFO: Planning width: 10 -2024-02-20 15:54:52, INFO: Sparse search: None -2024-02-20 15:54:55, INFO: human number: 10 -2024-02-20 15:54:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:54:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:54:55, INFO: Square width: 10, circle width: 4 -2024-02-20 15:54:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:54:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:54:59, INFO: Using device: cpu -2024-02-20 15:54:59, INFO: Loaded RL weights with best VAL -2024-02-20 15:54:59, INFO: Similarity_func: concatenation -2024-02-20 15:54:59, INFO: Layerwise_graph: False -2024-02-20 15:54:59, INFO: Skip_connection: True -2024-02-20 15:54:59, INFO: Number of layers: 1 -2024-02-20 15:54:59, INFO: Similarity_func: concatenation -2024-02-20 15:54:59, INFO: Layerwise_graph: False -2024-02-20 15:54:59, INFO: Skip_connection: True -2024-02-20 15:54:59, INFO: Number of layers: 1 -2024-02-20 15:54:59, INFO: Planning depth: 1 -2024-02-20 15:54:59, INFO: Planning width: 10 -2024-02-20 15:54:59, INFO: Sparse search: None -2024-02-20 15:55:02, INFO: human number: 10 -2024-02-20 15:55:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:55:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:55:02, INFO: Square width: 10, circle width: 4 -2024-02-20 15:55:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:55:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:55:09, INFO: Using device: cpu -2024-02-20 15:55:09, INFO: Loaded RL weights with best VAL -2024-02-20 15:55:09, INFO: Similarity_func: concatenation -2024-02-20 15:55:09, INFO: Layerwise_graph: False -2024-02-20 15:55:09, INFO: Skip_connection: True -2024-02-20 15:55:09, INFO: Number of layers: 1 -2024-02-20 15:55:09, INFO: Similarity_func: concatenation -2024-02-20 15:55:09, INFO: Layerwise_graph: False -2024-02-20 15:55:09, INFO: Skip_connection: True -2024-02-20 15:55:09, INFO: Number of layers: 1 -2024-02-20 15:55:09, INFO: Planning depth: 1 -2024-02-20 15:55:09, INFO: Planning width: 10 -2024-02-20 15:55:09, INFO: Sparse search: None -2024-02-20 15:55:12, INFO: human number: 10 -2024-02-20 15:55:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:55:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:55:12, INFO: Square width: 10, circle width: 4 -2024-02-20 15:55:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:55:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:55:13, INFO: Animation.save using -2024-02-20 15:55:38, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.059393 -2024-02-20 15:55:41, INFO: Using device: cpu -2024-02-20 15:55:41, INFO: Loaded RL weights with best VAL -2024-02-20 15:55:41, INFO: Similarity_func: concatenation -2024-02-20 15:55:41, INFO: Layerwise_graph: False -2024-02-20 15:55:41, INFO: Skip_connection: True -2024-02-20 15:55:41, INFO: Number of layers: 1 -2024-02-20 15:55:41, INFO: Similarity_func: concatenation -2024-02-20 15:55:41, INFO: Layerwise_graph: False -2024-02-20 15:55:41, INFO: Skip_connection: True -2024-02-20 15:55:41, INFO: Number of layers: 1 -2024-02-20 15:55:41, INFO: Planning depth: 1 -2024-02-20 15:55:41, INFO: Planning width: 10 -2024-02-20 15:55:41, INFO: Sparse search: None -2024-02-20 15:55:43, INFO: human number: 10 -2024-02-20 15:55:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:55:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:55:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:55:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:55:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:55:48, INFO: Using device: cpu -2024-02-20 15:55:48, INFO: Loaded RL weights with best VAL -2024-02-20 15:55:48, INFO: Similarity_func: concatenation -2024-02-20 15:55:48, INFO: Layerwise_graph: False -2024-02-20 15:55:48, INFO: Skip_connection: True -2024-02-20 15:55:48, INFO: Number of layers: 1 -2024-02-20 15:55:48, INFO: Similarity_func: concatenation -2024-02-20 15:55:48, INFO: Layerwise_graph: False -2024-02-20 15:55:48, INFO: Skip_connection: True -2024-02-20 15:55:48, INFO: Number of layers: 1 -2024-02-20 15:55:48, INFO: Planning depth: 1 -2024-02-20 15:55:48, INFO: Planning width: 10 -2024-02-20 15:55:48, INFO: Sparse search: None -2024-02-20 15:55:50, INFO: human number: 10 -2024-02-20 15:55:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:55:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:55:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:55:55, INFO: Using device: cpu -2024-02-20 15:55:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:55:55, INFO: Similarity_func: concatenation -2024-02-20 15:55:55, INFO: Layerwise_graph: False -2024-02-20 15:55:55, INFO: Skip_connection: True -2024-02-20 15:55:55, INFO: Number of layers: 1 -2024-02-20 15:55:55, INFO: Similarity_func: concatenation -2024-02-20 15:55:55, INFO: Layerwise_graph: False -2024-02-20 15:55:55, INFO: Skip_connection: True -2024-02-20 15:55:55, INFO: Number of layers: 1 -2024-02-20 15:55:55, INFO: Planning depth: 1 -2024-02-20 15:55:55, INFO: Planning width: 10 -2024-02-20 15:55:55, INFO: Sparse search: None -2024-02-20 15:55:58, INFO: human number: 10 -2024-02-20 15:55:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:55:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:55:58, INFO: Square width: 10, circle width: 4 -2024-02-20 15:55:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:55:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:03, INFO: Using device: cpu -2024-02-20 15:56:03, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:03, INFO: Similarity_func: concatenation -2024-02-20 15:56:03, INFO: Layerwise_graph: False -2024-02-20 15:56:03, INFO: Skip_connection: True -2024-02-20 15:56:03, INFO: Number of layers: 1 -2024-02-20 15:56:03, INFO: Similarity_func: concatenation -2024-02-20 15:56:03, INFO: Layerwise_graph: False -2024-02-20 15:56:03, INFO: Skip_connection: True -2024-02-20 15:56:03, INFO: Number of layers: 1 -2024-02-20 15:56:03, INFO: Planning depth: 1 -2024-02-20 15:56:03, INFO: Planning width: 10 -2024-02-20 15:56:03, INFO: Sparse search: None -2024-02-20 15:56:06, INFO: human number: 10 -2024-02-20 15:56:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:06, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:11, INFO: Using device: cpu -2024-02-20 15:56:11, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:11, INFO: Similarity_func: concatenation -2024-02-20 15:56:11, INFO: Layerwise_graph: False -2024-02-20 15:56:11, INFO: Skip_connection: True -2024-02-20 15:56:11, INFO: Number of layers: 1 -2024-02-20 15:56:11, INFO: Similarity_func: concatenation -2024-02-20 15:56:11, INFO: Layerwise_graph: False -2024-02-20 15:56:11, INFO: Skip_connection: True -2024-02-20 15:56:11, INFO: Number of layers: 1 -2024-02-20 15:56:11, INFO: Planning depth: 1 -2024-02-20 15:56:11, INFO: Planning width: 10 -2024-02-20 15:56:11, INFO: Sparse search: None -2024-02-20 15:56:13, INFO: human number: 10 -2024-02-20 15:56:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:13, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:20, INFO: Using device: cpu -2024-02-20 15:56:20, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:20, INFO: Similarity_func: concatenation -2024-02-20 15:56:20, INFO: Layerwise_graph: False -2024-02-20 15:56:20, INFO: Skip_connection: True -2024-02-20 15:56:20, INFO: Number of layers: 1 -2024-02-20 15:56:20, INFO: Similarity_func: concatenation -2024-02-20 15:56:20, INFO: Layerwise_graph: False -2024-02-20 15:56:20, INFO: Skip_connection: True -2024-02-20 15:56:20, INFO: Number of layers: 1 -2024-02-20 15:56:20, INFO: Planning depth: 1 -2024-02-20 15:56:20, INFO: Planning width: 10 -2024-02-20 15:56:20, INFO: Sparse search: None -2024-02-20 15:56:23, INFO: human number: 10 -2024-02-20 15:56:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:23, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:28, INFO: Using device: cpu -2024-02-20 15:56:28, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:28, INFO: Similarity_func: concatenation -2024-02-20 15:56:28, INFO: Layerwise_graph: False -2024-02-20 15:56:28, INFO: Skip_connection: True -2024-02-20 15:56:28, INFO: Number of layers: 1 -2024-02-20 15:56:28, INFO: Similarity_func: concatenation -2024-02-20 15:56:28, INFO: Layerwise_graph: False -2024-02-20 15:56:28, INFO: Skip_connection: True -2024-02-20 15:56:28, INFO: Number of layers: 1 -2024-02-20 15:56:28, INFO: Planning depth: 1 -2024-02-20 15:56:28, INFO: Planning width: 10 -2024-02-20 15:56:28, INFO: Sparse search: None -2024-02-20 15:56:31, INFO: human number: 10 -2024-02-20 15:56:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:31, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:36, INFO: Using device: cpu -2024-02-20 15:56:36, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:36, INFO: Similarity_func: concatenation -2024-02-20 15:56:36, INFO: Layerwise_graph: False -2024-02-20 15:56:36, INFO: Skip_connection: True -2024-02-20 15:56:36, INFO: Number of layers: 1 -2024-02-20 15:56:36, INFO: Similarity_func: concatenation -2024-02-20 15:56:36, INFO: Layerwise_graph: False -2024-02-20 15:56:36, INFO: Skip_connection: True -2024-02-20 15:56:36, INFO: Number of layers: 1 -2024-02-20 15:56:36, INFO: Planning depth: 1 -2024-02-20 15:56:36, INFO: Planning width: 10 -2024-02-20 15:56:36, INFO: Sparse search: None -2024-02-20 15:56:39, INFO: human number: 10 -2024-02-20 15:56:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:39, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:44, INFO: Using device: cpu -2024-02-20 15:56:44, INFO: Loaded RL weights with best VAL -2024-02-20 15:56:44, INFO: Similarity_func: concatenation -2024-02-20 15:56:44, INFO: Layerwise_graph: False -2024-02-20 15:56:44, INFO: Skip_connection: True -2024-02-20 15:56:44, INFO: Number of layers: 1 -2024-02-20 15:56:44, INFO: Similarity_func: concatenation -2024-02-20 15:56:44, INFO: Layerwise_graph: False -2024-02-20 15:56:44, INFO: Skip_connection: True -2024-02-20 15:56:44, INFO: Number of layers: 1 -2024-02-20 15:56:44, INFO: Planning depth: 1 -2024-02-20 15:56:44, INFO: Planning width: 10 -2024-02-20 15:56:44, INFO: Sparse search: None -2024-02-20 15:56:47, INFO: human number: 10 -2024-02-20 15:56:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:56:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:56:47, INFO: Square width: 10, circle width: 4 -2024-02-20 15:56:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:56:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:56:48, INFO: Animation.save using -2024-02-20 15:57:14, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.050370 -2024-02-20 15:57:17, INFO: Using device: cpu -2024-02-20 15:57:17, INFO: Loaded RL weights with best VAL -2024-02-20 15:57:17, INFO: Similarity_func: concatenation -2024-02-20 15:57:17, INFO: Layerwise_graph: False -2024-02-20 15:57:17, INFO: Skip_connection: True -2024-02-20 15:57:17, INFO: Number of layers: 1 -2024-02-20 15:57:17, INFO: Similarity_func: concatenation -2024-02-20 15:57:17, INFO: Layerwise_graph: False -2024-02-20 15:57:17, INFO: Skip_connection: True -2024-02-20 15:57:17, INFO: Number of layers: 1 -2024-02-20 15:57:17, INFO: Planning depth: 1 -2024-02-20 15:57:17, INFO: Planning width: 10 -2024-02-20 15:57:17, INFO: Sparse search: None -2024-02-20 15:57:20, INFO: human number: 10 -2024-02-20 15:57:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:57:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:57:20, INFO: Square width: 10, circle width: 4 -2024-02-20 15:57:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:57:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:57:25, INFO: Using device: cpu -2024-02-20 15:57:25, INFO: Loaded RL weights with best VAL -2024-02-20 15:57:25, INFO: Similarity_func: concatenation -2024-02-20 15:57:25, INFO: Layerwise_graph: False -2024-02-20 15:57:25, INFO: Skip_connection: True -2024-02-20 15:57:25, INFO: Number of layers: 1 -2024-02-20 15:57:25, INFO: Similarity_func: concatenation -2024-02-20 15:57:25, INFO: Layerwise_graph: False -2024-02-20 15:57:25, INFO: Skip_connection: True -2024-02-20 15:57:25, INFO: Number of layers: 1 -2024-02-20 15:57:25, INFO: Planning depth: 1 -2024-02-20 15:57:25, INFO: Planning width: 10 -2024-02-20 15:57:25, INFO: Sparse search: None -2024-02-20 15:57:27, INFO: human number: 10 -2024-02-20 15:57:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:57:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:57:27, INFO: Square width: 10, circle width: 4 -2024-02-20 15:57:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:57:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:57:29, INFO: Animation.save using -2024-02-20 15:57:57, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.038931 -2024-02-20 15:58:00, INFO: Using device: cpu -2024-02-20 15:58:00, INFO: Loaded RL weights with best VAL -2024-02-20 15:58:00, INFO: Similarity_func: concatenation -2024-02-20 15:58:00, INFO: Layerwise_graph: False -2024-02-20 15:58:00, INFO: Skip_connection: True -2024-02-20 15:58:00, INFO: Number of layers: 1 -2024-02-20 15:58:00, INFO: Similarity_func: concatenation -2024-02-20 15:58:00, INFO: Layerwise_graph: False -2024-02-20 15:58:00, INFO: Skip_connection: True -2024-02-20 15:58:00, INFO: Number of layers: 1 -2024-02-20 15:58:00, INFO: Planning depth: 1 -2024-02-20 15:58:00, INFO: Planning width: 10 -2024-02-20 15:58:00, INFO: Sparse search: None -2024-02-20 15:58:02, INFO: human number: 10 -2024-02-20 15:58:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:58:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:58:02, INFO: Square width: 10, circle width: 4 -2024-02-20 15:58:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:58:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:58:04, INFO: Animation.save using -2024-02-20 15:58:30, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029857 -2024-02-20 15:58:33, INFO: Using device: cpu -2024-02-20 15:58:33, INFO: Loaded RL weights with best VAL -2024-02-20 15:58:33, INFO: Similarity_func: concatenation -2024-02-20 15:58:33, INFO: Layerwise_graph: False -2024-02-20 15:58:33, INFO: Skip_connection: True -2024-02-20 15:58:33, INFO: Number of layers: 1 -2024-02-20 15:58:33, INFO: Similarity_func: concatenation -2024-02-20 15:58:33, INFO: Layerwise_graph: False -2024-02-20 15:58:33, INFO: Skip_connection: True -2024-02-20 15:58:33, INFO: Number of layers: 1 -2024-02-20 15:58:33, INFO: Planning depth: 1 -2024-02-20 15:58:33, INFO: Planning width: 10 -2024-02-20 15:58:33, INFO: Sparse search: None -2024-02-20 15:58:35, INFO: human number: 10 -2024-02-20 15:58:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:58:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:58:35, INFO: Square width: 10, circle width: 4 -2024-02-20 15:58:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:58:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:58:40, INFO: Using device: cpu -2024-02-20 15:58:40, INFO: Loaded RL weights with best VAL -2024-02-20 15:58:40, INFO: Similarity_func: concatenation -2024-02-20 15:58:40, INFO: Layerwise_graph: False -2024-02-20 15:58:40, INFO: Skip_connection: True -2024-02-20 15:58:40, INFO: Number of layers: 1 -2024-02-20 15:58:40, INFO: Similarity_func: concatenation -2024-02-20 15:58:40, INFO: Layerwise_graph: False -2024-02-20 15:58:40, INFO: Skip_connection: True -2024-02-20 15:58:40, INFO: Number of layers: 1 -2024-02-20 15:58:40, INFO: Planning depth: 1 -2024-02-20 15:58:40, INFO: Planning width: 10 -2024-02-20 15:58:40, INFO: Sparse search: None -2024-02-20 15:58:43, INFO: human number: 10 -2024-02-20 15:58:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:58:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:58:43, INFO: Square width: 10, circle width: 4 -2024-02-20 15:58:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:58:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:58:47, INFO: Using device: cpu -2024-02-20 15:58:47, INFO: Loaded RL weights with best VAL -2024-02-20 15:58:47, INFO: Similarity_func: concatenation -2024-02-20 15:58:47, INFO: Layerwise_graph: False -2024-02-20 15:58:47, INFO: Skip_connection: True -2024-02-20 15:58:47, INFO: Number of layers: 1 -2024-02-20 15:58:47, INFO: Similarity_func: concatenation -2024-02-20 15:58:47, INFO: Layerwise_graph: False -2024-02-20 15:58:47, INFO: Skip_connection: True -2024-02-20 15:58:47, INFO: Number of layers: 1 -2024-02-20 15:58:47, INFO: Planning depth: 1 -2024-02-20 15:58:47, INFO: Planning width: 10 -2024-02-20 15:58:47, INFO: Sparse search: None -2024-02-20 15:58:50, INFO: human number: 10 -2024-02-20 15:58:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:58:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:58:50, INFO: Square width: 10, circle width: 4 -2024-02-20 15:58:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:58:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:58:55, INFO: Using device: cpu -2024-02-20 15:58:55, INFO: Loaded RL weights with best VAL -2024-02-20 15:58:55, INFO: Similarity_func: concatenation -2024-02-20 15:58:55, INFO: Layerwise_graph: False -2024-02-20 15:58:55, INFO: Skip_connection: True -2024-02-20 15:58:55, INFO: Number of layers: 1 -2024-02-20 15:58:55, INFO: Similarity_func: concatenation -2024-02-20 15:58:55, INFO: Layerwise_graph: False -2024-02-20 15:58:55, INFO: Skip_connection: True -2024-02-20 15:58:55, INFO: Number of layers: 1 -2024-02-20 15:58:55, INFO: Planning depth: 1 -2024-02-20 15:58:55, INFO: Planning width: 10 -2024-02-20 15:58:55, INFO: Sparse search: None -2024-02-20 15:58:58, INFO: human number: 10 -2024-02-20 15:58:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:58:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:58:58, INFO: Square width: 10, circle width: 4 -2024-02-20 15:58:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:58:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:59:02, INFO: Using device: cpu -2024-02-20 15:59:02, INFO: Loaded RL weights with best VAL -2024-02-20 15:59:02, INFO: Similarity_func: concatenation -2024-02-20 15:59:02, INFO: Layerwise_graph: False -2024-02-20 15:59:02, INFO: Skip_connection: True -2024-02-20 15:59:02, INFO: Number of layers: 1 -2024-02-20 15:59:02, INFO: Similarity_func: concatenation -2024-02-20 15:59:02, INFO: Layerwise_graph: False -2024-02-20 15:59:02, INFO: Skip_connection: True -2024-02-20 15:59:02, INFO: Number of layers: 1 -2024-02-20 15:59:02, INFO: Planning depth: 1 -2024-02-20 15:59:02, INFO: Planning width: 10 -2024-02-20 15:59:02, INFO: Sparse search: None -2024-02-20 15:59:05, INFO: human number: 10 -2024-02-20 15:59:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:59:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:59:05, INFO: Square width: 10, circle width: 4 -2024-02-20 15:59:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:59:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:59:10, INFO: Using device: cpu -2024-02-20 15:59:10, INFO: Loaded RL weights with best VAL -2024-02-20 15:59:10, INFO: Similarity_func: concatenation -2024-02-20 15:59:10, INFO: Layerwise_graph: False -2024-02-20 15:59:10, INFO: Skip_connection: True -2024-02-20 15:59:10, INFO: Number of layers: 1 -2024-02-20 15:59:10, INFO: Similarity_func: concatenation -2024-02-20 15:59:10, INFO: Layerwise_graph: False -2024-02-20 15:59:10, INFO: Skip_connection: True -2024-02-20 15:59:10, INFO: Number of layers: 1 -2024-02-20 15:59:10, INFO: Planning depth: 1 -2024-02-20 15:59:10, INFO: Planning width: 10 -2024-02-20 15:59:10, INFO: Sparse search: None -2024-02-20 15:59:13, INFO: human number: 10 -2024-02-20 15:59:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:59:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:59:13, INFO: Square width: 10, circle width: 4 -2024-02-20 15:59:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:59:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:59:18, INFO: Using device: cpu -2024-02-20 15:59:18, INFO: Loaded RL weights with best VAL -2024-02-20 15:59:18, INFO: Similarity_func: concatenation -2024-02-20 15:59:18, INFO: Layerwise_graph: False -2024-02-20 15:59:18, INFO: Skip_connection: True -2024-02-20 15:59:18, INFO: Number of layers: 1 -2024-02-20 15:59:18, INFO: Similarity_func: concatenation -2024-02-20 15:59:18, INFO: Layerwise_graph: False -2024-02-20 15:59:18, INFO: Skip_connection: True -2024-02-20 15:59:18, INFO: Number of layers: 1 -2024-02-20 15:59:18, INFO: Planning depth: 1 -2024-02-20 15:59:18, INFO: Planning width: 10 -2024-02-20 15:59:18, INFO: Sparse search: None -2024-02-20 15:59:21, INFO: human number: 10 -2024-02-20 15:59:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 15:59:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 15:59:21, INFO: Square width: 10, circle width: 4 -2024-02-20 15:59:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 15:59:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 15:59:23, INFO: Animation.save using -2024-02-20 16:00:03, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.011781 -2024-02-20 16:00:07, INFO: Using device: cpu -2024-02-20 16:00:07, INFO: Loaded RL weights with best VAL -2024-02-20 16:00:07, INFO: Similarity_func: concatenation -2024-02-20 16:00:07, INFO: Layerwise_graph: False -2024-02-20 16:00:07, INFO: Skip_connection: True -2024-02-20 16:00:07, INFO: Number of layers: 1 -2024-02-20 16:00:07, INFO: Similarity_func: concatenation -2024-02-20 16:00:07, INFO: Layerwise_graph: False -2024-02-20 16:00:07, INFO: Skip_connection: True -2024-02-20 16:00:07, INFO: Number of layers: 1 -2024-02-20 16:00:07, INFO: Planning depth: 1 -2024-02-20 16:00:07, INFO: Planning width: 10 -2024-02-20 16:00:07, INFO: Sparse search: None -2024-02-20 16:00:09, INFO: human number: 10 -2024-02-20 16:00:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:00:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:00:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:00:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:00:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:00:14, INFO: Using device: cpu -2024-02-20 16:00:14, INFO: Loaded RL weights with best VAL -2024-02-20 16:00:14, INFO: Similarity_func: concatenation -2024-02-20 16:00:14, INFO: Layerwise_graph: False -2024-02-20 16:00:14, INFO: Skip_connection: True -2024-02-20 16:00:14, INFO: Number of layers: 1 -2024-02-20 16:00:14, INFO: Similarity_func: concatenation -2024-02-20 16:00:14, INFO: Layerwise_graph: False -2024-02-20 16:00:14, INFO: Skip_connection: True -2024-02-20 16:00:14, INFO: Number of layers: 1 -2024-02-20 16:00:14, INFO: Planning depth: 1 -2024-02-20 16:00:14, INFO: Planning width: 10 -2024-02-20 16:00:14, INFO: Sparse search: None -2024-02-20 16:00:17, INFO: human number: 10 -2024-02-20 16:00:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:00:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:00:17, INFO: Square width: 10, circle width: 4 -2024-02-20 16:00:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:00:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:00:22, INFO: Using device: cpu -2024-02-20 16:00:22, INFO: Loaded RL weights with best VAL -2024-02-20 16:00:22, INFO: Similarity_func: concatenation -2024-02-20 16:00:22, INFO: Layerwise_graph: False -2024-02-20 16:00:22, INFO: Skip_connection: True -2024-02-20 16:00:22, INFO: Number of layers: 1 -2024-02-20 16:00:22, INFO: Similarity_func: concatenation -2024-02-20 16:00:22, INFO: Layerwise_graph: False -2024-02-20 16:00:22, INFO: Skip_connection: True -2024-02-20 16:00:22, INFO: Number of layers: 1 -2024-02-20 16:00:22, INFO: Planning depth: 1 -2024-02-20 16:00:22, INFO: Planning width: 10 -2024-02-20 16:00:22, INFO: Sparse search: None -2024-02-20 16:00:25, INFO: human number: 10 -2024-02-20 16:00:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:00:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:00:25, INFO: Square width: 10, circle width: 4 -2024-02-20 16:00:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:00:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:00:27, INFO: Animation.save using -2024-02-20 16:00:54, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.039298 -2024-02-20 16:00:57, INFO: Using device: cpu -2024-02-20 16:00:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:00:57, INFO: Similarity_func: concatenation -2024-02-20 16:00:57, INFO: Layerwise_graph: False -2024-02-20 16:00:57, INFO: Skip_connection: True -2024-02-20 16:00:57, INFO: Number of layers: 1 -2024-02-20 16:00:57, INFO: Similarity_func: concatenation -2024-02-20 16:00:57, INFO: Layerwise_graph: False -2024-02-20 16:00:57, INFO: Skip_connection: True -2024-02-20 16:00:57, INFO: Number of layers: 1 -2024-02-20 16:00:57, INFO: Planning depth: 1 -2024-02-20 16:00:57, INFO: Planning width: 10 -2024-02-20 16:00:57, INFO: Sparse search: None -2024-02-20 16:01:00, INFO: human number: 10 -2024-02-20 16:01:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:04, INFO: Using device: cpu -2024-02-20 16:01:04, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:04, INFO: Similarity_func: concatenation -2024-02-20 16:01:04, INFO: Layerwise_graph: False -2024-02-20 16:01:04, INFO: Skip_connection: True -2024-02-20 16:01:04, INFO: Number of layers: 1 -2024-02-20 16:01:04, INFO: Similarity_func: concatenation -2024-02-20 16:01:04, INFO: Layerwise_graph: False -2024-02-20 16:01:04, INFO: Skip_connection: True -2024-02-20 16:01:04, INFO: Number of layers: 1 -2024-02-20 16:01:04, INFO: Planning depth: 1 -2024-02-20 16:01:04, INFO: Planning width: 10 -2024-02-20 16:01:04, INFO: Sparse search: None -2024-02-20 16:01:07, INFO: human number: 10 -2024-02-20 16:01:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:07, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:12, INFO: Using device: cpu -2024-02-20 16:01:12, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:12, INFO: Similarity_func: concatenation -2024-02-20 16:01:12, INFO: Layerwise_graph: False -2024-02-20 16:01:12, INFO: Skip_connection: True -2024-02-20 16:01:12, INFO: Number of layers: 1 -2024-02-20 16:01:12, INFO: Similarity_func: concatenation -2024-02-20 16:01:12, INFO: Layerwise_graph: False -2024-02-20 16:01:12, INFO: Skip_connection: True -2024-02-20 16:01:12, INFO: Number of layers: 1 -2024-02-20 16:01:12, INFO: Planning depth: 1 -2024-02-20 16:01:12, INFO: Planning width: 10 -2024-02-20 16:01:12, INFO: Sparse search: None -2024-02-20 16:01:15, INFO: human number: 10 -2024-02-20 16:01:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:15, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:20, INFO: Using device: cpu -2024-02-20 16:01:20, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:20, INFO: Similarity_func: concatenation -2024-02-20 16:01:20, INFO: Layerwise_graph: False -2024-02-20 16:01:20, INFO: Skip_connection: True -2024-02-20 16:01:20, INFO: Number of layers: 1 -2024-02-20 16:01:20, INFO: Similarity_func: concatenation -2024-02-20 16:01:20, INFO: Layerwise_graph: False -2024-02-20 16:01:20, INFO: Skip_connection: True -2024-02-20 16:01:20, INFO: Number of layers: 1 -2024-02-20 16:01:20, INFO: Planning depth: 1 -2024-02-20 16:01:20, INFO: Planning width: 10 -2024-02-20 16:01:20, INFO: Sparse search: None -2024-02-20 16:01:23, INFO: human number: 10 -2024-02-20 16:01:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:23, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:28, INFO: Using device: cpu -2024-02-20 16:01:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:28, INFO: Similarity_func: concatenation -2024-02-20 16:01:28, INFO: Layerwise_graph: False -2024-02-20 16:01:28, INFO: Skip_connection: True -2024-02-20 16:01:28, INFO: Number of layers: 1 -2024-02-20 16:01:28, INFO: Similarity_func: concatenation -2024-02-20 16:01:28, INFO: Layerwise_graph: False -2024-02-20 16:01:28, INFO: Skip_connection: True -2024-02-20 16:01:28, INFO: Number of layers: 1 -2024-02-20 16:01:28, INFO: Planning depth: 1 -2024-02-20 16:01:28, INFO: Planning width: 10 -2024-02-20 16:01:28, INFO: Sparse search: None -2024-02-20 16:01:30, INFO: human number: 10 -2024-02-20 16:01:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:30, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:35, INFO: Using device: cpu -2024-02-20 16:01:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:35, INFO: Similarity_func: concatenation -2024-02-20 16:01:35, INFO: Layerwise_graph: False -2024-02-20 16:01:35, INFO: Skip_connection: True -2024-02-20 16:01:35, INFO: Number of layers: 1 -2024-02-20 16:01:35, INFO: Similarity_func: concatenation -2024-02-20 16:01:35, INFO: Layerwise_graph: False -2024-02-20 16:01:35, INFO: Skip_connection: True -2024-02-20 16:01:35, INFO: Number of layers: 1 -2024-02-20 16:01:35, INFO: Planning depth: 1 -2024-02-20 16:01:35, INFO: Planning width: 10 -2024-02-20 16:01:35, INFO: Sparse search: None -2024-02-20 16:01:38, INFO: human number: 10 -2024-02-20 16:01:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:44, INFO: Using device: cpu -2024-02-20 16:01:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:44, INFO: Similarity_func: concatenation -2024-02-20 16:01:44, INFO: Layerwise_graph: False -2024-02-20 16:01:44, INFO: Skip_connection: True -2024-02-20 16:01:44, INFO: Number of layers: 1 -2024-02-20 16:01:44, INFO: Similarity_func: concatenation -2024-02-20 16:01:44, INFO: Layerwise_graph: False -2024-02-20 16:01:44, INFO: Skip_connection: True -2024-02-20 16:01:44, INFO: Number of layers: 1 -2024-02-20 16:01:44, INFO: Planning depth: 1 -2024-02-20 16:01:44, INFO: Planning width: 10 -2024-02-20 16:01:44, INFO: Sparse search: None -2024-02-20 16:01:47, INFO: human number: 10 -2024-02-20 16:01:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:47, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:51, INFO: Using device: cpu -2024-02-20 16:01:51, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:51, INFO: Similarity_func: concatenation -2024-02-20 16:01:51, INFO: Layerwise_graph: False -2024-02-20 16:01:51, INFO: Skip_connection: True -2024-02-20 16:01:51, INFO: Number of layers: 1 -2024-02-20 16:01:51, INFO: Similarity_func: concatenation -2024-02-20 16:01:51, INFO: Layerwise_graph: False -2024-02-20 16:01:51, INFO: Skip_connection: True -2024-02-20 16:01:51, INFO: Number of layers: 1 -2024-02-20 16:01:51, INFO: Planning depth: 1 -2024-02-20 16:01:51, INFO: Planning width: 10 -2024-02-20 16:01:51, INFO: Sparse search: None -2024-02-20 16:01:54, INFO: human number: 10 -2024-02-20 16:01:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:01:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:01:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:01:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:01:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:01:59, INFO: Using device: cpu -2024-02-20 16:01:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:01:59, INFO: Similarity_func: concatenation -2024-02-20 16:01:59, INFO: Layerwise_graph: False -2024-02-20 16:01:59, INFO: Skip_connection: True -2024-02-20 16:01:59, INFO: Number of layers: 1 -2024-02-20 16:01:59, INFO: Similarity_func: concatenation -2024-02-20 16:01:59, INFO: Layerwise_graph: False -2024-02-20 16:01:59, INFO: Skip_connection: True -2024-02-20 16:01:59, INFO: Number of layers: 1 -2024-02-20 16:01:59, INFO: Planning depth: 1 -2024-02-20 16:01:59, INFO: Planning width: 10 -2024-02-20 16:01:59, INFO: Sparse search: None -2024-02-20 16:02:01, INFO: human number: 10 -2024-02-20 16:02:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:01, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:07, INFO: Using device: cpu -2024-02-20 16:02:07, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:07, INFO: Similarity_func: concatenation -2024-02-20 16:02:07, INFO: Layerwise_graph: False -2024-02-20 16:02:07, INFO: Skip_connection: True -2024-02-20 16:02:07, INFO: Number of layers: 1 -2024-02-20 16:02:07, INFO: Similarity_func: concatenation -2024-02-20 16:02:07, INFO: Layerwise_graph: False -2024-02-20 16:02:07, INFO: Skip_connection: True -2024-02-20 16:02:07, INFO: Number of layers: 1 -2024-02-20 16:02:07, INFO: Planning depth: 1 -2024-02-20 16:02:07, INFO: Planning width: 10 -2024-02-20 16:02:07, INFO: Sparse search: None -2024-02-20 16:02:10, INFO: human number: 10 -2024-02-20 16:02:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:10, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:16, INFO: Using device: cpu -2024-02-20 16:02:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:16, INFO: Similarity_func: concatenation -2024-02-20 16:02:16, INFO: Layerwise_graph: False -2024-02-20 16:02:16, INFO: Skip_connection: True -2024-02-20 16:02:16, INFO: Number of layers: 1 -2024-02-20 16:02:16, INFO: Similarity_func: concatenation -2024-02-20 16:02:16, INFO: Layerwise_graph: False -2024-02-20 16:02:16, INFO: Skip_connection: True -2024-02-20 16:02:16, INFO: Number of layers: 1 -2024-02-20 16:02:16, INFO: Planning depth: 1 -2024-02-20 16:02:16, INFO: Planning width: 10 -2024-02-20 16:02:16, INFO: Sparse search: None -2024-02-20 16:02:18, INFO: human number: 10 -2024-02-20 16:02:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:18, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:24, INFO: Using device: cpu -2024-02-20 16:02:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:24, INFO: Similarity_func: concatenation -2024-02-20 16:02:24, INFO: Layerwise_graph: False -2024-02-20 16:02:24, INFO: Skip_connection: True -2024-02-20 16:02:24, INFO: Number of layers: 1 -2024-02-20 16:02:24, INFO: Similarity_func: concatenation -2024-02-20 16:02:24, INFO: Layerwise_graph: False -2024-02-20 16:02:24, INFO: Skip_connection: True -2024-02-20 16:02:24, INFO: Number of layers: 1 -2024-02-20 16:02:24, INFO: Planning depth: 1 -2024-02-20 16:02:24, INFO: Planning width: 10 -2024-02-20 16:02:24, INFO: Sparse search: None -2024-02-20 16:02:26, INFO: human number: 10 -2024-02-20 16:02:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:26, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:31, INFO: Using device: cpu -2024-02-20 16:02:31, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:31, INFO: Similarity_func: concatenation -2024-02-20 16:02:31, INFO: Layerwise_graph: False -2024-02-20 16:02:31, INFO: Skip_connection: True -2024-02-20 16:02:31, INFO: Number of layers: 1 -2024-02-20 16:02:31, INFO: Similarity_func: concatenation -2024-02-20 16:02:31, INFO: Layerwise_graph: False -2024-02-20 16:02:31, INFO: Skip_connection: True -2024-02-20 16:02:31, INFO: Number of layers: 1 -2024-02-20 16:02:31, INFO: Planning depth: 1 -2024-02-20 16:02:31, INFO: Planning width: 10 -2024-02-20 16:02:31, INFO: Sparse search: None -2024-02-20 16:02:33, INFO: human number: 10 -2024-02-20 16:02:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:33, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:38, INFO: Using device: cpu -2024-02-20 16:02:38, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:38, INFO: Similarity_func: concatenation -2024-02-20 16:02:38, INFO: Layerwise_graph: False -2024-02-20 16:02:38, INFO: Skip_connection: True -2024-02-20 16:02:38, INFO: Number of layers: 1 -2024-02-20 16:02:38, INFO: Similarity_func: concatenation -2024-02-20 16:02:38, INFO: Layerwise_graph: False -2024-02-20 16:02:38, INFO: Skip_connection: True -2024-02-20 16:02:38, INFO: Number of layers: 1 -2024-02-20 16:02:38, INFO: Planning depth: 1 -2024-02-20 16:02:38, INFO: Planning width: 10 -2024-02-20 16:02:38, INFO: Sparse search: None -2024-02-20 16:02:41, INFO: human number: 10 -2024-02-20 16:02:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:41, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:46, INFO: Using device: cpu -2024-02-20 16:02:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:02:46, INFO: Similarity_func: concatenation -2024-02-20 16:02:46, INFO: Layerwise_graph: False -2024-02-20 16:02:46, INFO: Skip_connection: True -2024-02-20 16:02:46, INFO: Number of layers: 1 -2024-02-20 16:02:46, INFO: Similarity_func: concatenation -2024-02-20 16:02:46, INFO: Layerwise_graph: False -2024-02-20 16:02:46, INFO: Skip_connection: True -2024-02-20 16:02:46, INFO: Number of layers: 1 -2024-02-20 16:02:46, INFO: Planning depth: 1 -2024-02-20 16:02:46, INFO: Planning width: 10 -2024-02-20 16:02:46, INFO: Sparse search: None -2024-02-20 16:02:49, INFO: human number: 10 -2024-02-20 16:02:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:02:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:02:49, INFO: Square width: 10, circle width: 4 -2024-02-20 16:02:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:02:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:02:51, INFO: Animation.save using -2024-02-20 16:03:21, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980305 -2024-02-20 16:03:24, INFO: Using device: cpu -2024-02-20 16:03:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:03:24, INFO: Similarity_func: concatenation -2024-02-20 16:03:24, INFO: Layerwise_graph: False -2024-02-20 16:03:24, INFO: Skip_connection: True -2024-02-20 16:03:24, INFO: Number of layers: 1 -2024-02-20 16:03:24, INFO: Similarity_func: concatenation -2024-02-20 16:03:24, INFO: Layerwise_graph: False -2024-02-20 16:03:24, INFO: Skip_connection: True -2024-02-20 16:03:24, INFO: Number of layers: 1 -2024-02-20 16:03:24, INFO: Planning depth: 1 -2024-02-20 16:03:24, INFO: Planning width: 10 -2024-02-20 16:03:24, INFO: Sparse search: None -2024-02-20 16:03:27, INFO: human number: 10 -2024-02-20 16:03:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:03:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:03:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:03:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:03:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:03:32, INFO: Using device: cpu -2024-02-20 16:03:32, INFO: Loaded RL weights with best VAL -2024-02-20 16:03:32, INFO: Similarity_func: concatenation -2024-02-20 16:03:32, INFO: Layerwise_graph: False -2024-02-20 16:03:32, INFO: Skip_connection: True -2024-02-20 16:03:32, INFO: Number of layers: 1 -2024-02-20 16:03:32, INFO: Similarity_func: concatenation -2024-02-20 16:03:32, INFO: Layerwise_graph: False -2024-02-20 16:03:32, INFO: Skip_connection: True -2024-02-20 16:03:32, INFO: Number of layers: 1 -2024-02-20 16:03:32, INFO: Planning depth: 1 -2024-02-20 16:03:32, INFO: Planning width: 10 -2024-02-20 16:03:32, INFO: Sparse search: None -2024-02-20 16:03:35, INFO: human number: 10 -2024-02-20 16:03:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:03:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:03:35, INFO: Square width: 10, circle width: 4 -2024-02-20 16:03:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:03:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:03:39, INFO: Using device: cpu -2024-02-20 16:03:39, INFO: Loaded RL weights with best VAL -2024-02-20 16:03:39, INFO: Similarity_func: concatenation -2024-02-20 16:03:39, INFO: Layerwise_graph: False -2024-02-20 16:03:39, INFO: Skip_connection: True -2024-02-20 16:03:39, INFO: Number of layers: 1 -2024-02-20 16:03:39, INFO: Similarity_func: concatenation -2024-02-20 16:03:39, INFO: Layerwise_graph: False -2024-02-20 16:03:39, INFO: Skip_connection: True -2024-02-20 16:03:39, INFO: Number of layers: 1 -2024-02-20 16:03:39, INFO: Planning depth: 1 -2024-02-20 16:03:39, INFO: Planning width: 10 -2024-02-20 16:03:39, INFO: Sparse search: None -2024-02-20 16:03:42, INFO: human number: 10 -2024-02-20 16:03:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:03:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:03:42, INFO: Square width: 10, circle width: 4 -2024-02-20 16:03:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:03:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:03:46, INFO: Using device: cpu -2024-02-20 16:03:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:03:46, INFO: Similarity_func: concatenation -2024-02-20 16:03:46, INFO: Layerwise_graph: False -2024-02-20 16:03:46, INFO: Skip_connection: True -2024-02-20 16:03:46, INFO: Number of layers: 1 -2024-02-20 16:03:46, INFO: Similarity_func: concatenation -2024-02-20 16:03:46, INFO: Layerwise_graph: False -2024-02-20 16:03:46, INFO: Skip_connection: True -2024-02-20 16:03:46, INFO: Number of layers: 1 -2024-02-20 16:03:46, INFO: Planning depth: 1 -2024-02-20 16:03:46, INFO: Planning width: 10 -2024-02-20 16:03:46, INFO: Sparse search: None -2024-02-20 16:03:49, INFO: human number: 10 -2024-02-20 16:03:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:03:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:03:49, INFO: Square width: 10, circle width: 4 -2024-02-20 16:03:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:03:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:03:54, INFO: Using device: cpu -2024-02-20 16:03:54, INFO: Loaded RL weights with best VAL -2024-02-20 16:03:54, INFO: Similarity_func: concatenation -2024-02-20 16:03:54, INFO: Layerwise_graph: False -2024-02-20 16:03:54, INFO: Skip_connection: True -2024-02-20 16:03:54, INFO: Number of layers: 1 -2024-02-20 16:03:54, INFO: Similarity_func: concatenation -2024-02-20 16:03:54, INFO: Layerwise_graph: False -2024-02-20 16:03:54, INFO: Skip_connection: True -2024-02-20 16:03:54, INFO: Number of layers: 1 -2024-02-20 16:03:54, INFO: Planning depth: 1 -2024-02-20 16:03:54, INFO: Planning width: 10 -2024-02-20 16:03:54, INFO: Sparse search: None -2024-02-20 16:03:57, INFO: human number: 10 -2024-02-20 16:03:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:03:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:03:57, INFO: Square width: 10, circle width: 4 -2024-02-20 16:03:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:03:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:04:02, INFO: Using device: cpu -2024-02-20 16:04:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:04:02, INFO: Similarity_func: concatenation -2024-02-20 16:04:02, INFO: Layerwise_graph: False -2024-02-20 16:04:02, INFO: Skip_connection: True -2024-02-20 16:04:02, INFO: Number of layers: 1 -2024-02-20 16:04:02, INFO: Similarity_func: concatenation -2024-02-20 16:04:02, INFO: Layerwise_graph: False -2024-02-20 16:04:02, INFO: Skip_connection: True -2024-02-20 16:04:02, INFO: Number of layers: 1 -2024-02-20 16:04:02, INFO: Planning depth: 1 -2024-02-20 16:04:02, INFO: Planning width: 10 -2024-02-20 16:04:02, INFO: Sparse search: None -2024-02-20 16:04:05, INFO: human number: 10 -2024-02-20 16:04:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:04:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:04:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:04:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:04:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:04:10, INFO: Using device: cpu -2024-02-20 16:04:10, INFO: Loaded RL weights with best VAL -2024-02-20 16:04:10, INFO: Similarity_func: concatenation -2024-02-20 16:04:10, INFO: Layerwise_graph: False -2024-02-20 16:04:10, INFO: Skip_connection: True -2024-02-20 16:04:10, INFO: Number of layers: 1 -2024-02-20 16:04:10, INFO: Similarity_func: concatenation -2024-02-20 16:04:10, INFO: Layerwise_graph: False -2024-02-20 16:04:10, INFO: Skip_connection: True -2024-02-20 16:04:10, INFO: Number of layers: 1 -2024-02-20 16:04:10, INFO: Planning depth: 1 -2024-02-20 16:04:10, INFO: Planning width: 10 -2024-02-20 16:04:10, INFO: Sparse search: None -2024-02-20 16:04:13, INFO: human number: 10 -2024-02-20 16:04:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:04:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:04:13, INFO: Square width: 10, circle width: 4 -2024-02-20 16:04:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:04:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:04:18, INFO: Using device: cpu -2024-02-20 16:04:18, INFO: Loaded RL weights with best VAL -2024-02-20 16:04:18, INFO: Similarity_func: concatenation -2024-02-20 16:04:18, INFO: Layerwise_graph: False -2024-02-20 16:04:18, INFO: Skip_connection: True -2024-02-20 16:04:18, INFO: Number of layers: 1 -2024-02-20 16:04:18, INFO: Similarity_func: concatenation -2024-02-20 16:04:18, INFO: Layerwise_graph: False -2024-02-20 16:04:18, INFO: Skip_connection: True -2024-02-20 16:04:18, INFO: Number of layers: 1 -2024-02-20 16:04:18, INFO: Planning depth: 1 -2024-02-20 16:04:18, INFO: Planning width: 10 -2024-02-20 16:04:18, INFO: Sparse search: None -2024-02-20 16:04:20, INFO: human number: 10 -2024-02-20 16:04:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:04:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:04:20, INFO: Square width: 10, circle width: 4 -2024-02-20 16:04:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:04:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:04:22, INFO: Animation.save using -2024-02-20 16:04:44, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.113242 -2024-02-20 16:04:48, INFO: Using device: cpu -2024-02-20 16:04:48, INFO: Loaded RL weights with best VAL -2024-02-20 16:04:48, INFO: Similarity_func: concatenation -2024-02-20 16:04:48, INFO: Layerwise_graph: False -2024-02-20 16:04:48, INFO: Skip_connection: True -2024-02-20 16:04:48, INFO: Number of layers: 1 -2024-02-20 16:04:48, INFO: Similarity_func: concatenation -2024-02-20 16:04:48, INFO: Layerwise_graph: False -2024-02-20 16:04:48, INFO: Skip_connection: True -2024-02-20 16:04:48, INFO: Number of layers: 1 -2024-02-20 16:04:48, INFO: Planning depth: 1 -2024-02-20 16:04:48, INFO: Planning width: 10 -2024-02-20 16:04:48, INFO: Sparse search: None -2024-02-20 16:04:50, INFO: human number: 10 -2024-02-20 16:04:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:04:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:04:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:04:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:04:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:04:55, INFO: Using device: cpu -2024-02-20 16:04:55, INFO: Loaded RL weights with best VAL -2024-02-20 16:04:55, INFO: Similarity_func: concatenation -2024-02-20 16:04:55, INFO: Layerwise_graph: False -2024-02-20 16:04:55, INFO: Skip_connection: True -2024-02-20 16:04:55, INFO: Number of layers: 1 -2024-02-20 16:04:55, INFO: Similarity_func: concatenation -2024-02-20 16:04:55, INFO: Layerwise_graph: False -2024-02-20 16:04:55, INFO: Skip_connection: True -2024-02-20 16:04:55, INFO: Number of layers: 1 -2024-02-20 16:04:55, INFO: Planning depth: 1 -2024-02-20 16:04:55, INFO: Planning width: 10 -2024-02-20 16:04:55, INFO: Sparse search: None -2024-02-20 16:04:58, INFO: human number: 10 -2024-02-20 16:04:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:04:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:04:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:04:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:04:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:05:02, INFO: Using device: cpu -2024-02-20 16:05:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:05:02, INFO: Similarity_func: concatenation -2024-02-20 16:05:02, INFO: Layerwise_graph: False -2024-02-20 16:05:02, INFO: Skip_connection: True -2024-02-20 16:05:02, INFO: Number of layers: 1 -2024-02-20 16:05:02, INFO: Similarity_func: concatenation -2024-02-20 16:05:02, INFO: Layerwise_graph: False -2024-02-20 16:05:02, INFO: Skip_connection: True -2024-02-20 16:05:02, INFO: Number of layers: 1 -2024-02-20 16:05:02, INFO: Planning depth: 1 -2024-02-20 16:05:02, INFO: Planning width: 10 -2024-02-20 16:05:02, INFO: Sparse search: None -2024-02-20 16:05:05, INFO: human number: 10 -2024-02-20 16:05:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:05:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:05:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:05:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:05:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:05:10, INFO: Using device: cpu -2024-02-20 16:05:10, INFO: Loaded RL weights with best VAL -2024-02-20 16:05:10, INFO: Similarity_func: concatenation -2024-02-20 16:05:10, INFO: Layerwise_graph: False -2024-02-20 16:05:10, INFO: Skip_connection: True -2024-02-20 16:05:10, INFO: Number of layers: 1 -2024-02-20 16:05:10, INFO: Similarity_func: concatenation -2024-02-20 16:05:10, INFO: Layerwise_graph: False -2024-02-20 16:05:10, INFO: Skip_connection: True -2024-02-20 16:05:10, INFO: Number of layers: 1 -2024-02-20 16:05:10, INFO: Planning depth: 1 -2024-02-20 16:05:10, INFO: Planning width: 10 -2024-02-20 16:05:10, INFO: Sparse search: None -2024-02-20 16:05:13, INFO: human number: 10 -2024-02-20 16:05:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:05:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:05:13, INFO: Square width: 10, circle width: 4 -2024-02-20 16:05:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:05:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:05:15, INFO: Animation.save using -2024-02-20 16:05:39, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.110397 -2024-02-20 16:05:42, INFO: Using device: cpu -2024-02-20 16:05:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:05:42, INFO: Similarity_func: concatenation -2024-02-20 16:05:42, INFO: Layerwise_graph: False -2024-02-20 16:05:42, INFO: Skip_connection: True -2024-02-20 16:05:42, INFO: Number of layers: 1 -2024-02-20 16:05:42, INFO: Similarity_func: concatenation -2024-02-20 16:05:42, INFO: Layerwise_graph: False -2024-02-20 16:05:42, INFO: Skip_connection: True -2024-02-20 16:05:42, INFO: Number of layers: 1 -2024-02-20 16:05:42, INFO: Planning depth: 1 -2024-02-20 16:05:42, INFO: Planning width: 10 -2024-02-20 16:05:42, INFO: Sparse search: None -2024-02-20 16:05:45, INFO: human number: 10 -2024-02-20 16:05:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:05:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:05:45, INFO: Square width: 10, circle width: 4 -2024-02-20 16:05:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:05:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:05:50, INFO: Using device: cpu -2024-02-20 16:05:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:05:50, INFO: Similarity_func: concatenation -2024-02-20 16:05:50, INFO: Layerwise_graph: False -2024-02-20 16:05:50, INFO: Skip_connection: True -2024-02-20 16:05:50, INFO: Number of layers: 1 -2024-02-20 16:05:50, INFO: Similarity_func: concatenation -2024-02-20 16:05:50, INFO: Layerwise_graph: False -2024-02-20 16:05:50, INFO: Skip_connection: True -2024-02-20 16:05:50, INFO: Number of layers: 1 -2024-02-20 16:05:50, INFO: Planning depth: 1 -2024-02-20 16:05:50, INFO: Planning width: 10 -2024-02-20 16:05:50, INFO: Sparse search: None -2024-02-20 16:05:53, INFO: human number: 10 -2024-02-20 16:05:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:05:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:05:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:05:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:05:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:05:55, INFO: Animation.save using -2024-02-20 16:06:28, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.040104 -2024-02-20 16:06:31, INFO: Using device: cpu -2024-02-20 16:06:31, INFO: Loaded RL weights with best VAL -2024-02-20 16:06:31, INFO: Similarity_func: concatenation -2024-02-20 16:06:31, INFO: Layerwise_graph: False -2024-02-20 16:06:31, INFO: Skip_connection: True -2024-02-20 16:06:31, INFO: Number of layers: 1 -2024-02-20 16:06:31, INFO: Similarity_func: concatenation -2024-02-20 16:06:31, INFO: Layerwise_graph: False -2024-02-20 16:06:31, INFO: Skip_connection: True -2024-02-20 16:06:31, INFO: Number of layers: 1 -2024-02-20 16:06:31, INFO: Planning depth: 1 -2024-02-20 16:06:31, INFO: Planning width: 10 -2024-02-20 16:06:31, INFO: Sparse search: None -2024-02-20 16:06:34, INFO: human number: 10 -2024-02-20 16:06:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:06:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:06:34, INFO: Square width: 10, circle width: 4 -2024-02-20 16:06:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:06:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:06:38, INFO: Using device: cpu -2024-02-20 16:06:38, INFO: Loaded RL weights with best VAL -2024-02-20 16:06:38, INFO: Similarity_func: concatenation -2024-02-20 16:06:38, INFO: Layerwise_graph: False -2024-02-20 16:06:38, INFO: Skip_connection: True -2024-02-20 16:06:38, INFO: Number of layers: 1 -2024-02-20 16:06:38, INFO: Similarity_func: concatenation -2024-02-20 16:06:38, INFO: Layerwise_graph: False -2024-02-20 16:06:38, INFO: Skip_connection: True -2024-02-20 16:06:38, INFO: Number of layers: 1 -2024-02-20 16:06:38, INFO: Planning depth: 1 -2024-02-20 16:06:38, INFO: Planning width: 10 -2024-02-20 16:06:38, INFO: Sparse search: None -2024-02-20 16:06:41, INFO: human number: 10 -2024-02-20 16:06:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:06:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:06:41, INFO: Square width: 10, circle width: 4 -2024-02-20 16:06:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:06:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:06:42, INFO: Animation.save using -2024-02-20 16:07:05, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.097303 -2024-02-20 16:07:08, INFO: Using device: cpu -2024-02-20 16:07:08, INFO: Loaded RL weights with best VAL -2024-02-20 16:07:08, INFO: Similarity_func: concatenation -2024-02-20 16:07:08, INFO: Layerwise_graph: False -2024-02-20 16:07:08, INFO: Skip_connection: True -2024-02-20 16:07:08, INFO: Number of layers: 1 -2024-02-20 16:07:08, INFO: Similarity_func: concatenation -2024-02-20 16:07:08, INFO: Layerwise_graph: False -2024-02-20 16:07:08, INFO: Skip_connection: True -2024-02-20 16:07:08, INFO: Number of layers: 1 -2024-02-20 16:07:08, INFO: Planning depth: 1 -2024-02-20 16:07:08, INFO: Planning width: 10 -2024-02-20 16:07:08, INFO: Sparse search: None -2024-02-20 16:07:11, INFO: human number: 10 -2024-02-20 16:07:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:07:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:07:11, INFO: Square width: 10, circle width: 4 -2024-02-20 16:07:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:07:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:07:16, INFO: Using device: cpu -2024-02-20 16:07:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:07:16, INFO: Similarity_func: concatenation -2024-02-20 16:07:16, INFO: Layerwise_graph: False -2024-02-20 16:07:16, INFO: Skip_connection: True -2024-02-20 16:07:16, INFO: Number of layers: 1 -2024-02-20 16:07:16, INFO: Similarity_func: concatenation -2024-02-20 16:07:16, INFO: Layerwise_graph: False -2024-02-20 16:07:16, INFO: Skip_connection: True -2024-02-20 16:07:16, INFO: Number of layers: 1 -2024-02-20 16:07:16, INFO: Planning depth: 1 -2024-02-20 16:07:16, INFO: Planning width: 10 -2024-02-20 16:07:16, INFO: Sparse search: None -2024-02-20 16:07:18, INFO: human number: 10 -2024-02-20 16:07:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:07:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:07:18, INFO: Square width: 10, circle width: 4 -2024-02-20 16:07:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:07:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:07:20, INFO: Animation.save using -2024-02-20 16:07:50, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954584 -2024-02-20 16:07:53, INFO: Using device: cpu -2024-02-20 16:07:53, INFO: Loaded RL weights with best VAL -2024-02-20 16:07:53, INFO: Similarity_func: concatenation -2024-02-20 16:07:53, INFO: Layerwise_graph: False -2024-02-20 16:07:53, INFO: Skip_connection: True -2024-02-20 16:07:53, INFO: Number of layers: 1 -2024-02-20 16:07:53, INFO: Similarity_func: concatenation -2024-02-20 16:07:53, INFO: Layerwise_graph: False -2024-02-20 16:07:53, INFO: Skip_connection: True -2024-02-20 16:07:53, INFO: Number of layers: 1 -2024-02-20 16:07:53, INFO: Planning depth: 1 -2024-02-20 16:07:53, INFO: Planning width: 10 -2024-02-20 16:07:53, INFO: Sparse search: None -2024-02-20 16:07:56, INFO: human number: 10 -2024-02-20 16:07:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:07:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:07:56, INFO: Square width: 10, circle width: 4 -2024-02-20 16:07:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:07:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:07:58, INFO: Animation.save using -2024-02-20 16:08:44, INFO: It takes 15.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.917754 -2024-02-20 16:08:47, INFO: Using device: cpu -2024-02-20 16:08:47, INFO: Loaded RL weights with best VAL -2024-02-20 16:08:47, INFO: Similarity_func: concatenation -2024-02-20 16:08:47, INFO: Layerwise_graph: False -2024-02-20 16:08:47, INFO: Skip_connection: True -2024-02-20 16:08:47, INFO: Number of layers: 1 -2024-02-20 16:08:47, INFO: Similarity_func: concatenation -2024-02-20 16:08:47, INFO: Layerwise_graph: False -2024-02-20 16:08:47, INFO: Skip_connection: True -2024-02-20 16:08:47, INFO: Number of layers: 1 -2024-02-20 16:08:47, INFO: Planning depth: 1 -2024-02-20 16:08:47, INFO: Planning width: 10 -2024-02-20 16:08:47, INFO: Sparse search: None -2024-02-20 16:08:50, INFO: human number: 10 -2024-02-20 16:08:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:08:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:08:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:08:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:08:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:08:54, INFO: Using device: cpu -2024-02-20 16:08:54, INFO: Loaded RL weights with best VAL -2024-02-20 16:08:54, INFO: Similarity_func: concatenation -2024-02-20 16:08:54, INFO: Layerwise_graph: False -2024-02-20 16:08:54, INFO: Skip_connection: True -2024-02-20 16:08:54, INFO: Number of layers: 1 -2024-02-20 16:08:54, INFO: Similarity_func: concatenation -2024-02-20 16:08:54, INFO: Layerwise_graph: False -2024-02-20 16:08:54, INFO: Skip_connection: True -2024-02-20 16:08:54, INFO: Number of layers: 1 -2024-02-20 16:08:54, INFO: Planning depth: 1 -2024-02-20 16:08:54, INFO: Planning width: 10 -2024-02-20 16:08:54, INFO: Sparse search: None -2024-02-20 16:08:57, INFO: human number: 10 -2024-02-20 16:08:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:08:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:08:57, INFO: Square width: 10, circle width: 4 -2024-02-20 16:08:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:08:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:09:02, INFO: Using device: cpu -2024-02-20 16:09:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:09:02, INFO: Similarity_func: concatenation -2024-02-20 16:09:02, INFO: Layerwise_graph: False -2024-02-20 16:09:02, INFO: Skip_connection: True -2024-02-20 16:09:02, INFO: Number of layers: 1 -2024-02-20 16:09:02, INFO: Similarity_func: concatenation -2024-02-20 16:09:02, INFO: Layerwise_graph: False -2024-02-20 16:09:02, INFO: Skip_connection: True -2024-02-20 16:09:02, INFO: Number of layers: 1 -2024-02-20 16:09:02, INFO: Planning depth: 1 -2024-02-20 16:09:02, INFO: Planning width: 10 -2024-02-20 16:09:02, INFO: Sparse search: None -2024-02-20 16:09:04, INFO: human number: 10 -2024-02-20 16:09:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:09:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:09:04, INFO: Square width: 10, circle width: 4 -2024-02-20 16:09:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:09:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:09:06, INFO: Animation.save using -2024-02-20 16:09:32, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.057389 -2024-02-20 16:09:35, INFO: Using device: cpu -2024-02-20 16:09:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:09:35, INFO: Similarity_func: concatenation -2024-02-20 16:09:35, INFO: Layerwise_graph: False -2024-02-20 16:09:35, INFO: Skip_connection: True -2024-02-20 16:09:35, INFO: Number of layers: 1 -2024-02-20 16:09:35, INFO: Similarity_func: concatenation -2024-02-20 16:09:35, INFO: Layerwise_graph: False -2024-02-20 16:09:35, INFO: Skip_connection: True -2024-02-20 16:09:35, INFO: Number of layers: 1 -2024-02-20 16:09:35, INFO: Planning depth: 1 -2024-02-20 16:09:35, INFO: Planning width: 10 -2024-02-20 16:09:35, INFO: Sparse search: None -2024-02-20 16:09:38, INFO: human number: 10 -2024-02-20 16:09:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:09:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:09:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:09:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:09:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:09:43, INFO: Using device: cpu -2024-02-20 16:09:43, INFO: Loaded RL weights with best VAL -2024-02-20 16:09:43, INFO: Similarity_func: concatenation -2024-02-20 16:09:43, INFO: Layerwise_graph: False -2024-02-20 16:09:43, INFO: Skip_connection: True -2024-02-20 16:09:43, INFO: Number of layers: 1 -2024-02-20 16:09:43, INFO: Similarity_func: concatenation -2024-02-20 16:09:43, INFO: Layerwise_graph: False -2024-02-20 16:09:43, INFO: Skip_connection: True -2024-02-20 16:09:43, INFO: Number of layers: 1 -2024-02-20 16:09:43, INFO: Planning depth: 1 -2024-02-20 16:09:43, INFO: Planning width: 10 -2024-02-20 16:09:43, INFO: Sparse search: None -2024-02-20 16:09:46, INFO: human number: 10 -2024-02-20 16:09:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:09:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:09:46, INFO: Square width: 10, circle width: 4 -2024-02-20 16:09:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:09:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:09:52, INFO: Using device: cpu -2024-02-20 16:09:52, INFO: Loaded RL weights with best VAL -2024-02-20 16:09:52, INFO: Similarity_func: concatenation -2024-02-20 16:09:52, INFO: Layerwise_graph: False -2024-02-20 16:09:52, INFO: Skip_connection: True -2024-02-20 16:09:52, INFO: Number of layers: 1 -2024-02-20 16:09:52, INFO: Similarity_func: concatenation -2024-02-20 16:09:52, INFO: Layerwise_graph: False -2024-02-20 16:09:52, INFO: Skip_connection: True -2024-02-20 16:09:52, INFO: Number of layers: 1 -2024-02-20 16:09:52, INFO: Planning depth: 1 -2024-02-20 16:09:52, INFO: Planning width: 10 -2024-02-20 16:09:52, INFO: Sparse search: None -2024-02-20 16:09:55, INFO: human number: 10 -2024-02-20 16:09:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:09:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:09:55, INFO: Square width: 10, circle width: 4 -2024-02-20 16:09:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:09:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:00, INFO: Using device: cpu -2024-02-20 16:10:00, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:00, INFO: Similarity_func: concatenation -2024-02-20 16:10:00, INFO: Layerwise_graph: False -2024-02-20 16:10:00, INFO: Skip_connection: True -2024-02-20 16:10:00, INFO: Number of layers: 1 -2024-02-20 16:10:00, INFO: Similarity_func: concatenation -2024-02-20 16:10:00, INFO: Layerwise_graph: False -2024-02-20 16:10:00, INFO: Skip_connection: True -2024-02-20 16:10:00, INFO: Number of layers: 1 -2024-02-20 16:10:00, INFO: Planning depth: 1 -2024-02-20 16:10:00, INFO: Planning width: 10 -2024-02-20 16:10:00, INFO: Sparse search: None -2024-02-20 16:10:03, INFO: human number: 10 -2024-02-20 16:10:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:03, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:08, INFO: Using device: cpu -2024-02-20 16:10:08, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:08, INFO: Similarity_func: concatenation -2024-02-20 16:10:08, INFO: Layerwise_graph: False -2024-02-20 16:10:08, INFO: Skip_connection: True -2024-02-20 16:10:08, INFO: Number of layers: 1 -2024-02-20 16:10:08, INFO: Similarity_func: concatenation -2024-02-20 16:10:08, INFO: Layerwise_graph: False -2024-02-20 16:10:08, INFO: Skip_connection: True -2024-02-20 16:10:08, INFO: Number of layers: 1 -2024-02-20 16:10:08, INFO: Planning depth: 1 -2024-02-20 16:10:08, INFO: Planning width: 10 -2024-02-20 16:10:08, INFO: Sparse search: None -2024-02-20 16:10:11, INFO: human number: 10 -2024-02-20 16:10:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:11, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:15, INFO: Using device: cpu -2024-02-20 16:10:15, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:15, INFO: Similarity_func: concatenation -2024-02-20 16:10:15, INFO: Layerwise_graph: False -2024-02-20 16:10:15, INFO: Skip_connection: True -2024-02-20 16:10:15, INFO: Number of layers: 1 -2024-02-20 16:10:15, INFO: Similarity_func: concatenation -2024-02-20 16:10:15, INFO: Layerwise_graph: False -2024-02-20 16:10:15, INFO: Skip_connection: True -2024-02-20 16:10:15, INFO: Number of layers: 1 -2024-02-20 16:10:15, INFO: Planning depth: 1 -2024-02-20 16:10:15, INFO: Planning width: 10 -2024-02-20 16:10:15, INFO: Sparse search: None -2024-02-20 16:10:18, INFO: human number: 10 -2024-02-20 16:10:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:18, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:23, INFO: Using device: cpu -2024-02-20 16:10:23, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:23, INFO: Similarity_func: concatenation -2024-02-20 16:10:23, INFO: Layerwise_graph: False -2024-02-20 16:10:23, INFO: Skip_connection: True -2024-02-20 16:10:23, INFO: Number of layers: 1 -2024-02-20 16:10:23, INFO: Similarity_func: concatenation -2024-02-20 16:10:23, INFO: Layerwise_graph: False -2024-02-20 16:10:23, INFO: Skip_connection: True -2024-02-20 16:10:23, INFO: Number of layers: 1 -2024-02-20 16:10:23, INFO: Planning depth: 1 -2024-02-20 16:10:23, INFO: Planning width: 10 -2024-02-20 16:10:23, INFO: Sparse search: None -2024-02-20 16:10:25, INFO: human number: 10 -2024-02-20 16:10:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:25, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:31, INFO: Using device: cpu -2024-02-20 16:10:31, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:31, INFO: Similarity_func: concatenation -2024-02-20 16:10:31, INFO: Layerwise_graph: False -2024-02-20 16:10:31, INFO: Skip_connection: True -2024-02-20 16:10:31, INFO: Number of layers: 1 -2024-02-20 16:10:31, INFO: Similarity_func: concatenation -2024-02-20 16:10:31, INFO: Layerwise_graph: False -2024-02-20 16:10:31, INFO: Skip_connection: True -2024-02-20 16:10:31, INFO: Number of layers: 1 -2024-02-20 16:10:31, INFO: Planning depth: 1 -2024-02-20 16:10:31, INFO: Planning width: 10 -2024-02-20 16:10:31, INFO: Sparse search: None -2024-02-20 16:10:33, INFO: human number: 10 -2024-02-20 16:10:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:33, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:38, INFO: Using device: cpu -2024-02-20 16:10:38, INFO: Loaded RL weights with best VAL -2024-02-20 16:10:38, INFO: Similarity_func: concatenation -2024-02-20 16:10:38, INFO: Layerwise_graph: False -2024-02-20 16:10:38, INFO: Skip_connection: True -2024-02-20 16:10:38, INFO: Number of layers: 1 -2024-02-20 16:10:38, INFO: Similarity_func: concatenation -2024-02-20 16:10:38, INFO: Layerwise_graph: False -2024-02-20 16:10:38, INFO: Skip_connection: True -2024-02-20 16:10:38, INFO: Number of layers: 1 -2024-02-20 16:10:38, INFO: Planning depth: 1 -2024-02-20 16:10:38, INFO: Planning width: 10 -2024-02-20 16:10:38, INFO: Sparse search: None -2024-02-20 16:10:41, INFO: human number: 10 -2024-02-20 16:10:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:10:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:10:41, INFO: Square width: 10, circle width: 4 -2024-02-20 16:10:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:10:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:10:44, INFO: Animation.save using -2024-02-20 16:11:25, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.922975 -2024-02-20 16:11:28, INFO: Using device: cpu -2024-02-20 16:11:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:11:28, INFO: Similarity_func: concatenation -2024-02-20 16:11:28, INFO: Layerwise_graph: False -2024-02-20 16:11:28, INFO: Skip_connection: True -2024-02-20 16:11:28, INFO: Number of layers: 1 -2024-02-20 16:11:28, INFO: Similarity_func: concatenation -2024-02-20 16:11:28, INFO: Layerwise_graph: False -2024-02-20 16:11:28, INFO: Skip_connection: True -2024-02-20 16:11:28, INFO: Number of layers: 1 -2024-02-20 16:11:28, INFO: Planning depth: 1 -2024-02-20 16:11:28, INFO: Planning width: 10 -2024-02-20 16:11:28, INFO: Sparse search: None -2024-02-20 16:11:31, INFO: human number: 10 -2024-02-20 16:11:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:11:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:11:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:11:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:11:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:11:36, INFO: Using device: cpu -2024-02-20 16:11:36, INFO: Loaded RL weights with best VAL -2024-02-20 16:11:36, INFO: Similarity_func: concatenation -2024-02-20 16:11:36, INFO: Layerwise_graph: False -2024-02-20 16:11:36, INFO: Skip_connection: True -2024-02-20 16:11:36, INFO: Number of layers: 1 -2024-02-20 16:11:36, INFO: Similarity_func: concatenation -2024-02-20 16:11:36, INFO: Layerwise_graph: False -2024-02-20 16:11:36, INFO: Skip_connection: True -2024-02-20 16:11:36, INFO: Number of layers: 1 -2024-02-20 16:11:36, INFO: Planning depth: 1 -2024-02-20 16:11:36, INFO: Planning width: 10 -2024-02-20 16:11:36, INFO: Sparse search: None -2024-02-20 16:11:39, INFO: human number: 10 -2024-02-20 16:11:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:11:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:11:39, INFO: Square width: 10, circle width: 4 -2024-02-20 16:11:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:11:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:11:44, INFO: Using device: cpu -2024-02-20 16:11:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:11:44, INFO: Similarity_func: concatenation -2024-02-20 16:11:44, INFO: Layerwise_graph: False -2024-02-20 16:11:44, INFO: Skip_connection: True -2024-02-20 16:11:44, INFO: Number of layers: 1 -2024-02-20 16:11:44, INFO: Similarity_func: concatenation -2024-02-20 16:11:44, INFO: Layerwise_graph: False -2024-02-20 16:11:44, INFO: Skip_connection: True -2024-02-20 16:11:44, INFO: Number of layers: 1 -2024-02-20 16:11:44, INFO: Planning depth: 1 -2024-02-20 16:11:44, INFO: Planning width: 10 -2024-02-20 16:11:44, INFO: Sparse search: None -2024-02-20 16:11:46, INFO: human number: 10 -2024-02-20 16:11:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:11:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:11:46, INFO: Square width: 10, circle width: 4 -2024-02-20 16:11:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:11:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:11:51, INFO: Using device: cpu -2024-02-20 16:11:51, INFO: Loaded RL weights with best VAL -2024-02-20 16:11:51, INFO: Similarity_func: concatenation -2024-02-20 16:11:51, INFO: Layerwise_graph: False -2024-02-20 16:11:51, INFO: Skip_connection: True -2024-02-20 16:11:51, INFO: Number of layers: 1 -2024-02-20 16:11:51, INFO: Similarity_func: concatenation -2024-02-20 16:11:51, INFO: Layerwise_graph: False -2024-02-20 16:11:51, INFO: Skip_connection: True -2024-02-20 16:11:51, INFO: Number of layers: 1 -2024-02-20 16:11:51, INFO: Planning depth: 1 -2024-02-20 16:11:51, INFO: Planning width: 10 -2024-02-20 16:11:51, INFO: Sparse search: None -2024-02-20 16:11:54, INFO: human number: 10 -2024-02-20 16:11:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:11:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:11:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:11:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:11:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:11:56, INFO: Animation.save using -2024-02-20 16:12:23, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.000084 -2024-02-20 16:12:25, INFO: Using device: cpu -2024-02-20 16:12:25, INFO: Loaded RL weights with best VAL -2024-02-20 16:12:25, INFO: Similarity_func: concatenation -2024-02-20 16:12:25, INFO: Layerwise_graph: False -2024-02-20 16:12:25, INFO: Skip_connection: True -2024-02-20 16:12:25, INFO: Number of layers: 1 -2024-02-20 16:12:25, INFO: Similarity_func: concatenation -2024-02-20 16:12:25, INFO: Layerwise_graph: False -2024-02-20 16:12:25, INFO: Skip_connection: True -2024-02-20 16:12:25, INFO: Number of layers: 1 -2024-02-20 16:12:25, INFO: Planning depth: 1 -2024-02-20 16:12:25, INFO: Planning width: 10 -2024-02-20 16:12:25, INFO: Sparse search: None -2024-02-20 16:12:28, INFO: human number: 10 -2024-02-20 16:12:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:12:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:12:28, INFO: Square width: 10, circle width: 4 -2024-02-20 16:12:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:12:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:12:34, INFO: Using device: cpu -2024-02-20 16:12:34, INFO: Loaded RL weights with best VAL -2024-02-20 16:12:34, INFO: Similarity_func: concatenation -2024-02-20 16:12:34, INFO: Layerwise_graph: False -2024-02-20 16:12:34, INFO: Skip_connection: True -2024-02-20 16:12:34, INFO: Number of layers: 1 -2024-02-20 16:12:34, INFO: Similarity_func: concatenation -2024-02-20 16:12:34, INFO: Layerwise_graph: False -2024-02-20 16:12:34, INFO: Skip_connection: True -2024-02-20 16:12:34, INFO: Number of layers: 1 -2024-02-20 16:12:34, INFO: Planning depth: 1 -2024-02-20 16:12:34, INFO: Planning width: 10 -2024-02-20 16:12:34, INFO: Sparse search: None -2024-02-20 16:12:36, INFO: human number: 10 -2024-02-20 16:12:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:12:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:12:36, INFO: Square width: 10, circle width: 4 -2024-02-20 16:12:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:12:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:12:42, INFO: Using device: cpu -2024-02-20 16:12:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:12:42, INFO: Similarity_func: concatenation -2024-02-20 16:12:42, INFO: Layerwise_graph: False -2024-02-20 16:12:42, INFO: Skip_connection: True -2024-02-20 16:12:42, INFO: Number of layers: 1 -2024-02-20 16:12:42, INFO: Similarity_func: concatenation -2024-02-20 16:12:42, INFO: Layerwise_graph: False -2024-02-20 16:12:42, INFO: Skip_connection: True -2024-02-20 16:12:42, INFO: Number of layers: 1 -2024-02-20 16:12:42, INFO: Planning depth: 1 -2024-02-20 16:12:42, INFO: Planning width: 10 -2024-02-20 16:12:42, INFO: Sparse search: None -2024-02-20 16:12:44, INFO: human number: 10 -2024-02-20 16:12:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:12:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:12:44, INFO: Square width: 10, circle width: 4 -2024-02-20 16:12:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:12:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:12:49, INFO: Using device: cpu -2024-02-20 16:12:49, INFO: Loaded RL weights with best VAL -2024-02-20 16:12:49, INFO: Similarity_func: concatenation -2024-02-20 16:12:49, INFO: Layerwise_graph: False -2024-02-20 16:12:49, INFO: Skip_connection: True -2024-02-20 16:12:49, INFO: Number of layers: 1 -2024-02-20 16:12:49, INFO: Similarity_func: concatenation -2024-02-20 16:12:49, INFO: Layerwise_graph: False -2024-02-20 16:12:49, INFO: Skip_connection: True -2024-02-20 16:12:49, INFO: Number of layers: 1 -2024-02-20 16:12:49, INFO: Planning depth: 1 -2024-02-20 16:12:49, INFO: Planning width: 10 -2024-02-20 16:12:49, INFO: Sparse search: None -2024-02-20 16:12:52, INFO: human number: 10 -2024-02-20 16:12:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:12:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:12:52, INFO: Square width: 10, circle width: 4 -2024-02-20 16:12:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:12:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:12:57, INFO: Using device: cpu -2024-02-20 16:12:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:12:57, INFO: Similarity_func: concatenation -2024-02-20 16:12:57, INFO: Layerwise_graph: False -2024-02-20 16:12:57, INFO: Skip_connection: True -2024-02-20 16:12:57, INFO: Number of layers: 1 -2024-02-20 16:12:57, INFO: Similarity_func: concatenation -2024-02-20 16:12:57, INFO: Layerwise_graph: False -2024-02-20 16:12:57, INFO: Skip_connection: True -2024-02-20 16:12:57, INFO: Number of layers: 1 -2024-02-20 16:12:57, INFO: Planning depth: 1 -2024-02-20 16:12:57, INFO: Planning width: 10 -2024-02-20 16:12:57, INFO: Sparse search: None -2024-02-20 16:12:59, INFO: human number: 10 -2024-02-20 16:12:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:12:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:12:59, INFO: Square width: 10, circle width: 4 -2024-02-20 16:12:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:12:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:13:02, INFO: Animation.save using -2024-02-20 16:13:54, INFO: It takes 16.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.792368 -2024-02-20 16:13:57, INFO: Using device: cpu -2024-02-20 16:13:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:13:57, INFO: Similarity_func: concatenation -2024-02-20 16:13:57, INFO: Layerwise_graph: False -2024-02-20 16:13:57, INFO: Skip_connection: True -2024-02-20 16:13:57, INFO: Number of layers: 1 -2024-02-20 16:13:57, INFO: Similarity_func: concatenation -2024-02-20 16:13:57, INFO: Layerwise_graph: False -2024-02-20 16:13:57, INFO: Skip_connection: True -2024-02-20 16:13:57, INFO: Number of layers: 1 -2024-02-20 16:13:57, INFO: Planning depth: 1 -2024-02-20 16:13:57, INFO: Planning width: 10 -2024-02-20 16:13:57, INFO: Sparse search: None -2024-02-20 16:14:00, INFO: human number: 10 -2024-02-20 16:14:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:14:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:14:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:14:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:14:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:14:05, INFO: Using device: cpu -2024-02-20 16:14:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:14:05, INFO: Similarity_func: concatenation -2024-02-20 16:14:05, INFO: Layerwise_graph: False -2024-02-20 16:14:05, INFO: Skip_connection: True -2024-02-20 16:14:05, INFO: Number of layers: 1 -2024-02-20 16:14:05, INFO: Similarity_func: concatenation -2024-02-20 16:14:05, INFO: Layerwise_graph: False -2024-02-20 16:14:05, INFO: Skip_connection: True -2024-02-20 16:14:05, INFO: Number of layers: 1 -2024-02-20 16:14:05, INFO: Planning depth: 1 -2024-02-20 16:14:05, INFO: Planning width: 10 -2024-02-20 16:14:05, INFO: Sparse search: None -2024-02-20 16:14:08, INFO: human number: 10 -2024-02-20 16:14:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:14:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:14:08, INFO: Square width: 10, circle width: 4 -2024-02-20 16:14:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:14:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:14:10, INFO: Animation.save using -2024-02-20 16:14:44, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.916955 -2024-02-20 16:14:47, INFO: Using device: cpu -2024-02-20 16:14:47, INFO: Loaded RL weights with best VAL -2024-02-20 16:14:47, INFO: Similarity_func: concatenation -2024-02-20 16:14:47, INFO: Layerwise_graph: False -2024-02-20 16:14:47, INFO: Skip_connection: True -2024-02-20 16:14:47, INFO: Number of layers: 1 -2024-02-20 16:14:47, INFO: Similarity_func: concatenation -2024-02-20 16:14:47, INFO: Layerwise_graph: False -2024-02-20 16:14:47, INFO: Skip_connection: True -2024-02-20 16:14:47, INFO: Number of layers: 1 -2024-02-20 16:14:47, INFO: Planning depth: 1 -2024-02-20 16:14:47, INFO: Planning width: 10 -2024-02-20 16:14:47, INFO: Sparse search: None -2024-02-20 16:14:50, INFO: human number: 10 -2024-02-20 16:14:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:14:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:14:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:14:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:14:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:14:55, INFO: Using device: cpu -2024-02-20 16:14:55, INFO: Loaded RL weights with best VAL -2024-02-20 16:14:55, INFO: Similarity_func: concatenation -2024-02-20 16:14:55, INFO: Layerwise_graph: False -2024-02-20 16:14:55, INFO: Skip_connection: True -2024-02-20 16:14:55, INFO: Number of layers: 1 -2024-02-20 16:14:55, INFO: Similarity_func: concatenation -2024-02-20 16:14:55, INFO: Layerwise_graph: False -2024-02-20 16:14:55, INFO: Skip_connection: True -2024-02-20 16:14:55, INFO: Number of layers: 1 -2024-02-20 16:14:55, INFO: Planning depth: 1 -2024-02-20 16:14:55, INFO: Planning width: 10 -2024-02-20 16:14:55, INFO: Sparse search: None -2024-02-20 16:14:57, INFO: human number: 10 -2024-02-20 16:14:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:14:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:14:57, INFO: Square width: 10, circle width: 4 -2024-02-20 16:14:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:14:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:15:02, INFO: Using device: cpu -2024-02-20 16:15:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:15:02, INFO: Similarity_func: concatenation -2024-02-20 16:15:02, INFO: Layerwise_graph: False -2024-02-20 16:15:02, INFO: Skip_connection: True -2024-02-20 16:15:02, INFO: Number of layers: 1 -2024-02-20 16:15:02, INFO: Similarity_func: concatenation -2024-02-20 16:15:02, INFO: Layerwise_graph: False -2024-02-20 16:15:02, INFO: Skip_connection: True -2024-02-20 16:15:02, INFO: Number of layers: 1 -2024-02-20 16:15:02, INFO: Planning depth: 1 -2024-02-20 16:15:02, INFO: Planning width: 10 -2024-02-20 16:15:02, INFO: Sparse search: None -2024-02-20 16:15:05, INFO: human number: 10 -2024-02-20 16:15:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:15:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:15:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:15:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:15:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:15:09, INFO: Using device: cpu -2024-02-20 16:15:09, INFO: Loaded RL weights with best VAL -2024-02-20 16:15:09, INFO: Similarity_func: concatenation -2024-02-20 16:15:09, INFO: Layerwise_graph: False -2024-02-20 16:15:09, INFO: Skip_connection: True -2024-02-20 16:15:09, INFO: Number of layers: 1 -2024-02-20 16:15:09, INFO: Similarity_func: concatenation -2024-02-20 16:15:09, INFO: Layerwise_graph: False -2024-02-20 16:15:09, INFO: Skip_connection: True -2024-02-20 16:15:09, INFO: Number of layers: 1 -2024-02-20 16:15:09, INFO: Planning depth: 1 -2024-02-20 16:15:09, INFO: Planning width: 10 -2024-02-20 16:15:09, INFO: Sparse search: None -2024-02-20 16:15:12, INFO: human number: 10 -2024-02-20 16:15:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:15:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:15:12, INFO: Square width: 10, circle width: 4 -2024-02-20 16:15:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:15:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:15:17, INFO: Using device: cpu -2024-02-20 16:15:17, INFO: Loaded RL weights with best VAL -2024-02-20 16:15:17, INFO: Similarity_func: concatenation -2024-02-20 16:15:17, INFO: Layerwise_graph: False -2024-02-20 16:15:17, INFO: Skip_connection: True -2024-02-20 16:15:17, INFO: Number of layers: 1 -2024-02-20 16:15:17, INFO: Similarity_func: concatenation -2024-02-20 16:15:17, INFO: Layerwise_graph: False -2024-02-20 16:15:17, INFO: Skip_connection: True -2024-02-20 16:15:17, INFO: Number of layers: 1 -2024-02-20 16:15:17, INFO: Planning depth: 1 -2024-02-20 16:15:17, INFO: Planning width: 10 -2024-02-20 16:15:17, INFO: Sparse search: None -2024-02-20 16:15:20, INFO: human number: 10 -2024-02-20 16:15:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:15:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:15:20, INFO: Square width: 10, circle width: 4 -2024-02-20 16:15:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:15:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:15:24, INFO: Using device: cpu -2024-02-20 16:15:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:15:24, INFO: Similarity_func: concatenation -2024-02-20 16:15:24, INFO: Layerwise_graph: False -2024-02-20 16:15:24, INFO: Skip_connection: True -2024-02-20 16:15:24, INFO: Number of layers: 1 -2024-02-20 16:15:24, INFO: Similarity_func: concatenation -2024-02-20 16:15:24, INFO: Layerwise_graph: False -2024-02-20 16:15:24, INFO: Skip_connection: True -2024-02-20 16:15:24, INFO: Number of layers: 1 -2024-02-20 16:15:24, INFO: Planning depth: 1 -2024-02-20 16:15:24, INFO: Planning width: 10 -2024-02-20 16:15:24, INFO: Sparse search: None -2024-02-20 16:15:27, INFO: human number: 10 -2024-02-20 16:15:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:15:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:15:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:15:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:15:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:15:29, INFO: Animation.save using -2024-02-20 16:16:02, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.938175 -2024-02-20 16:16:05, INFO: Using device: cpu -2024-02-20 16:16:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:05, INFO: Similarity_func: concatenation -2024-02-20 16:16:05, INFO: Layerwise_graph: False -2024-02-20 16:16:05, INFO: Skip_connection: True -2024-02-20 16:16:05, INFO: Number of layers: 1 -2024-02-20 16:16:05, INFO: Similarity_func: concatenation -2024-02-20 16:16:05, INFO: Layerwise_graph: False -2024-02-20 16:16:05, INFO: Skip_connection: True -2024-02-20 16:16:05, INFO: Number of layers: 1 -2024-02-20 16:16:05, INFO: Planning depth: 1 -2024-02-20 16:16:05, INFO: Planning width: 10 -2024-02-20 16:16:05, INFO: Sparse search: None -2024-02-20 16:16:07, INFO: human number: 10 -2024-02-20 16:16:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:07, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:12, INFO: Using device: cpu -2024-02-20 16:16:12, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:12, INFO: Similarity_func: concatenation -2024-02-20 16:16:12, INFO: Layerwise_graph: False -2024-02-20 16:16:12, INFO: Skip_connection: True -2024-02-20 16:16:12, INFO: Number of layers: 1 -2024-02-20 16:16:12, INFO: Similarity_func: concatenation -2024-02-20 16:16:12, INFO: Layerwise_graph: False -2024-02-20 16:16:12, INFO: Skip_connection: True -2024-02-20 16:16:12, INFO: Number of layers: 1 -2024-02-20 16:16:12, INFO: Planning depth: 1 -2024-02-20 16:16:12, INFO: Planning width: 10 -2024-02-20 16:16:12, INFO: Sparse search: None -2024-02-20 16:16:15, INFO: human number: 10 -2024-02-20 16:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:15, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:20, INFO: Using device: cpu -2024-02-20 16:16:20, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:20, INFO: Similarity_func: concatenation -2024-02-20 16:16:20, INFO: Layerwise_graph: False -2024-02-20 16:16:20, INFO: Skip_connection: True -2024-02-20 16:16:20, INFO: Number of layers: 1 -2024-02-20 16:16:20, INFO: Similarity_func: concatenation -2024-02-20 16:16:20, INFO: Layerwise_graph: False -2024-02-20 16:16:20, INFO: Skip_connection: True -2024-02-20 16:16:20, INFO: Number of layers: 1 -2024-02-20 16:16:20, INFO: Planning depth: 1 -2024-02-20 16:16:20, INFO: Planning width: 10 -2024-02-20 16:16:20, INFO: Sparse search: None -2024-02-20 16:16:22, INFO: human number: 10 -2024-02-20 16:16:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:22, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:27, INFO: Using device: cpu -2024-02-20 16:16:27, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:27, INFO: Similarity_func: concatenation -2024-02-20 16:16:27, INFO: Layerwise_graph: False -2024-02-20 16:16:27, INFO: Skip_connection: True -2024-02-20 16:16:27, INFO: Number of layers: 1 -2024-02-20 16:16:27, INFO: Similarity_func: concatenation -2024-02-20 16:16:27, INFO: Layerwise_graph: False -2024-02-20 16:16:27, INFO: Skip_connection: True -2024-02-20 16:16:27, INFO: Number of layers: 1 -2024-02-20 16:16:27, INFO: Planning depth: 1 -2024-02-20 16:16:27, INFO: Planning width: 10 -2024-02-20 16:16:27, INFO: Sparse search: None -2024-02-20 16:16:30, INFO: human number: 10 -2024-02-20 16:16:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:30, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:35, INFO: Using device: cpu -2024-02-20 16:16:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:35, INFO: Similarity_func: concatenation -2024-02-20 16:16:35, INFO: Layerwise_graph: False -2024-02-20 16:16:35, INFO: Skip_connection: True -2024-02-20 16:16:35, INFO: Number of layers: 1 -2024-02-20 16:16:35, INFO: Similarity_func: concatenation -2024-02-20 16:16:35, INFO: Layerwise_graph: False -2024-02-20 16:16:35, INFO: Skip_connection: True -2024-02-20 16:16:35, INFO: Number of layers: 1 -2024-02-20 16:16:35, INFO: Planning depth: 1 -2024-02-20 16:16:35, INFO: Planning width: 10 -2024-02-20 16:16:35, INFO: Sparse search: None -2024-02-20 16:16:37, INFO: human number: 10 -2024-02-20 16:16:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:37, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:42, INFO: Using device: cpu -2024-02-20 16:16:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:42, INFO: Similarity_func: concatenation -2024-02-20 16:16:42, INFO: Layerwise_graph: False -2024-02-20 16:16:42, INFO: Skip_connection: True -2024-02-20 16:16:42, INFO: Number of layers: 1 -2024-02-20 16:16:42, INFO: Similarity_func: concatenation -2024-02-20 16:16:42, INFO: Layerwise_graph: False -2024-02-20 16:16:42, INFO: Skip_connection: True -2024-02-20 16:16:42, INFO: Number of layers: 1 -2024-02-20 16:16:42, INFO: Planning depth: 1 -2024-02-20 16:16:42, INFO: Planning width: 10 -2024-02-20 16:16:42, INFO: Sparse search: None -2024-02-20 16:16:45, INFO: human number: 10 -2024-02-20 16:16:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:45, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:50, INFO: Using device: cpu -2024-02-20 16:16:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:50, INFO: Similarity_func: concatenation -2024-02-20 16:16:50, INFO: Layerwise_graph: False -2024-02-20 16:16:50, INFO: Skip_connection: True -2024-02-20 16:16:50, INFO: Number of layers: 1 -2024-02-20 16:16:50, INFO: Similarity_func: concatenation -2024-02-20 16:16:50, INFO: Layerwise_graph: False -2024-02-20 16:16:50, INFO: Skip_connection: True -2024-02-20 16:16:50, INFO: Number of layers: 1 -2024-02-20 16:16:50, INFO: Planning depth: 1 -2024-02-20 16:16:50, INFO: Planning width: 10 -2024-02-20 16:16:50, INFO: Sparse search: None -2024-02-20 16:16:53, INFO: human number: 10 -2024-02-20 16:16:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:16:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:16:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:16:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:16:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:16:58, INFO: Using device: cpu -2024-02-20 16:16:58, INFO: Loaded RL weights with best VAL -2024-02-20 16:16:58, INFO: Similarity_func: concatenation -2024-02-20 16:16:58, INFO: Layerwise_graph: False -2024-02-20 16:16:58, INFO: Skip_connection: True -2024-02-20 16:16:58, INFO: Number of layers: 1 -2024-02-20 16:16:58, INFO: Similarity_func: concatenation -2024-02-20 16:16:58, INFO: Layerwise_graph: False -2024-02-20 16:16:58, INFO: Skip_connection: True -2024-02-20 16:16:58, INFO: Number of layers: 1 -2024-02-20 16:16:58, INFO: Planning depth: 1 -2024-02-20 16:16:58, INFO: Planning width: 10 -2024-02-20 16:16:58, INFO: Sparse search: None -2024-02-20 16:17:01, INFO: human number: 10 -2024-02-20 16:17:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:17:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:17:01, INFO: Square width: 10, circle width: 4 -2024-02-20 16:17:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:17:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:17:06, INFO: Using device: cpu -2024-02-20 16:17:06, INFO: Loaded RL weights with best VAL -2024-02-20 16:17:06, INFO: Similarity_func: concatenation -2024-02-20 16:17:06, INFO: Layerwise_graph: False -2024-02-20 16:17:06, INFO: Skip_connection: True -2024-02-20 16:17:06, INFO: Number of layers: 1 -2024-02-20 16:17:06, INFO: Similarity_func: concatenation -2024-02-20 16:17:06, INFO: Layerwise_graph: False -2024-02-20 16:17:06, INFO: Skip_connection: True -2024-02-20 16:17:06, INFO: Number of layers: 1 -2024-02-20 16:17:06, INFO: Planning depth: 1 -2024-02-20 16:17:06, INFO: Planning width: 10 -2024-02-20 16:17:06, INFO: Sparse search: None -2024-02-20 16:17:09, INFO: human number: 10 -2024-02-20 16:17:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:17:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:17:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:17:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:17:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:17:11, INFO: Animation.save using -2024-02-20 16:17:45, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.930900 -2024-02-20 16:17:48, INFO: Using device: cpu -2024-02-20 16:17:48, INFO: Loaded RL weights with best VAL -2024-02-20 16:17:48, INFO: Similarity_func: concatenation -2024-02-20 16:17:48, INFO: Layerwise_graph: False -2024-02-20 16:17:48, INFO: Skip_connection: True -2024-02-20 16:17:48, INFO: Number of layers: 1 -2024-02-20 16:17:48, INFO: Similarity_func: concatenation -2024-02-20 16:17:48, INFO: Layerwise_graph: False -2024-02-20 16:17:48, INFO: Skip_connection: True -2024-02-20 16:17:48, INFO: Number of layers: 1 -2024-02-20 16:17:48, INFO: Planning depth: 1 -2024-02-20 16:17:48, INFO: Planning width: 10 -2024-02-20 16:17:48, INFO: Sparse search: None -2024-02-20 16:17:51, INFO: human number: 10 -2024-02-20 16:17:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:17:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:17:51, INFO: Square width: 10, circle width: 4 -2024-02-20 16:17:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:17:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:17:55, INFO: Animation.save using -2024-02-20 16:18:49, INFO: It takes 16.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.613739 -2024-02-20 16:18:52, INFO: Using device: cpu -2024-02-20 16:18:52, INFO: Loaded RL weights with best VAL -2024-02-20 16:18:52, INFO: Similarity_func: concatenation -2024-02-20 16:18:52, INFO: Layerwise_graph: False -2024-02-20 16:18:52, INFO: Skip_connection: True -2024-02-20 16:18:52, INFO: Number of layers: 1 -2024-02-20 16:18:52, INFO: Similarity_func: concatenation -2024-02-20 16:18:52, INFO: Layerwise_graph: False -2024-02-20 16:18:52, INFO: Skip_connection: True -2024-02-20 16:18:52, INFO: Number of layers: 1 -2024-02-20 16:18:52, INFO: Planning depth: 1 -2024-02-20 16:18:52, INFO: Planning width: 10 -2024-02-20 16:18:52, INFO: Sparse search: None -2024-02-20 16:18:55, INFO: human number: 10 -2024-02-20 16:18:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:18:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:18:55, INFO: Square width: 10, circle width: 4 -2024-02-20 16:18:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:18:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:18:59, INFO: Using device: cpu -2024-02-20 16:18:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:18:59, INFO: Similarity_func: concatenation -2024-02-20 16:18:59, INFO: Layerwise_graph: False -2024-02-20 16:18:59, INFO: Skip_connection: True -2024-02-20 16:18:59, INFO: Number of layers: 1 -2024-02-20 16:18:59, INFO: Similarity_func: concatenation -2024-02-20 16:18:59, INFO: Layerwise_graph: False -2024-02-20 16:18:59, INFO: Skip_connection: True -2024-02-20 16:18:59, INFO: Number of layers: 1 -2024-02-20 16:18:59, INFO: Planning depth: 1 -2024-02-20 16:18:59, INFO: Planning width: 10 -2024-02-20 16:18:59, INFO: Sparse search: None -2024-02-20 16:19:02, INFO: human number: 10 -2024-02-20 16:19:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:06, INFO: Using device: cpu -2024-02-20 16:19:06, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:06, INFO: Similarity_func: concatenation -2024-02-20 16:19:06, INFO: Layerwise_graph: False -2024-02-20 16:19:06, INFO: Skip_connection: True -2024-02-20 16:19:06, INFO: Number of layers: 1 -2024-02-20 16:19:06, INFO: Similarity_func: concatenation -2024-02-20 16:19:06, INFO: Layerwise_graph: False -2024-02-20 16:19:06, INFO: Skip_connection: True -2024-02-20 16:19:06, INFO: Number of layers: 1 -2024-02-20 16:19:06, INFO: Planning depth: 1 -2024-02-20 16:19:06, INFO: Planning width: 10 -2024-02-20 16:19:06, INFO: Sparse search: None -2024-02-20 16:19:09, INFO: human number: 10 -2024-02-20 16:19:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:14, INFO: Using device: cpu -2024-02-20 16:19:14, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:14, INFO: Similarity_func: concatenation -2024-02-20 16:19:14, INFO: Layerwise_graph: False -2024-02-20 16:19:14, INFO: Skip_connection: True -2024-02-20 16:19:14, INFO: Number of layers: 1 -2024-02-20 16:19:14, INFO: Similarity_func: concatenation -2024-02-20 16:19:14, INFO: Layerwise_graph: False -2024-02-20 16:19:14, INFO: Skip_connection: True -2024-02-20 16:19:14, INFO: Number of layers: 1 -2024-02-20 16:19:14, INFO: Planning depth: 1 -2024-02-20 16:19:14, INFO: Planning width: 10 -2024-02-20 16:19:14, INFO: Sparse search: None -2024-02-20 16:19:17, INFO: human number: 10 -2024-02-20 16:19:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:17, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:21, INFO: Using device: cpu -2024-02-20 16:19:21, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:21, INFO: Similarity_func: concatenation -2024-02-20 16:19:21, INFO: Layerwise_graph: False -2024-02-20 16:19:21, INFO: Skip_connection: True -2024-02-20 16:19:21, INFO: Number of layers: 1 -2024-02-20 16:19:21, INFO: Similarity_func: concatenation -2024-02-20 16:19:21, INFO: Layerwise_graph: False -2024-02-20 16:19:21, INFO: Skip_connection: True -2024-02-20 16:19:21, INFO: Number of layers: 1 -2024-02-20 16:19:21, INFO: Planning depth: 1 -2024-02-20 16:19:21, INFO: Planning width: 10 -2024-02-20 16:19:21, INFO: Sparse search: None -2024-02-20 16:19:24, INFO: human number: 10 -2024-02-20 16:19:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:24, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:28, INFO: Using device: cpu -2024-02-20 16:19:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:28, INFO: Similarity_func: concatenation -2024-02-20 16:19:28, INFO: Layerwise_graph: False -2024-02-20 16:19:28, INFO: Skip_connection: True -2024-02-20 16:19:28, INFO: Number of layers: 1 -2024-02-20 16:19:28, INFO: Similarity_func: concatenation -2024-02-20 16:19:28, INFO: Layerwise_graph: False -2024-02-20 16:19:28, INFO: Skip_connection: True -2024-02-20 16:19:28, INFO: Number of layers: 1 -2024-02-20 16:19:28, INFO: Planning depth: 1 -2024-02-20 16:19:28, INFO: Planning width: 10 -2024-02-20 16:19:28, INFO: Sparse search: None -2024-02-20 16:19:31, INFO: human number: 10 -2024-02-20 16:19:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:35, INFO: Using device: cpu -2024-02-20 16:19:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:35, INFO: Similarity_func: concatenation -2024-02-20 16:19:35, INFO: Layerwise_graph: False -2024-02-20 16:19:35, INFO: Skip_connection: True -2024-02-20 16:19:35, INFO: Number of layers: 1 -2024-02-20 16:19:35, INFO: Similarity_func: concatenation -2024-02-20 16:19:35, INFO: Layerwise_graph: False -2024-02-20 16:19:35, INFO: Skip_connection: True -2024-02-20 16:19:35, INFO: Number of layers: 1 -2024-02-20 16:19:35, INFO: Planning depth: 1 -2024-02-20 16:19:35, INFO: Planning width: 10 -2024-02-20 16:19:35, INFO: Sparse search: None -2024-02-20 16:19:38, INFO: human number: 10 -2024-02-20 16:19:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:43, INFO: Using device: cpu -2024-02-20 16:19:43, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:43, INFO: Similarity_func: concatenation -2024-02-20 16:19:43, INFO: Layerwise_graph: False -2024-02-20 16:19:43, INFO: Skip_connection: True -2024-02-20 16:19:43, INFO: Number of layers: 1 -2024-02-20 16:19:43, INFO: Similarity_func: concatenation -2024-02-20 16:19:43, INFO: Layerwise_graph: False -2024-02-20 16:19:43, INFO: Skip_connection: True -2024-02-20 16:19:43, INFO: Number of layers: 1 -2024-02-20 16:19:43, INFO: Planning depth: 1 -2024-02-20 16:19:43, INFO: Planning width: 10 -2024-02-20 16:19:43, INFO: Sparse search: None -2024-02-20 16:19:45, INFO: human number: 10 -2024-02-20 16:19:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:45, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:50, INFO: Using device: cpu -2024-02-20 16:19:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:50, INFO: Similarity_func: concatenation -2024-02-20 16:19:50, INFO: Layerwise_graph: False -2024-02-20 16:19:50, INFO: Skip_connection: True -2024-02-20 16:19:50, INFO: Number of layers: 1 -2024-02-20 16:19:50, INFO: Similarity_func: concatenation -2024-02-20 16:19:50, INFO: Layerwise_graph: False -2024-02-20 16:19:50, INFO: Skip_connection: True -2024-02-20 16:19:50, INFO: Number of layers: 1 -2024-02-20 16:19:50, INFO: Planning depth: 1 -2024-02-20 16:19:50, INFO: Planning width: 10 -2024-02-20 16:19:50, INFO: Sparse search: None -2024-02-20 16:19:53, INFO: human number: 10 -2024-02-20 16:19:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:19:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:19:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:19:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:19:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:19:58, INFO: Using device: cpu -2024-02-20 16:19:58, INFO: Loaded RL weights with best VAL -2024-02-20 16:19:58, INFO: Similarity_func: concatenation -2024-02-20 16:19:58, INFO: Layerwise_graph: False -2024-02-20 16:19:58, INFO: Skip_connection: True -2024-02-20 16:19:58, INFO: Number of layers: 1 -2024-02-20 16:19:58, INFO: Similarity_func: concatenation -2024-02-20 16:19:58, INFO: Layerwise_graph: False -2024-02-20 16:19:58, INFO: Skip_connection: True -2024-02-20 16:19:58, INFO: Number of layers: 1 -2024-02-20 16:19:58, INFO: Planning depth: 1 -2024-02-20 16:19:58, INFO: Planning width: 10 -2024-02-20 16:19:58, INFO: Sparse search: None -2024-02-20 16:20:01, INFO: human number: 10 -2024-02-20 16:20:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:20:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:20:01, INFO: Square width: 10, circle width: 4 -2024-02-20 16:20:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:20:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:20:05, INFO: Using device: cpu -2024-02-20 16:20:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:20:05, INFO: Similarity_func: concatenation -2024-02-20 16:20:05, INFO: Layerwise_graph: False -2024-02-20 16:20:05, INFO: Skip_connection: True -2024-02-20 16:20:05, INFO: Number of layers: 1 -2024-02-20 16:20:05, INFO: Similarity_func: concatenation -2024-02-20 16:20:05, INFO: Layerwise_graph: False -2024-02-20 16:20:05, INFO: Skip_connection: True -2024-02-20 16:20:05, INFO: Number of layers: 1 -2024-02-20 16:20:05, INFO: Planning depth: 1 -2024-02-20 16:20:05, INFO: Planning width: 10 -2024-02-20 16:20:05, INFO: Sparse search: None -2024-02-20 16:20:08, INFO: human number: 10 -2024-02-20 16:20:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:20:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:20:08, INFO: Square width: 10, circle width: 4 -2024-02-20 16:20:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:20:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:20:13, INFO: Using device: cpu -2024-02-20 16:20:13, INFO: Loaded RL weights with best VAL -2024-02-20 16:20:13, INFO: Similarity_func: concatenation -2024-02-20 16:20:13, INFO: Layerwise_graph: False -2024-02-20 16:20:13, INFO: Skip_connection: True -2024-02-20 16:20:13, INFO: Number of layers: 1 -2024-02-20 16:20:13, INFO: Similarity_func: concatenation -2024-02-20 16:20:13, INFO: Layerwise_graph: False -2024-02-20 16:20:13, INFO: Skip_connection: True -2024-02-20 16:20:13, INFO: Number of layers: 1 -2024-02-20 16:20:13, INFO: Planning depth: 1 -2024-02-20 16:20:13, INFO: Planning width: 10 -2024-02-20 16:20:13, INFO: Sparse search: None -2024-02-20 16:20:16, INFO: human number: 10 -2024-02-20 16:20:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:20:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:20:16, INFO: Square width: 10, circle width: 4 -2024-02-20 16:20:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:20:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:20:18, INFO: Animation.save using -2024-02-20 16:20:43, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055312 -2024-02-20 16:20:46, INFO: Using device: cpu -2024-02-20 16:20:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:20:46, INFO: Similarity_func: concatenation -2024-02-20 16:20:46, INFO: Layerwise_graph: False -2024-02-20 16:20:46, INFO: Skip_connection: True -2024-02-20 16:20:46, INFO: Number of layers: 1 -2024-02-20 16:20:46, INFO: Similarity_func: concatenation -2024-02-20 16:20:46, INFO: Layerwise_graph: False -2024-02-20 16:20:46, INFO: Skip_connection: True -2024-02-20 16:20:46, INFO: Number of layers: 1 -2024-02-20 16:20:46, INFO: Planning depth: 1 -2024-02-20 16:20:46, INFO: Planning width: 10 -2024-02-20 16:20:46, INFO: Sparse search: None -2024-02-20 16:20:48, INFO: human number: 10 -2024-02-20 16:20:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:20:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:20:48, INFO: Square width: 10, circle width: 4 -2024-02-20 16:20:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:20:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:20:54, INFO: Using device: cpu -2024-02-20 16:20:54, INFO: Loaded RL weights with best VAL -2024-02-20 16:20:54, INFO: Similarity_func: concatenation -2024-02-20 16:20:54, INFO: Layerwise_graph: False -2024-02-20 16:20:54, INFO: Skip_connection: True -2024-02-20 16:20:54, INFO: Number of layers: 1 -2024-02-20 16:20:54, INFO: Similarity_func: concatenation -2024-02-20 16:20:54, INFO: Layerwise_graph: False -2024-02-20 16:20:54, INFO: Skip_connection: True -2024-02-20 16:20:54, INFO: Number of layers: 1 -2024-02-20 16:20:54, INFO: Planning depth: 1 -2024-02-20 16:20:54, INFO: Planning width: 10 -2024-02-20 16:20:54, INFO: Sparse search: None -2024-02-20 16:20:57, INFO: human number: 10 -2024-02-20 16:20:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:20:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:20:57, INFO: Square width: 10, circle width: 4 -2024-02-20 16:20:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:20:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:21:01, INFO: Using device: cpu -2024-02-20 16:21:01, INFO: Loaded RL weights with best VAL -2024-02-20 16:21:01, INFO: Similarity_func: concatenation -2024-02-20 16:21:01, INFO: Layerwise_graph: False -2024-02-20 16:21:01, INFO: Skip_connection: True -2024-02-20 16:21:01, INFO: Number of layers: 1 -2024-02-20 16:21:01, INFO: Similarity_func: concatenation -2024-02-20 16:21:01, INFO: Layerwise_graph: False -2024-02-20 16:21:01, INFO: Skip_connection: True -2024-02-20 16:21:01, INFO: Number of layers: 1 -2024-02-20 16:21:01, INFO: Planning depth: 1 -2024-02-20 16:21:01, INFO: Planning width: 10 -2024-02-20 16:21:01, INFO: Sparse search: None -2024-02-20 16:21:04, INFO: human number: 10 -2024-02-20 16:21:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:21:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:21:04, INFO: Square width: 10, circle width: 4 -2024-02-20 16:21:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:21:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:21:06, INFO: Animation.save using -2024-02-20 16:21:43, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959916 -2024-02-20 16:21:46, INFO: Using device: cpu -2024-02-20 16:21:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:21:46, INFO: Similarity_func: concatenation -2024-02-20 16:21:46, INFO: Layerwise_graph: False -2024-02-20 16:21:46, INFO: Skip_connection: True -2024-02-20 16:21:46, INFO: Number of layers: 1 -2024-02-20 16:21:46, INFO: Similarity_func: concatenation -2024-02-20 16:21:46, INFO: Layerwise_graph: False -2024-02-20 16:21:46, INFO: Skip_connection: True -2024-02-20 16:21:46, INFO: Number of layers: 1 -2024-02-20 16:21:46, INFO: Planning depth: 1 -2024-02-20 16:21:46, INFO: Planning width: 10 -2024-02-20 16:21:46, INFO: Sparse search: None -2024-02-20 16:21:48, INFO: human number: 10 -2024-02-20 16:21:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:21:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:21:48, INFO: Square width: 10, circle width: 4 -2024-02-20 16:21:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:21:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:21:53, INFO: Using device: cpu -2024-02-20 16:21:53, INFO: Loaded RL weights with best VAL -2024-02-20 16:21:53, INFO: Similarity_func: concatenation -2024-02-20 16:21:53, INFO: Layerwise_graph: False -2024-02-20 16:21:53, INFO: Skip_connection: True -2024-02-20 16:21:53, INFO: Number of layers: 1 -2024-02-20 16:21:53, INFO: Similarity_func: concatenation -2024-02-20 16:21:53, INFO: Layerwise_graph: False -2024-02-20 16:21:53, INFO: Skip_connection: True -2024-02-20 16:21:53, INFO: Number of layers: 1 -2024-02-20 16:21:53, INFO: Planning depth: 1 -2024-02-20 16:21:53, INFO: Planning width: 10 -2024-02-20 16:21:53, INFO: Sparse search: None -2024-02-20 16:21:56, INFO: human number: 10 -2024-02-20 16:21:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:21:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:21:56, INFO: Square width: 10, circle width: 4 -2024-02-20 16:21:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:21:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:22:02, INFO: Using device: cpu -2024-02-20 16:22:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:22:02, INFO: Similarity_func: concatenation -2024-02-20 16:22:02, INFO: Layerwise_graph: False -2024-02-20 16:22:02, INFO: Skip_connection: True -2024-02-20 16:22:02, INFO: Number of layers: 1 -2024-02-20 16:22:02, INFO: Similarity_func: concatenation -2024-02-20 16:22:02, INFO: Layerwise_graph: False -2024-02-20 16:22:02, INFO: Skip_connection: True -2024-02-20 16:22:02, INFO: Number of layers: 1 -2024-02-20 16:22:02, INFO: Planning depth: 1 -2024-02-20 16:22:02, INFO: Planning width: 10 -2024-02-20 16:22:02, INFO: Sparse search: None -2024-02-20 16:22:04, INFO: human number: 10 -2024-02-20 16:22:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:22:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:22:04, INFO: Square width: 10, circle width: 4 -2024-02-20 16:22:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:22:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:22:06, INFO: Animation.save using -2024-02-20 16:22:31, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.044816 -2024-02-20 16:22:34, INFO: Using device: cpu -2024-02-20 16:22:34, INFO: Loaded RL weights with best VAL -2024-02-20 16:22:34, INFO: Similarity_func: concatenation -2024-02-20 16:22:34, INFO: Layerwise_graph: False -2024-02-20 16:22:34, INFO: Skip_connection: True -2024-02-20 16:22:34, INFO: Number of layers: 1 -2024-02-20 16:22:34, INFO: Similarity_func: concatenation -2024-02-20 16:22:34, INFO: Layerwise_graph: False -2024-02-20 16:22:34, INFO: Skip_connection: True -2024-02-20 16:22:34, INFO: Number of layers: 1 -2024-02-20 16:22:34, INFO: Planning depth: 1 -2024-02-20 16:22:34, INFO: Planning width: 10 -2024-02-20 16:22:34, INFO: Sparse search: None -2024-02-20 16:22:37, INFO: human number: 10 -2024-02-20 16:22:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:22:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:22:37, INFO: Square width: 10, circle width: 4 -2024-02-20 16:22:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:22:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:22:38, INFO: Animation.save using -2024-02-20 16:23:14, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.882156 -2024-02-20 16:23:18, INFO: Using device: cpu -2024-02-20 16:23:18, INFO: Loaded RL weights with best VAL -2024-02-20 16:23:18, INFO: Similarity_func: concatenation -2024-02-20 16:23:18, INFO: Layerwise_graph: False -2024-02-20 16:23:18, INFO: Skip_connection: True -2024-02-20 16:23:18, INFO: Number of layers: 1 -2024-02-20 16:23:18, INFO: Similarity_func: concatenation -2024-02-20 16:23:18, INFO: Layerwise_graph: False -2024-02-20 16:23:18, INFO: Skip_connection: True -2024-02-20 16:23:18, INFO: Number of layers: 1 -2024-02-20 16:23:18, INFO: Planning depth: 1 -2024-02-20 16:23:18, INFO: Planning width: 10 -2024-02-20 16:23:18, INFO: Sparse search: None -2024-02-20 16:23:20, INFO: human number: 10 -2024-02-20 16:23:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:23:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:23:20, INFO: Square width: 10, circle width: 4 -2024-02-20 16:23:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:23:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:23:25, INFO: Using device: cpu -2024-02-20 16:23:25, INFO: Loaded RL weights with best VAL -2024-02-20 16:23:25, INFO: Similarity_func: concatenation -2024-02-20 16:23:25, INFO: Layerwise_graph: False -2024-02-20 16:23:25, INFO: Skip_connection: True -2024-02-20 16:23:25, INFO: Number of layers: 1 -2024-02-20 16:23:25, INFO: Similarity_func: concatenation -2024-02-20 16:23:25, INFO: Layerwise_graph: False -2024-02-20 16:23:25, INFO: Skip_connection: True -2024-02-20 16:23:25, INFO: Number of layers: 1 -2024-02-20 16:23:25, INFO: Planning depth: 1 -2024-02-20 16:23:25, INFO: Planning width: 10 -2024-02-20 16:23:25, INFO: Sparse search: None -2024-02-20 16:23:28, INFO: human number: 10 -2024-02-20 16:23:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:23:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:23:28, INFO: Square width: 10, circle width: 4 -2024-02-20 16:23:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:23:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:23:30, INFO: Animation.save using -2024-02-20 16:24:09, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.889315 -2024-02-20 16:24:12, INFO: Using device: cpu -2024-02-20 16:24:12, INFO: Loaded RL weights with best VAL -2024-02-20 16:24:12, INFO: Similarity_func: concatenation -2024-02-20 16:24:12, INFO: Layerwise_graph: False -2024-02-20 16:24:12, INFO: Skip_connection: True -2024-02-20 16:24:12, INFO: Number of layers: 1 -2024-02-20 16:24:12, INFO: Similarity_func: concatenation -2024-02-20 16:24:12, INFO: Layerwise_graph: False -2024-02-20 16:24:12, INFO: Skip_connection: True -2024-02-20 16:24:12, INFO: Number of layers: 1 -2024-02-20 16:24:12, INFO: Planning depth: 1 -2024-02-20 16:24:12, INFO: Planning width: 10 -2024-02-20 16:24:12, INFO: Sparse search: None -2024-02-20 16:24:15, INFO: human number: 10 -2024-02-20 16:24:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:24:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:24:15, INFO: Square width: 10, circle width: 4 -2024-02-20 16:24:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:24:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:24:17, INFO: Animation.save using -2024-02-20 16:24:53, INFO: It takes 12.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.863833 -2024-02-20 16:24:56, INFO: Using device: cpu -2024-02-20 16:24:56, INFO: Loaded RL weights with best VAL -2024-02-20 16:24:56, INFO: Similarity_func: concatenation -2024-02-20 16:24:56, INFO: Layerwise_graph: False -2024-02-20 16:24:56, INFO: Skip_connection: True -2024-02-20 16:24:56, INFO: Number of layers: 1 -2024-02-20 16:24:56, INFO: Similarity_func: concatenation -2024-02-20 16:24:56, INFO: Layerwise_graph: False -2024-02-20 16:24:56, INFO: Skip_connection: True -2024-02-20 16:24:56, INFO: Number of layers: 1 -2024-02-20 16:24:56, INFO: Planning depth: 1 -2024-02-20 16:24:56, INFO: Planning width: 10 -2024-02-20 16:24:56, INFO: Sparse search: None -2024-02-20 16:24:59, INFO: human number: 10 -2024-02-20 16:24:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:24:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:24:59, INFO: Square width: 10, circle width: 4 -2024-02-20 16:24:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:24:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:25:03, INFO: Using device: cpu -2024-02-20 16:25:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:25:03, INFO: Similarity_func: concatenation -2024-02-20 16:25:03, INFO: Layerwise_graph: False -2024-02-20 16:25:03, INFO: Skip_connection: True -2024-02-20 16:25:03, INFO: Number of layers: 1 -2024-02-20 16:25:03, INFO: Similarity_func: concatenation -2024-02-20 16:25:03, INFO: Layerwise_graph: False -2024-02-20 16:25:03, INFO: Skip_connection: True -2024-02-20 16:25:03, INFO: Number of layers: 1 -2024-02-20 16:25:03, INFO: Planning depth: 1 -2024-02-20 16:25:03, INFO: Planning width: 10 -2024-02-20 16:25:03, INFO: Sparse search: None -2024-02-20 16:25:06, INFO: human number: 10 -2024-02-20 16:25:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:25:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:25:06, INFO: Square width: 10, circle width: 4 -2024-02-20 16:25:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:25:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:25:11, INFO: Using device: cpu -2024-02-20 16:25:11, INFO: Loaded RL weights with best VAL -2024-02-20 16:25:11, INFO: Similarity_func: concatenation -2024-02-20 16:25:11, INFO: Layerwise_graph: False -2024-02-20 16:25:11, INFO: Skip_connection: True -2024-02-20 16:25:11, INFO: Number of layers: 1 -2024-02-20 16:25:11, INFO: Similarity_func: concatenation -2024-02-20 16:25:11, INFO: Layerwise_graph: False -2024-02-20 16:25:11, INFO: Skip_connection: True -2024-02-20 16:25:11, INFO: Number of layers: 1 -2024-02-20 16:25:11, INFO: Planning depth: 1 -2024-02-20 16:25:11, INFO: Planning width: 10 -2024-02-20 16:25:11, INFO: Sparse search: None -2024-02-20 16:25:14, INFO: human number: 10 -2024-02-20 16:25:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:25:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:25:14, INFO: Square width: 10, circle width: 4 -2024-02-20 16:25:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:25:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:25:18, INFO: Using device: cpu -2024-02-20 16:25:18, INFO: Loaded RL weights with best VAL -2024-02-20 16:25:18, INFO: Similarity_func: concatenation -2024-02-20 16:25:18, INFO: Layerwise_graph: False -2024-02-20 16:25:18, INFO: Skip_connection: True -2024-02-20 16:25:18, INFO: Number of layers: 1 -2024-02-20 16:25:18, INFO: Similarity_func: concatenation -2024-02-20 16:25:18, INFO: Layerwise_graph: False -2024-02-20 16:25:18, INFO: Skip_connection: True -2024-02-20 16:25:18, INFO: Number of layers: 1 -2024-02-20 16:25:18, INFO: Planning depth: 1 -2024-02-20 16:25:18, INFO: Planning width: 10 -2024-02-20 16:25:18, INFO: Sparse search: None -2024-02-20 16:25:21, INFO: human number: 10 -2024-02-20 16:25:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:25:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:25:21, INFO: Square width: 10, circle width: 4 -2024-02-20 16:25:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:25:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:25:27, INFO: Using device: cpu -2024-02-20 16:25:27, INFO: Loaded RL weights with best VAL -2024-02-20 16:25:27, INFO: Similarity_func: concatenation -2024-02-20 16:25:27, INFO: Layerwise_graph: False -2024-02-20 16:25:27, INFO: Skip_connection: True -2024-02-20 16:25:27, INFO: Number of layers: 1 -2024-02-20 16:25:27, INFO: Similarity_func: concatenation -2024-02-20 16:25:27, INFO: Layerwise_graph: False -2024-02-20 16:25:27, INFO: Skip_connection: True -2024-02-20 16:25:27, INFO: Number of layers: 1 -2024-02-20 16:25:27, INFO: Planning depth: 1 -2024-02-20 16:25:27, INFO: Planning width: 10 -2024-02-20 16:25:27, INFO: Sparse search: None -2024-02-20 16:25:29, INFO: human number: 10 -2024-02-20 16:25:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:25:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:25:29, INFO: Square width: 10, circle width: 4 -2024-02-20 16:25:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:25:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:25:32, INFO: Animation.save using -2024-02-20 16:26:21, INFO: It takes 15.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.788368 -2024-02-20 16:26:24, INFO: Using device: cpu -2024-02-20 16:26:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:26:24, INFO: Similarity_func: concatenation -2024-02-20 16:26:24, INFO: Layerwise_graph: False -2024-02-20 16:26:24, INFO: Skip_connection: True -2024-02-20 16:26:24, INFO: Number of layers: 1 -2024-02-20 16:26:24, INFO: Similarity_func: concatenation -2024-02-20 16:26:24, INFO: Layerwise_graph: False -2024-02-20 16:26:24, INFO: Skip_connection: True -2024-02-20 16:26:24, INFO: Number of layers: 1 -2024-02-20 16:26:24, INFO: Planning depth: 1 -2024-02-20 16:26:24, INFO: Planning width: 10 -2024-02-20 16:26:24, INFO: Sparse search: None -2024-02-20 16:26:27, INFO: human number: 10 -2024-02-20 16:26:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:26:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:26:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:26:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:26:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:26:28, INFO: Animation.save using -2024-02-20 16:27:01, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.004486 -2024-02-20 16:27:04, INFO: Using device: cpu -2024-02-20 16:27:04, INFO: Loaded RL weights with best VAL -2024-02-20 16:27:04, INFO: Similarity_func: concatenation -2024-02-20 16:27:04, INFO: Layerwise_graph: False -2024-02-20 16:27:04, INFO: Skip_connection: True -2024-02-20 16:27:04, INFO: Number of layers: 1 -2024-02-20 16:27:04, INFO: Similarity_func: concatenation -2024-02-20 16:27:04, INFO: Layerwise_graph: False -2024-02-20 16:27:04, INFO: Skip_connection: True -2024-02-20 16:27:04, INFO: Number of layers: 1 -2024-02-20 16:27:04, INFO: Planning depth: 1 -2024-02-20 16:27:04, INFO: Planning width: 10 -2024-02-20 16:27:04, INFO: Sparse search: None -2024-02-20 16:27:07, INFO: human number: 10 -2024-02-20 16:27:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:27:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:27:07, INFO: Square width: 10, circle width: 4 -2024-02-20 16:27:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:27:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:27:10, INFO: Animation.save using -2024-02-20 16:27:35, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.022599 -2024-02-20 16:27:38, INFO: Using device: cpu -2024-02-20 16:27:38, INFO: Loaded RL weights with best VAL -2024-02-20 16:27:38, INFO: Similarity_func: concatenation -2024-02-20 16:27:38, INFO: Layerwise_graph: False -2024-02-20 16:27:38, INFO: Skip_connection: True -2024-02-20 16:27:38, INFO: Number of layers: 1 -2024-02-20 16:27:38, INFO: Similarity_func: concatenation -2024-02-20 16:27:38, INFO: Layerwise_graph: False -2024-02-20 16:27:38, INFO: Skip_connection: True -2024-02-20 16:27:38, INFO: Number of layers: 1 -2024-02-20 16:27:38, INFO: Planning depth: 1 -2024-02-20 16:27:38, INFO: Planning width: 10 -2024-02-20 16:27:38, INFO: Sparse search: None -2024-02-20 16:27:40, INFO: human number: 10 -2024-02-20 16:27:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:27:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:27:40, INFO: Square width: 10, circle width: 4 -2024-02-20 16:27:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:27:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:27:42, INFO: Animation.save using -2024-02-20 16:28:06, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.087469 -2024-02-20 16:28:09, INFO: Using device: cpu -2024-02-20 16:28:09, INFO: Loaded RL weights with best VAL -2024-02-20 16:28:09, INFO: Similarity_func: concatenation -2024-02-20 16:28:09, INFO: Layerwise_graph: False -2024-02-20 16:28:09, INFO: Skip_connection: True -2024-02-20 16:28:09, INFO: Number of layers: 1 -2024-02-20 16:28:09, INFO: Similarity_func: concatenation -2024-02-20 16:28:09, INFO: Layerwise_graph: False -2024-02-20 16:28:09, INFO: Skip_connection: True -2024-02-20 16:28:09, INFO: Number of layers: 1 -2024-02-20 16:28:09, INFO: Planning depth: 1 -2024-02-20 16:28:09, INFO: Planning width: 10 -2024-02-20 16:28:09, INFO: Sparse search: None -2024-02-20 16:28:12, INFO: human number: 10 -2024-02-20 16:28:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:28:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:28:12, INFO: Square width: 10, circle width: 4 -2024-02-20 16:28:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:28:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:28:16, INFO: Using device: cpu -2024-02-20 16:28:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:28:16, INFO: Similarity_func: concatenation -2024-02-20 16:28:16, INFO: Layerwise_graph: False -2024-02-20 16:28:16, INFO: Skip_connection: True -2024-02-20 16:28:16, INFO: Number of layers: 1 -2024-02-20 16:28:16, INFO: Similarity_func: concatenation -2024-02-20 16:28:16, INFO: Layerwise_graph: False -2024-02-20 16:28:16, INFO: Skip_connection: True -2024-02-20 16:28:16, INFO: Number of layers: 1 -2024-02-20 16:28:16, INFO: Planning depth: 1 -2024-02-20 16:28:16, INFO: Planning width: 10 -2024-02-20 16:28:16, INFO: Sparse search: None -2024-02-20 16:28:19, INFO: human number: 10 -2024-02-20 16:28:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:28:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:28:19, INFO: Square width: 10, circle width: 4 -2024-02-20 16:28:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:28:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:28:21, INFO: Animation.save using -2024-02-20 16:28:47, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.082435 -2024-02-20 16:28:51, INFO: Using device: cpu -2024-02-20 16:28:51, INFO: Loaded RL weights with best VAL -2024-02-20 16:28:51, INFO: Similarity_func: concatenation -2024-02-20 16:28:51, INFO: Layerwise_graph: False -2024-02-20 16:28:51, INFO: Skip_connection: True -2024-02-20 16:28:51, INFO: Number of layers: 1 -2024-02-20 16:28:51, INFO: Similarity_func: concatenation -2024-02-20 16:28:51, INFO: Layerwise_graph: False -2024-02-20 16:28:51, INFO: Skip_connection: True -2024-02-20 16:28:51, INFO: Number of layers: 1 -2024-02-20 16:28:51, INFO: Planning depth: 1 -2024-02-20 16:28:51, INFO: Planning width: 10 -2024-02-20 16:28:51, INFO: Sparse search: None -2024-02-20 16:28:53, INFO: human number: 10 -2024-02-20 16:28:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:28:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:28:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:28:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:28:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:28:59, INFO: Using device: cpu -2024-02-20 16:28:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:28:59, INFO: Similarity_func: concatenation -2024-02-20 16:28:59, INFO: Layerwise_graph: False -2024-02-20 16:28:59, INFO: Skip_connection: True -2024-02-20 16:28:59, INFO: Number of layers: 1 -2024-02-20 16:28:59, INFO: Similarity_func: concatenation -2024-02-20 16:28:59, INFO: Layerwise_graph: False -2024-02-20 16:28:59, INFO: Skip_connection: True -2024-02-20 16:28:59, INFO: Number of layers: 1 -2024-02-20 16:28:59, INFO: Planning depth: 1 -2024-02-20 16:28:59, INFO: Planning width: 10 -2024-02-20 16:28:59, INFO: Sparse search: None -2024-02-20 16:29:02, INFO: human number: 10 -2024-02-20 16:29:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:13, INFO: Using device: cpu -2024-02-20 16:29:13, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:13, INFO: Similarity_func: concatenation -2024-02-20 16:29:13, INFO: Layerwise_graph: False -2024-02-20 16:29:13, INFO: Skip_connection: True -2024-02-20 16:29:13, INFO: Number of layers: 1 -2024-02-20 16:29:13, INFO: Similarity_func: concatenation -2024-02-20 16:29:13, INFO: Layerwise_graph: False -2024-02-20 16:29:13, INFO: Skip_connection: True -2024-02-20 16:29:13, INFO: Number of layers: 1 -2024-02-20 16:29:13, INFO: Planning depth: 1 -2024-02-20 16:29:13, INFO: Planning width: 10 -2024-02-20 16:29:13, INFO: Sparse search: None -2024-02-20 16:29:16, INFO: human number: 10 -2024-02-20 16:29:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:16, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:21, INFO: Using device: cpu -2024-02-20 16:29:21, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:21, INFO: Similarity_func: concatenation -2024-02-20 16:29:21, INFO: Layerwise_graph: False -2024-02-20 16:29:21, INFO: Skip_connection: True -2024-02-20 16:29:21, INFO: Number of layers: 1 -2024-02-20 16:29:21, INFO: Similarity_func: concatenation -2024-02-20 16:29:21, INFO: Layerwise_graph: False -2024-02-20 16:29:21, INFO: Skip_connection: True -2024-02-20 16:29:21, INFO: Number of layers: 1 -2024-02-20 16:29:21, INFO: Planning depth: 1 -2024-02-20 16:29:21, INFO: Planning width: 10 -2024-02-20 16:29:21, INFO: Sparse search: None -2024-02-20 16:29:24, INFO: human number: 10 -2024-02-20 16:29:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:24, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:28, INFO: Using device: cpu -2024-02-20 16:29:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:28, INFO: Similarity_func: concatenation -2024-02-20 16:29:28, INFO: Layerwise_graph: False -2024-02-20 16:29:28, INFO: Skip_connection: True -2024-02-20 16:29:28, INFO: Number of layers: 1 -2024-02-20 16:29:28, INFO: Similarity_func: concatenation -2024-02-20 16:29:28, INFO: Layerwise_graph: False -2024-02-20 16:29:28, INFO: Skip_connection: True -2024-02-20 16:29:28, INFO: Number of layers: 1 -2024-02-20 16:29:28, INFO: Planning depth: 1 -2024-02-20 16:29:28, INFO: Planning width: 10 -2024-02-20 16:29:28, INFO: Sparse search: None -2024-02-20 16:29:31, INFO: human number: 10 -2024-02-20 16:29:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:36, INFO: Using device: cpu -2024-02-20 16:29:36, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:36, INFO: Similarity_func: concatenation -2024-02-20 16:29:36, INFO: Layerwise_graph: False -2024-02-20 16:29:36, INFO: Skip_connection: True -2024-02-20 16:29:36, INFO: Number of layers: 1 -2024-02-20 16:29:36, INFO: Similarity_func: concatenation -2024-02-20 16:29:36, INFO: Layerwise_graph: False -2024-02-20 16:29:36, INFO: Skip_connection: True -2024-02-20 16:29:36, INFO: Number of layers: 1 -2024-02-20 16:29:36, INFO: Planning depth: 1 -2024-02-20 16:29:36, INFO: Planning width: 10 -2024-02-20 16:29:36, INFO: Sparse search: None -2024-02-20 16:29:39, INFO: human number: 10 -2024-02-20 16:29:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:39, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:43, INFO: Using device: cpu -2024-02-20 16:29:43, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:43, INFO: Similarity_func: concatenation -2024-02-20 16:29:43, INFO: Layerwise_graph: False -2024-02-20 16:29:43, INFO: Skip_connection: True -2024-02-20 16:29:43, INFO: Number of layers: 1 -2024-02-20 16:29:43, INFO: Similarity_func: concatenation -2024-02-20 16:29:43, INFO: Layerwise_graph: False -2024-02-20 16:29:43, INFO: Skip_connection: True -2024-02-20 16:29:43, INFO: Number of layers: 1 -2024-02-20 16:29:43, INFO: Planning depth: 1 -2024-02-20 16:29:43, INFO: Planning width: 10 -2024-02-20 16:29:43, INFO: Sparse search: None -2024-02-20 16:29:46, INFO: human number: 10 -2024-02-20 16:29:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:46, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:29:52, INFO: Using device: cpu -2024-02-20 16:29:52, INFO: Loaded RL weights with best VAL -2024-02-20 16:29:52, INFO: Similarity_func: concatenation -2024-02-20 16:29:52, INFO: Layerwise_graph: False -2024-02-20 16:29:52, INFO: Skip_connection: True -2024-02-20 16:29:52, INFO: Number of layers: 1 -2024-02-20 16:29:52, INFO: Similarity_func: concatenation -2024-02-20 16:29:52, INFO: Layerwise_graph: False -2024-02-20 16:29:52, INFO: Skip_connection: True -2024-02-20 16:29:52, INFO: Number of layers: 1 -2024-02-20 16:29:52, INFO: Planning depth: 1 -2024-02-20 16:29:52, INFO: Planning width: 10 -2024-02-20 16:29:52, INFO: Sparse search: None -2024-02-20 16:29:54, INFO: human number: 10 -2024-02-20 16:29:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:29:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:29:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:29:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:29:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:30:00, INFO: Using device: cpu -2024-02-20 16:30:00, INFO: Loaded RL weights with best VAL -2024-02-20 16:30:00, INFO: Similarity_func: concatenation -2024-02-20 16:30:00, INFO: Layerwise_graph: False -2024-02-20 16:30:00, INFO: Skip_connection: True -2024-02-20 16:30:00, INFO: Number of layers: 1 -2024-02-20 16:30:00, INFO: Similarity_func: concatenation -2024-02-20 16:30:00, INFO: Layerwise_graph: False -2024-02-20 16:30:00, INFO: Skip_connection: True -2024-02-20 16:30:00, INFO: Number of layers: 1 -2024-02-20 16:30:00, INFO: Planning depth: 1 -2024-02-20 16:30:00, INFO: Planning width: 10 -2024-02-20 16:30:00, INFO: Sparse search: None -2024-02-20 16:30:02, INFO: human number: 10 -2024-02-20 16:30:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:30:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:30:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:30:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:30:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:30:05, INFO: Animation.save using -2024-02-20 16:30:38, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.864661 -2024-02-20 16:30:41, INFO: Using device: cpu -2024-02-20 16:30:41, INFO: Loaded RL weights with best VAL -2024-02-20 16:30:41, INFO: Similarity_func: concatenation -2024-02-20 16:30:41, INFO: Layerwise_graph: False -2024-02-20 16:30:41, INFO: Skip_connection: True -2024-02-20 16:30:41, INFO: Number of layers: 1 -2024-02-20 16:30:41, INFO: Similarity_func: concatenation -2024-02-20 16:30:41, INFO: Layerwise_graph: False -2024-02-20 16:30:41, INFO: Skip_connection: True -2024-02-20 16:30:41, INFO: Number of layers: 1 -2024-02-20 16:30:41, INFO: Planning depth: 1 -2024-02-20 16:30:41, INFO: Planning width: 10 -2024-02-20 16:30:41, INFO: Sparse search: None -2024-02-20 16:30:43, INFO: human number: 10 -2024-02-20 16:30:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:30:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:30:43, INFO: Square width: 10, circle width: 4 -2024-02-20 16:30:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:30:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:30:50, INFO: Using device: cpu -2024-02-20 16:30:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:30:50, INFO: Similarity_func: concatenation -2024-02-20 16:30:50, INFO: Layerwise_graph: False -2024-02-20 16:30:50, INFO: Skip_connection: True -2024-02-20 16:30:50, INFO: Number of layers: 1 -2024-02-20 16:30:50, INFO: Similarity_func: concatenation -2024-02-20 16:30:50, INFO: Layerwise_graph: False -2024-02-20 16:30:50, INFO: Skip_connection: True -2024-02-20 16:30:50, INFO: Number of layers: 1 -2024-02-20 16:30:50, INFO: Planning depth: 1 -2024-02-20 16:30:50, INFO: Planning width: 10 -2024-02-20 16:30:50, INFO: Sparse search: None -2024-02-20 16:30:52, INFO: human number: 10 -2024-02-20 16:30:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:30:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:30:52, INFO: Square width: 10, circle width: 4 -2024-02-20 16:30:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:30:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:30:57, INFO: Using device: cpu -2024-02-20 16:30:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:30:57, INFO: Similarity_func: concatenation -2024-02-20 16:30:57, INFO: Layerwise_graph: False -2024-02-20 16:30:57, INFO: Skip_connection: True -2024-02-20 16:30:57, INFO: Number of layers: 1 -2024-02-20 16:30:57, INFO: Similarity_func: concatenation -2024-02-20 16:30:57, INFO: Layerwise_graph: False -2024-02-20 16:30:57, INFO: Skip_connection: True -2024-02-20 16:30:57, INFO: Number of layers: 1 -2024-02-20 16:30:57, INFO: Planning depth: 1 -2024-02-20 16:30:57, INFO: Planning width: 10 -2024-02-20 16:30:57, INFO: Sparse search: None -2024-02-20 16:31:00, INFO: human number: 10 -2024-02-20 16:31:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:31:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:31:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:31:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:31:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:31:05, INFO: Using device: cpu -2024-02-20 16:31:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:31:05, INFO: Similarity_func: concatenation -2024-02-20 16:31:05, INFO: Layerwise_graph: False -2024-02-20 16:31:05, INFO: Skip_connection: True -2024-02-20 16:31:05, INFO: Number of layers: 1 -2024-02-20 16:31:05, INFO: Similarity_func: concatenation -2024-02-20 16:31:05, INFO: Layerwise_graph: False -2024-02-20 16:31:05, INFO: Skip_connection: True -2024-02-20 16:31:05, INFO: Number of layers: 1 -2024-02-20 16:31:05, INFO: Planning depth: 1 -2024-02-20 16:31:05, INFO: Planning width: 10 -2024-02-20 16:31:05, INFO: Sparse search: None -2024-02-20 16:31:08, INFO: human number: 10 -2024-02-20 16:31:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:31:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:31:08, INFO: Square width: 10, circle width: 4 -2024-02-20 16:31:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:31:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:31:10, INFO: Animation.save using -2024-02-20 16:31:37, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.018363 -2024-02-20 16:31:40, INFO: Using device: cpu -2024-02-20 16:31:40, INFO: Loaded RL weights with best VAL -2024-02-20 16:31:40, INFO: Similarity_func: concatenation -2024-02-20 16:31:40, INFO: Layerwise_graph: False -2024-02-20 16:31:40, INFO: Skip_connection: True -2024-02-20 16:31:40, INFO: Number of layers: 1 -2024-02-20 16:31:40, INFO: Similarity_func: concatenation -2024-02-20 16:31:40, INFO: Layerwise_graph: False -2024-02-20 16:31:40, INFO: Skip_connection: True -2024-02-20 16:31:40, INFO: Number of layers: 1 -2024-02-20 16:31:40, INFO: Planning depth: 1 -2024-02-20 16:31:40, INFO: Planning width: 10 -2024-02-20 16:31:40, INFO: Sparse search: None -2024-02-20 16:31:43, INFO: human number: 10 -2024-02-20 16:31:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:31:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:31:43, INFO: Square width: 10, circle width: 4 -2024-02-20 16:31:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:31:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:31:46, INFO: Animation.save using -2024-02-20 16:32:27, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.871358 -2024-02-20 16:32:30, INFO: Using device: cpu -2024-02-20 16:32:30, INFO: Loaded RL weights with best VAL -2024-02-20 16:32:30, INFO: Similarity_func: concatenation -2024-02-20 16:32:30, INFO: Layerwise_graph: False -2024-02-20 16:32:30, INFO: Skip_connection: True -2024-02-20 16:32:30, INFO: Number of layers: 1 -2024-02-20 16:32:30, INFO: Similarity_func: concatenation -2024-02-20 16:32:30, INFO: Layerwise_graph: False -2024-02-20 16:32:30, INFO: Skip_connection: True -2024-02-20 16:32:30, INFO: Number of layers: 1 -2024-02-20 16:32:30, INFO: Planning depth: 1 -2024-02-20 16:32:30, INFO: Planning width: 10 -2024-02-20 16:32:30, INFO: Sparse search: None -2024-02-20 16:32:33, INFO: human number: 10 -2024-02-20 16:32:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:32:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:32:33, INFO: Square width: 10, circle width: 4 -2024-02-20 16:32:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:32:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:32:35, INFO: Animation.save using -2024-02-20 16:33:16, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.926167 -2024-02-20 16:33:19, INFO: Using device: cpu -2024-02-20 16:33:19, INFO: Loaded RL weights with best VAL -2024-02-20 16:33:19, INFO: Similarity_func: concatenation -2024-02-20 16:33:19, INFO: Layerwise_graph: False -2024-02-20 16:33:19, INFO: Skip_connection: True -2024-02-20 16:33:19, INFO: Number of layers: 1 -2024-02-20 16:33:19, INFO: Similarity_func: concatenation -2024-02-20 16:33:19, INFO: Layerwise_graph: False -2024-02-20 16:33:19, INFO: Skip_connection: True -2024-02-20 16:33:19, INFO: Number of layers: 1 -2024-02-20 16:33:19, INFO: Planning depth: 1 -2024-02-20 16:33:19, INFO: Planning width: 10 -2024-02-20 16:33:19, INFO: Sparse search: None -2024-02-20 16:33:22, INFO: human number: 10 -2024-02-20 16:33:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:33:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:33:22, INFO: Square width: 10, circle width: 4 -2024-02-20 16:33:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:33:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:33:28, INFO: Using device: cpu -2024-02-20 16:33:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:33:28, INFO: Similarity_func: concatenation -2024-02-20 16:33:28, INFO: Layerwise_graph: False -2024-02-20 16:33:28, INFO: Skip_connection: True -2024-02-20 16:33:28, INFO: Number of layers: 1 -2024-02-20 16:33:28, INFO: Similarity_func: concatenation -2024-02-20 16:33:28, INFO: Layerwise_graph: False -2024-02-20 16:33:28, INFO: Skip_connection: True -2024-02-20 16:33:28, INFO: Number of layers: 1 -2024-02-20 16:33:28, INFO: Planning depth: 1 -2024-02-20 16:33:28, INFO: Planning width: 10 -2024-02-20 16:33:28, INFO: Sparse search: None -2024-02-20 16:33:31, INFO: human number: 10 -2024-02-20 16:33:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:33:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:33:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:33:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:33:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:33:35, INFO: Using device: cpu -2024-02-20 16:33:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:33:35, INFO: Similarity_func: concatenation -2024-02-20 16:33:35, INFO: Layerwise_graph: False -2024-02-20 16:33:35, INFO: Skip_connection: True -2024-02-20 16:33:35, INFO: Number of layers: 1 -2024-02-20 16:33:35, INFO: Similarity_func: concatenation -2024-02-20 16:33:35, INFO: Layerwise_graph: False -2024-02-20 16:33:35, INFO: Skip_connection: True -2024-02-20 16:33:35, INFO: Number of layers: 1 -2024-02-20 16:33:35, INFO: Planning depth: 1 -2024-02-20 16:33:35, INFO: Planning width: 10 -2024-02-20 16:33:35, INFO: Sparse search: None -2024-02-20 16:33:38, INFO: human number: 10 -2024-02-20 16:33:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:33:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:33:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:33:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:33:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:33:40, INFO: Animation.save using -2024-02-20 16:34:10, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.007385 -2024-02-20 16:34:13, INFO: Using device: cpu -2024-02-20 16:34:13, INFO: Loaded RL weights with best VAL -2024-02-20 16:34:13, INFO: Similarity_func: concatenation -2024-02-20 16:34:13, INFO: Layerwise_graph: False -2024-02-20 16:34:13, INFO: Skip_connection: True -2024-02-20 16:34:13, INFO: Number of layers: 1 -2024-02-20 16:34:13, INFO: Similarity_func: concatenation -2024-02-20 16:34:13, INFO: Layerwise_graph: False -2024-02-20 16:34:13, INFO: Skip_connection: True -2024-02-20 16:34:13, INFO: Number of layers: 1 -2024-02-20 16:34:13, INFO: Planning depth: 1 -2024-02-20 16:34:13, INFO: Planning width: 10 -2024-02-20 16:34:13, INFO: Sparse search: None -2024-02-20 16:34:16, INFO: human number: 10 -2024-02-20 16:34:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:34:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:34:16, INFO: Square width: 10, circle width: 4 -2024-02-20 16:34:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:34:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:34:18, INFO: Animation.save using -2024-02-20 16:34:46, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.998297 -2024-02-20 16:34:49, INFO: Using device: cpu -2024-02-20 16:34:49, INFO: Loaded RL weights with best VAL -2024-02-20 16:34:49, INFO: Similarity_func: concatenation -2024-02-20 16:34:49, INFO: Layerwise_graph: False -2024-02-20 16:34:49, INFO: Skip_connection: True -2024-02-20 16:34:49, INFO: Number of layers: 1 -2024-02-20 16:34:49, INFO: Similarity_func: concatenation -2024-02-20 16:34:49, INFO: Layerwise_graph: False -2024-02-20 16:34:49, INFO: Skip_connection: True -2024-02-20 16:34:49, INFO: Number of layers: 1 -2024-02-20 16:34:49, INFO: Planning depth: 1 -2024-02-20 16:34:49, INFO: Planning width: 10 -2024-02-20 16:34:49, INFO: Sparse search: None -2024-02-20 16:34:52, INFO: human number: 10 -2024-02-20 16:34:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:34:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:34:52, INFO: Square width: 10, circle width: 4 -2024-02-20 16:34:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:34:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:34:56, INFO: Using device: cpu -2024-02-20 16:34:56, INFO: Loaded RL weights with best VAL -2024-02-20 16:34:56, INFO: Similarity_func: concatenation -2024-02-20 16:34:56, INFO: Layerwise_graph: False -2024-02-20 16:34:56, INFO: Skip_connection: True -2024-02-20 16:34:56, INFO: Number of layers: 1 -2024-02-20 16:34:56, INFO: Similarity_func: concatenation -2024-02-20 16:34:56, INFO: Layerwise_graph: False -2024-02-20 16:34:56, INFO: Skip_connection: True -2024-02-20 16:34:56, INFO: Number of layers: 1 -2024-02-20 16:34:56, INFO: Planning depth: 1 -2024-02-20 16:34:56, INFO: Planning width: 10 -2024-02-20 16:34:56, INFO: Sparse search: None -2024-02-20 16:34:59, INFO: human number: 10 -2024-02-20 16:34:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:34:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:34:59, INFO: Square width: 10, circle width: 4 -2024-02-20 16:34:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:34:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:35:04, INFO: Using device: cpu -2024-02-20 16:35:04, INFO: Loaded RL weights with best VAL -2024-02-20 16:35:04, INFO: Similarity_func: concatenation -2024-02-20 16:35:04, INFO: Layerwise_graph: False -2024-02-20 16:35:04, INFO: Skip_connection: True -2024-02-20 16:35:04, INFO: Number of layers: 1 -2024-02-20 16:35:04, INFO: Similarity_func: concatenation -2024-02-20 16:35:04, INFO: Layerwise_graph: False -2024-02-20 16:35:04, INFO: Skip_connection: True -2024-02-20 16:35:04, INFO: Number of layers: 1 -2024-02-20 16:35:04, INFO: Planning depth: 1 -2024-02-20 16:35:04, INFO: Planning width: 10 -2024-02-20 16:35:04, INFO: Sparse search: None -2024-02-20 16:35:06, INFO: human number: 10 -2024-02-20 16:35:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:35:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:35:06, INFO: Square width: 10, circle width: 4 -2024-02-20 16:35:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:35:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:35:08, INFO: Animation.save using -2024-02-20 16:35:34, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.079916 -2024-02-20 16:35:36, INFO: Using device: cpu -2024-02-20 16:35:36, INFO: Loaded RL weights with best VAL -2024-02-20 16:35:36, INFO: Similarity_func: concatenation -2024-02-20 16:35:36, INFO: Layerwise_graph: False -2024-02-20 16:35:36, INFO: Skip_connection: True -2024-02-20 16:35:36, INFO: Number of layers: 1 -2024-02-20 16:35:36, INFO: Similarity_func: concatenation -2024-02-20 16:35:36, INFO: Layerwise_graph: False -2024-02-20 16:35:36, INFO: Skip_connection: True -2024-02-20 16:35:36, INFO: Number of layers: 1 -2024-02-20 16:35:36, INFO: Planning depth: 1 -2024-02-20 16:35:36, INFO: Planning width: 10 -2024-02-20 16:35:36, INFO: Sparse search: None -2024-02-20 16:35:39, INFO: human number: 10 -2024-02-20 16:35:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:35:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:35:39, INFO: Square width: 10, circle width: 4 -2024-02-20 16:35:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:35:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:35:44, INFO: Using device: cpu -2024-02-20 16:35:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:35:44, INFO: Similarity_func: concatenation -2024-02-20 16:35:44, INFO: Layerwise_graph: False -2024-02-20 16:35:44, INFO: Skip_connection: True -2024-02-20 16:35:44, INFO: Number of layers: 1 -2024-02-20 16:35:44, INFO: Similarity_func: concatenation -2024-02-20 16:35:44, INFO: Layerwise_graph: False -2024-02-20 16:35:44, INFO: Skip_connection: True -2024-02-20 16:35:44, INFO: Number of layers: 1 -2024-02-20 16:35:44, INFO: Planning depth: 1 -2024-02-20 16:35:44, INFO: Planning width: 10 -2024-02-20 16:35:44, INFO: Sparse search: None -2024-02-20 16:35:47, INFO: human number: 10 -2024-02-20 16:35:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:35:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:35:47, INFO: Square width: 10, circle width: 4 -2024-02-20 16:35:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:35:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:35:52, INFO: Using device: cpu -2024-02-20 16:35:52, INFO: Loaded RL weights with best VAL -2024-02-20 16:35:52, INFO: Similarity_func: concatenation -2024-02-20 16:35:52, INFO: Layerwise_graph: False -2024-02-20 16:35:52, INFO: Skip_connection: True -2024-02-20 16:35:52, INFO: Number of layers: 1 -2024-02-20 16:35:52, INFO: Similarity_func: concatenation -2024-02-20 16:35:52, INFO: Layerwise_graph: False -2024-02-20 16:35:52, INFO: Skip_connection: True -2024-02-20 16:35:52, INFO: Number of layers: 1 -2024-02-20 16:35:52, INFO: Planning depth: 1 -2024-02-20 16:35:52, INFO: Planning width: 10 -2024-02-20 16:35:52, INFO: Sparse search: None -2024-02-20 16:35:55, INFO: human number: 10 -2024-02-20 16:35:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:35:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:35:55, INFO: Square width: 10, circle width: 4 -2024-02-20 16:35:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:35:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:35:59, INFO: Using device: cpu -2024-02-20 16:35:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:35:59, INFO: Similarity_func: concatenation -2024-02-20 16:35:59, INFO: Layerwise_graph: False -2024-02-20 16:35:59, INFO: Skip_connection: True -2024-02-20 16:35:59, INFO: Number of layers: 1 -2024-02-20 16:35:59, INFO: Similarity_func: concatenation -2024-02-20 16:35:59, INFO: Layerwise_graph: False -2024-02-20 16:35:59, INFO: Skip_connection: True -2024-02-20 16:35:59, INFO: Number of layers: 1 -2024-02-20 16:35:59, INFO: Planning depth: 1 -2024-02-20 16:35:59, INFO: Planning width: 10 -2024-02-20 16:35:59, INFO: Sparse search: None -2024-02-20 16:36:02, INFO: human number: 10 -2024-02-20 16:36:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:36:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:36:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:36:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:36:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:36:07, INFO: Using device: cpu -2024-02-20 16:36:07, INFO: Loaded RL weights with best VAL -2024-02-20 16:36:07, INFO: Similarity_func: concatenation -2024-02-20 16:36:07, INFO: Layerwise_graph: False -2024-02-20 16:36:07, INFO: Skip_connection: True -2024-02-20 16:36:07, INFO: Number of layers: 1 -2024-02-20 16:36:07, INFO: Similarity_func: concatenation -2024-02-20 16:36:07, INFO: Layerwise_graph: False -2024-02-20 16:36:07, INFO: Skip_connection: True -2024-02-20 16:36:07, INFO: Number of layers: 1 -2024-02-20 16:36:07, INFO: Planning depth: 1 -2024-02-20 16:36:07, INFO: Planning width: 10 -2024-02-20 16:36:07, INFO: Sparse search: None -2024-02-20 16:36:09, INFO: human number: 10 -2024-02-20 16:36:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:36:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:36:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:36:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:36:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:36:14, INFO: Using device: cpu -2024-02-20 16:36:14, INFO: Loaded RL weights with best VAL -2024-02-20 16:36:14, INFO: Similarity_func: concatenation -2024-02-20 16:36:14, INFO: Layerwise_graph: False -2024-02-20 16:36:14, INFO: Skip_connection: True -2024-02-20 16:36:14, INFO: Number of layers: 1 -2024-02-20 16:36:14, INFO: Similarity_func: concatenation -2024-02-20 16:36:14, INFO: Layerwise_graph: False -2024-02-20 16:36:14, INFO: Skip_connection: True -2024-02-20 16:36:14, INFO: Number of layers: 1 -2024-02-20 16:36:14, INFO: Planning depth: 1 -2024-02-20 16:36:14, INFO: Planning width: 10 -2024-02-20 16:36:14, INFO: Sparse search: None -2024-02-20 16:36:16, INFO: human number: 10 -2024-02-20 16:36:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:36:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:36:16, INFO: Square width: 10, circle width: 4 -2024-02-20 16:36:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:36:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:36:22, INFO: Using device: cpu -2024-02-20 16:36:22, INFO: Loaded RL weights with best VAL -2024-02-20 16:36:22, INFO: Similarity_func: concatenation -2024-02-20 16:36:22, INFO: Layerwise_graph: False -2024-02-20 16:36:22, INFO: Skip_connection: True -2024-02-20 16:36:22, INFO: Number of layers: 1 -2024-02-20 16:36:22, INFO: Similarity_func: concatenation -2024-02-20 16:36:22, INFO: Layerwise_graph: False -2024-02-20 16:36:22, INFO: Skip_connection: True -2024-02-20 16:36:22, INFO: Number of layers: 1 -2024-02-20 16:36:22, INFO: Planning depth: 1 -2024-02-20 16:36:22, INFO: Planning width: 10 -2024-02-20 16:36:22, INFO: Sparse search: None -2024-02-20 16:36:24, INFO: human number: 10 -2024-02-20 16:36:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:36:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:36:24, INFO: Square width: 10, circle width: 4 -2024-02-20 16:36:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:36:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:36:28, INFO: Using device: cpu -2024-02-20 16:36:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:36:28, INFO: Similarity_func: concatenation -2024-02-20 16:36:28, INFO: Layerwise_graph: False -2024-02-20 16:36:28, INFO: Skip_connection: True -2024-02-20 16:36:28, INFO: Number of layers: 1 -2024-02-20 16:36:28, INFO: Similarity_func: concatenation -2024-02-20 16:36:28, INFO: Layerwise_graph: False -2024-02-20 16:36:28, INFO: Skip_connection: True -2024-02-20 16:36:28, INFO: Number of layers: 1 -2024-02-20 16:36:28, INFO: Planning depth: 1 -2024-02-20 16:36:28, INFO: Planning width: 10 -2024-02-20 16:36:28, INFO: Sparse search: None -2024-02-20 16:36:31, INFO: human number: 10 -2024-02-20 16:36:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:36:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:36:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:36:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:36:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:36:33, INFO: Animation.save using -2024-02-20 16:36:59, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.000525 -2024-02-20 16:37:03, INFO: Using device: cpu -2024-02-20 16:37:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:37:03, INFO: Similarity_func: concatenation -2024-02-20 16:37:03, INFO: Layerwise_graph: False -2024-02-20 16:37:03, INFO: Skip_connection: True -2024-02-20 16:37:03, INFO: Number of layers: 1 -2024-02-20 16:37:03, INFO: Similarity_func: concatenation -2024-02-20 16:37:03, INFO: Layerwise_graph: False -2024-02-20 16:37:03, INFO: Skip_connection: True -2024-02-20 16:37:03, INFO: Number of layers: 1 -2024-02-20 16:37:03, INFO: Planning depth: 1 -2024-02-20 16:37:03, INFO: Planning width: 10 -2024-02-20 16:37:03, INFO: Sparse search: None -2024-02-20 16:37:05, INFO: human number: 10 -2024-02-20 16:37:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:37:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:37:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:37:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:37:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:37:10, INFO: Using device: cpu -2024-02-20 16:37:10, INFO: Loaded RL weights with best VAL -2024-02-20 16:37:10, INFO: Similarity_func: concatenation -2024-02-20 16:37:10, INFO: Layerwise_graph: False -2024-02-20 16:37:10, INFO: Skip_connection: True -2024-02-20 16:37:10, INFO: Number of layers: 1 -2024-02-20 16:37:10, INFO: Similarity_func: concatenation -2024-02-20 16:37:10, INFO: Layerwise_graph: False -2024-02-20 16:37:10, INFO: Skip_connection: True -2024-02-20 16:37:10, INFO: Number of layers: 1 -2024-02-20 16:37:10, INFO: Planning depth: 1 -2024-02-20 16:37:10, INFO: Planning width: 10 -2024-02-20 16:37:10, INFO: Sparse search: None -2024-02-20 16:37:13, INFO: human number: 10 -2024-02-20 16:37:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:37:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:37:13, INFO: Square width: 10, circle width: 4 -2024-02-20 16:37:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:37:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:37:16, INFO: Animation.save using -2024-02-20 16:38:09, INFO: It takes 16.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.811159 -2024-02-20 16:38:13, INFO: Using device: cpu -2024-02-20 16:38:13, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:13, INFO: Similarity_func: concatenation -2024-02-20 16:38:13, INFO: Layerwise_graph: False -2024-02-20 16:38:13, INFO: Skip_connection: True -2024-02-20 16:38:13, INFO: Number of layers: 1 -2024-02-20 16:38:13, INFO: Similarity_func: concatenation -2024-02-20 16:38:13, INFO: Layerwise_graph: False -2024-02-20 16:38:13, INFO: Skip_connection: True -2024-02-20 16:38:13, INFO: Number of layers: 1 -2024-02-20 16:38:13, INFO: Planning depth: 1 -2024-02-20 16:38:13, INFO: Planning width: 10 -2024-02-20 16:38:13, INFO: Sparse search: None -2024-02-20 16:38:15, INFO: human number: 10 -2024-02-20 16:38:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:15, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:20, INFO: Using device: cpu -2024-02-20 16:38:20, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:20, INFO: Similarity_func: concatenation -2024-02-20 16:38:20, INFO: Layerwise_graph: False -2024-02-20 16:38:20, INFO: Skip_connection: True -2024-02-20 16:38:20, INFO: Number of layers: 1 -2024-02-20 16:38:20, INFO: Similarity_func: concatenation -2024-02-20 16:38:20, INFO: Layerwise_graph: False -2024-02-20 16:38:20, INFO: Skip_connection: True -2024-02-20 16:38:20, INFO: Number of layers: 1 -2024-02-20 16:38:20, INFO: Planning depth: 1 -2024-02-20 16:38:20, INFO: Planning width: 10 -2024-02-20 16:38:20, INFO: Sparse search: None -2024-02-20 16:38:23, INFO: human number: 10 -2024-02-20 16:38:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:23, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:27, INFO: Using device: cpu -2024-02-20 16:38:27, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:27, INFO: Similarity_func: concatenation -2024-02-20 16:38:27, INFO: Layerwise_graph: False -2024-02-20 16:38:27, INFO: Skip_connection: True -2024-02-20 16:38:27, INFO: Number of layers: 1 -2024-02-20 16:38:27, INFO: Similarity_func: concatenation -2024-02-20 16:38:27, INFO: Layerwise_graph: False -2024-02-20 16:38:27, INFO: Skip_connection: True -2024-02-20 16:38:27, INFO: Number of layers: 1 -2024-02-20 16:38:27, INFO: Planning depth: 1 -2024-02-20 16:38:27, INFO: Planning width: 10 -2024-02-20 16:38:27, INFO: Sparse search: None -2024-02-20 16:38:30, INFO: human number: 10 -2024-02-20 16:38:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:30, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:35, INFO: Using device: cpu -2024-02-20 16:38:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:35, INFO: Similarity_func: concatenation -2024-02-20 16:38:35, INFO: Layerwise_graph: False -2024-02-20 16:38:35, INFO: Skip_connection: True -2024-02-20 16:38:35, INFO: Number of layers: 1 -2024-02-20 16:38:35, INFO: Similarity_func: concatenation -2024-02-20 16:38:35, INFO: Layerwise_graph: False -2024-02-20 16:38:35, INFO: Skip_connection: True -2024-02-20 16:38:35, INFO: Number of layers: 1 -2024-02-20 16:38:35, INFO: Planning depth: 1 -2024-02-20 16:38:35, INFO: Planning width: 10 -2024-02-20 16:38:35, INFO: Sparse search: None -2024-02-20 16:38:38, INFO: human number: 10 -2024-02-20 16:38:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:42, INFO: Using device: cpu -2024-02-20 16:38:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:42, INFO: Similarity_func: concatenation -2024-02-20 16:38:42, INFO: Layerwise_graph: False -2024-02-20 16:38:42, INFO: Skip_connection: True -2024-02-20 16:38:42, INFO: Number of layers: 1 -2024-02-20 16:38:42, INFO: Similarity_func: concatenation -2024-02-20 16:38:42, INFO: Layerwise_graph: False -2024-02-20 16:38:42, INFO: Skip_connection: True -2024-02-20 16:38:42, INFO: Number of layers: 1 -2024-02-20 16:38:42, INFO: Planning depth: 1 -2024-02-20 16:38:42, INFO: Planning width: 10 -2024-02-20 16:38:42, INFO: Sparse search: None -2024-02-20 16:38:45, INFO: human number: 10 -2024-02-20 16:38:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:45, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:50, INFO: Using device: cpu -2024-02-20 16:38:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:50, INFO: Similarity_func: concatenation -2024-02-20 16:38:50, INFO: Layerwise_graph: False -2024-02-20 16:38:50, INFO: Skip_connection: True -2024-02-20 16:38:50, INFO: Number of layers: 1 -2024-02-20 16:38:50, INFO: Similarity_func: concatenation -2024-02-20 16:38:50, INFO: Layerwise_graph: False -2024-02-20 16:38:50, INFO: Skip_connection: True -2024-02-20 16:38:50, INFO: Number of layers: 1 -2024-02-20 16:38:50, INFO: Planning depth: 1 -2024-02-20 16:38:50, INFO: Planning width: 10 -2024-02-20 16:38:50, INFO: Sparse search: None -2024-02-20 16:38:53, INFO: human number: 10 -2024-02-20 16:38:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:38:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:38:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:38:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:38:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:38:58, INFO: Using device: cpu -2024-02-20 16:38:58, INFO: Loaded RL weights with best VAL -2024-02-20 16:38:58, INFO: Similarity_func: concatenation -2024-02-20 16:38:58, INFO: Layerwise_graph: False -2024-02-20 16:38:58, INFO: Skip_connection: True -2024-02-20 16:38:58, INFO: Number of layers: 1 -2024-02-20 16:38:58, INFO: Similarity_func: concatenation -2024-02-20 16:38:58, INFO: Layerwise_graph: False -2024-02-20 16:38:58, INFO: Skip_connection: True -2024-02-20 16:38:58, INFO: Number of layers: 1 -2024-02-20 16:38:58, INFO: Planning depth: 1 -2024-02-20 16:38:58, INFO: Planning width: 10 -2024-02-20 16:38:58, INFO: Sparse search: None -2024-02-20 16:39:00, INFO: human number: 10 -2024-02-20 16:39:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:39:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:39:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:39:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:39:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:39:05, INFO: Using device: cpu -2024-02-20 16:39:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:39:05, INFO: Similarity_func: concatenation -2024-02-20 16:39:05, INFO: Layerwise_graph: False -2024-02-20 16:39:05, INFO: Skip_connection: True -2024-02-20 16:39:05, INFO: Number of layers: 1 -2024-02-20 16:39:05, INFO: Similarity_func: concatenation -2024-02-20 16:39:05, INFO: Layerwise_graph: False -2024-02-20 16:39:05, INFO: Skip_connection: True -2024-02-20 16:39:05, INFO: Number of layers: 1 -2024-02-20 16:39:05, INFO: Planning depth: 1 -2024-02-20 16:39:05, INFO: Planning width: 10 -2024-02-20 16:39:05, INFO: Sparse search: None -2024-02-20 16:39:07, INFO: human number: 10 -2024-02-20 16:39:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:39:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:39:07, INFO: Square width: 10, circle width: 4 -2024-02-20 16:39:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:39:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:39:09, INFO: Animation.save using -2024-02-20 16:39:36, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.978183 -2024-02-20 16:39:39, INFO: Using device: cpu -2024-02-20 16:39:39, INFO: Loaded RL weights with best VAL -2024-02-20 16:39:39, INFO: Similarity_func: concatenation -2024-02-20 16:39:39, INFO: Layerwise_graph: False -2024-02-20 16:39:39, INFO: Skip_connection: True -2024-02-20 16:39:39, INFO: Number of layers: 1 -2024-02-20 16:39:39, INFO: Similarity_func: concatenation -2024-02-20 16:39:39, INFO: Layerwise_graph: False -2024-02-20 16:39:39, INFO: Skip_connection: True -2024-02-20 16:39:39, INFO: Number of layers: 1 -2024-02-20 16:39:39, INFO: Planning depth: 1 -2024-02-20 16:39:39, INFO: Planning width: 10 -2024-02-20 16:39:39, INFO: Sparse search: None -2024-02-20 16:39:42, INFO: human number: 10 -2024-02-20 16:39:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:39:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:39:42, INFO: Square width: 10, circle width: 4 -2024-02-20 16:39:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:39:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:39:47, INFO: Using device: cpu -2024-02-20 16:39:47, INFO: Loaded RL weights with best VAL -2024-02-20 16:39:47, INFO: Similarity_func: concatenation -2024-02-20 16:39:47, INFO: Layerwise_graph: False -2024-02-20 16:39:47, INFO: Skip_connection: True -2024-02-20 16:39:47, INFO: Number of layers: 1 -2024-02-20 16:39:47, INFO: Similarity_func: concatenation -2024-02-20 16:39:47, INFO: Layerwise_graph: False -2024-02-20 16:39:47, INFO: Skip_connection: True -2024-02-20 16:39:47, INFO: Number of layers: 1 -2024-02-20 16:39:47, INFO: Planning depth: 1 -2024-02-20 16:39:47, INFO: Planning width: 10 -2024-02-20 16:39:47, INFO: Sparse search: None -2024-02-20 16:39:50, INFO: human number: 10 -2024-02-20 16:39:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:39:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:39:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:39:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:39:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:39:55, INFO: Using device: cpu -2024-02-20 16:39:55, INFO: Loaded RL weights with best VAL -2024-02-20 16:39:55, INFO: Similarity_func: concatenation -2024-02-20 16:39:55, INFO: Layerwise_graph: False -2024-02-20 16:39:55, INFO: Skip_connection: True -2024-02-20 16:39:55, INFO: Number of layers: 1 -2024-02-20 16:39:55, INFO: Similarity_func: concatenation -2024-02-20 16:39:55, INFO: Layerwise_graph: False -2024-02-20 16:39:55, INFO: Skip_connection: True -2024-02-20 16:39:55, INFO: Number of layers: 1 -2024-02-20 16:39:55, INFO: Planning depth: 1 -2024-02-20 16:39:55, INFO: Planning width: 10 -2024-02-20 16:39:55, INFO: Sparse search: None -2024-02-20 16:39:58, INFO: human number: 10 -2024-02-20 16:39:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:39:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:39:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:39:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:39:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:40:02, INFO: Using device: cpu -2024-02-20 16:40:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:40:02, INFO: Similarity_func: concatenation -2024-02-20 16:40:02, INFO: Layerwise_graph: False -2024-02-20 16:40:02, INFO: Skip_connection: True -2024-02-20 16:40:02, INFO: Number of layers: 1 -2024-02-20 16:40:02, INFO: Similarity_func: concatenation -2024-02-20 16:40:02, INFO: Layerwise_graph: False -2024-02-20 16:40:02, INFO: Skip_connection: True -2024-02-20 16:40:02, INFO: Number of layers: 1 -2024-02-20 16:40:02, INFO: Planning depth: 1 -2024-02-20 16:40:02, INFO: Planning width: 10 -2024-02-20 16:40:02, INFO: Sparse search: None -2024-02-20 16:40:05, INFO: human number: 10 -2024-02-20 16:40:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:40:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:40:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:40:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:40:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:40:07, INFO: Animation.save using -2024-02-20 16:40:41, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.932205 -2024-02-20 16:40:44, INFO: Using device: cpu -2024-02-20 16:40:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:40:44, INFO: Similarity_func: concatenation -2024-02-20 16:40:44, INFO: Layerwise_graph: False -2024-02-20 16:40:44, INFO: Skip_connection: True -2024-02-20 16:40:44, INFO: Number of layers: 1 -2024-02-20 16:40:44, INFO: Similarity_func: concatenation -2024-02-20 16:40:44, INFO: Layerwise_graph: False -2024-02-20 16:40:44, INFO: Skip_connection: True -2024-02-20 16:40:44, INFO: Number of layers: 1 -2024-02-20 16:40:44, INFO: Planning depth: 1 -2024-02-20 16:40:44, INFO: Planning width: 10 -2024-02-20 16:40:44, INFO: Sparse search: None -2024-02-20 16:40:47, INFO: human number: 10 -2024-02-20 16:40:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:40:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:40:47, INFO: Square width: 10, circle width: 4 -2024-02-20 16:40:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:40:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:40:50, INFO: Animation.save using -2024-02-20 16:41:27, INFO: It takes 12.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.951743 -2024-02-20 16:41:30, INFO: Using device: cpu -2024-02-20 16:41:30, INFO: Loaded RL weights with best VAL -2024-02-20 16:41:30, INFO: Similarity_func: concatenation -2024-02-20 16:41:30, INFO: Layerwise_graph: False -2024-02-20 16:41:30, INFO: Skip_connection: True -2024-02-20 16:41:30, INFO: Number of layers: 1 -2024-02-20 16:41:30, INFO: Similarity_func: concatenation -2024-02-20 16:41:30, INFO: Layerwise_graph: False -2024-02-20 16:41:30, INFO: Skip_connection: True -2024-02-20 16:41:30, INFO: Number of layers: 1 -2024-02-20 16:41:30, INFO: Planning depth: 1 -2024-02-20 16:41:30, INFO: Planning width: 10 -2024-02-20 16:41:30, INFO: Sparse search: None -2024-02-20 16:41:33, INFO: human number: 10 -2024-02-20 16:41:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:41:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:41:33, INFO: Square width: 10, circle width: 4 -2024-02-20 16:41:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:41:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:41:38, INFO: Using device: cpu -2024-02-20 16:41:38, INFO: Loaded RL weights with best VAL -2024-02-20 16:41:38, INFO: Similarity_func: concatenation -2024-02-20 16:41:38, INFO: Layerwise_graph: False -2024-02-20 16:41:38, INFO: Skip_connection: True -2024-02-20 16:41:38, INFO: Number of layers: 1 -2024-02-20 16:41:38, INFO: Similarity_func: concatenation -2024-02-20 16:41:38, INFO: Layerwise_graph: False -2024-02-20 16:41:38, INFO: Skip_connection: True -2024-02-20 16:41:38, INFO: Number of layers: 1 -2024-02-20 16:41:38, INFO: Planning depth: 1 -2024-02-20 16:41:38, INFO: Planning width: 10 -2024-02-20 16:41:38, INFO: Sparse search: None -2024-02-20 16:41:40, INFO: human number: 10 -2024-02-20 16:41:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:41:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:41:40, INFO: Square width: 10, circle width: 4 -2024-02-20 16:41:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:41:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:41:46, INFO: Using device: cpu -2024-02-20 16:41:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:41:46, INFO: Similarity_func: concatenation -2024-02-20 16:41:46, INFO: Layerwise_graph: False -2024-02-20 16:41:46, INFO: Skip_connection: True -2024-02-20 16:41:46, INFO: Number of layers: 1 -2024-02-20 16:41:46, INFO: Similarity_func: concatenation -2024-02-20 16:41:46, INFO: Layerwise_graph: False -2024-02-20 16:41:46, INFO: Skip_connection: True -2024-02-20 16:41:46, INFO: Number of layers: 1 -2024-02-20 16:41:46, INFO: Planning depth: 1 -2024-02-20 16:41:46, INFO: Planning width: 10 -2024-02-20 16:41:46, INFO: Sparse search: None -2024-02-20 16:41:48, INFO: human number: 10 -2024-02-20 16:41:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:41:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:41:48, INFO: Square width: 10, circle width: 4 -2024-02-20 16:41:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:41:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:41:53, INFO: Using device: cpu -2024-02-20 16:41:53, INFO: Loaded RL weights with best VAL -2024-02-20 16:41:53, INFO: Similarity_func: concatenation -2024-02-20 16:41:53, INFO: Layerwise_graph: False -2024-02-20 16:41:53, INFO: Skip_connection: True -2024-02-20 16:41:53, INFO: Number of layers: 1 -2024-02-20 16:41:53, INFO: Similarity_func: concatenation -2024-02-20 16:41:53, INFO: Layerwise_graph: False -2024-02-20 16:41:53, INFO: Skip_connection: True -2024-02-20 16:41:53, INFO: Number of layers: 1 -2024-02-20 16:41:53, INFO: Planning depth: 1 -2024-02-20 16:41:53, INFO: Planning width: 10 -2024-02-20 16:41:53, INFO: Sparse search: None -2024-02-20 16:41:56, INFO: human number: 10 -2024-02-20 16:41:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:41:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:41:56, INFO: Square width: 10, circle width: 4 -2024-02-20 16:41:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:41:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:42:01, INFO: Using device: cpu -2024-02-20 16:42:01, INFO: Loaded RL weights with best VAL -2024-02-20 16:42:01, INFO: Similarity_func: concatenation -2024-02-20 16:42:01, INFO: Layerwise_graph: False -2024-02-20 16:42:01, INFO: Skip_connection: True -2024-02-20 16:42:01, INFO: Number of layers: 1 -2024-02-20 16:42:01, INFO: Similarity_func: concatenation -2024-02-20 16:42:01, INFO: Layerwise_graph: False -2024-02-20 16:42:01, INFO: Skip_connection: True -2024-02-20 16:42:01, INFO: Number of layers: 1 -2024-02-20 16:42:01, INFO: Planning depth: 1 -2024-02-20 16:42:01, INFO: Planning width: 10 -2024-02-20 16:42:01, INFO: Sparse search: None -2024-02-20 16:42:03, INFO: human number: 10 -2024-02-20 16:42:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:42:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:42:03, INFO: Square width: 10, circle width: 4 -2024-02-20 16:42:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:42:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:42:07, INFO: Using device: cpu -2024-02-20 16:42:07, INFO: Loaded RL weights with best VAL -2024-02-20 16:42:07, INFO: Similarity_func: concatenation -2024-02-20 16:42:07, INFO: Layerwise_graph: False -2024-02-20 16:42:07, INFO: Skip_connection: True -2024-02-20 16:42:07, INFO: Number of layers: 1 -2024-02-20 16:42:07, INFO: Similarity_func: concatenation -2024-02-20 16:42:07, INFO: Layerwise_graph: False -2024-02-20 16:42:07, INFO: Skip_connection: True -2024-02-20 16:42:07, INFO: Number of layers: 1 -2024-02-20 16:42:07, INFO: Planning depth: 1 -2024-02-20 16:42:07, INFO: Planning width: 10 -2024-02-20 16:42:07, INFO: Sparse search: None -2024-02-20 16:42:10, INFO: human number: 10 -2024-02-20 16:42:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:42:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:42:10, INFO: Square width: 10, circle width: 4 -2024-02-20 16:42:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:42:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:42:13, INFO: Animation.save using -2024-02-20 16:42:57, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.983070 -2024-02-20 16:43:00, INFO: Using device: cpu -2024-02-20 16:43:00, INFO: Loaded RL weights with best VAL -2024-02-20 16:43:00, INFO: Similarity_func: concatenation -2024-02-20 16:43:00, INFO: Layerwise_graph: False -2024-02-20 16:43:00, INFO: Skip_connection: True -2024-02-20 16:43:00, INFO: Number of layers: 1 -2024-02-20 16:43:00, INFO: Similarity_func: concatenation -2024-02-20 16:43:00, INFO: Layerwise_graph: False -2024-02-20 16:43:00, INFO: Skip_connection: True -2024-02-20 16:43:00, INFO: Number of layers: 1 -2024-02-20 16:43:00, INFO: Planning depth: 1 -2024-02-20 16:43:00, INFO: Planning width: 10 -2024-02-20 16:43:00, INFO: Sparse search: None -2024-02-20 16:43:03, INFO: human number: 10 -2024-02-20 16:43:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:43:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:43:03, INFO: Square width: 10, circle width: 4 -2024-02-20 16:43:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:43:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:43:08, INFO: Using device: cpu -2024-02-20 16:43:08, INFO: Loaded RL weights with best VAL -2024-02-20 16:43:08, INFO: Similarity_func: concatenation -2024-02-20 16:43:08, INFO: Layerwise_graph: False -2024-02-20 16:43:08, INFO: Skip_connection: True -2024-02-20 16:43:08, INFO: Number of layers: 1 -2024-02-20 16:43:08, INFO: Similarity_func: concatenation -2024-02-20 16:43:08, INFO: Layerwise_graph: False -2024-02-20 16:43:08, INFO: Skip_connection: True -2024-02-20 16:43:08, INFO: Number of layers: 1 -2024-02-20 16:43:08, INFO: Planning depth: 1 -2024-02-20 16:43:08, INFO: Planning width: 10 -2024-02-20 16:43:08, INFO: Sparse search: None -2024-02-20 16:43:11, INFO: human number: 10 -2024-02-20 16:43:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:43:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:43:11, INFO: Square width: 10, circle width: 4 -2024-02-20 16:43:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:43:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:43:16, INFO: Using device: cpu -2024-02-20 16:43:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:43:16, INFO: Similarity_func: concatenation -2024-02-20 16:43:16, INFO: Layerwise_graph: False -2024-02-20 16:43:16, INFO: Skip_connection: True -2024-02-20 16:43:16, INFO: Number of layers: 1 -2024-02-20 16:43:16, INFO: Similarity_func: concatenation -2024-02-20 16:43:16, INFO: Layerwise_graph: False -2024-02-20 16:43:16, INFO: Skip_connection: True -2024-02-20 16:43:16, INFO: Number of layers: 1 -2024-02-20 16:43:16, INFO: Planning depth: 1 -2024-02-20 16:43:16, INFO: Planning width: 10 -2024-02-20 16:43:16, INFO: Sparse search: None -2024-02-20 16:43:19, INFO: human number: 10 -2024-02-20 16:43:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:43:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:43:19, INFO: Square width: 10, circle width: 4 -2024-02-20 16:43:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:43:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:43:20, INFO: Animation.save using -2024-02-20 16:43:43, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.112231 -2024-02-20 16:43:46, INFO: Using device: cpu -2024-02-20 16:43:46, INFO: Loaded RL weights with best VAL -2024-02-20 16:43:46, INFO: Similarity_func: concatenation -2024-02-20 16:43:46, INFO: Layerwise_graph: False -2024-02-20 16:43:46, INFO: Skip_connection: True -2024-02-20 16:43:46, INFO: Number of layers: 1 -2024-02-20 16:43:46, INFO: Similarity_func: concatenation -2024-02-20 16:43:46, INFO: Layerwise_graph: False -2024-02-20 16:43:46, INFO: Skip_connection: True -2024-02-20 16:43:46, INFO: Number of layers: 1 -2024-02-20 16:43:46, INFO: Planning depth: 1 -2024-02-20 16:43:46, INFO: Planning width: 10 -2024-02-20 16:43:46, INFO: Sparse search: None -2024-02-20 16:43:49, INFO: human number: 10 -2024-02-20 16:43:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:43:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:43:49, INFO: Square width: 10, circle width: 4 -2024-02-20 16:43:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:43:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:43:54, INFO: Using device: cpu -2024-02-20 16:43:54, INFO: Loaded RL weights with best VAL -2024-02-20 16:43:54, INFO: Similarity_func: concatenation -2024-02-20 16:43:54, INFO: Layerwise_graph: False -2024-02-20 16:43:54, INFO: Skip_connection: True -2024-02-20 16:43:54, INFO: Number of layers: 1 -2024-02-20 16:43:54, INFO: Similarity_func: concatenation -2024-02-20 16:43:54, INFO: Layerwise_graph: False -2024-02-20 16:43:54, INFO: Skip_connection: True -2024-02-20 16:43:54, INFO: Number of layers: 1 -2024-02-20 16:43:54, INFO: Planning depth: 1 -2024-02-20 16:43:54, INFO: Planning width: 10 -2024-02-20 16:43:54, INFO: Sparse search: None -2024-02-20 16:43:57, INFO: human number: 10 -2024-02-20 16:43:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:43:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:43:57, INFO: Square width: 10, circle width: 4 -2024-02-20 16:43:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:43:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:44:03, INFO: Using device: cpu -2024-02-20 16:44:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:44:03, INFO: Similarity_func: concatenation -2024-02-20 16:44:03, INFO: Layerwise_graph: False -2024-02-20 16:44:03, INFO: Skip_connection: True -2024-02-20 16:44:03, INFO: Number of layers: 1 -2024-02-20 16:44:03, INFO: Similarity_func: concatenation -2024-02-20 16:44:03, INFO: Layerwise_graph: False -2024-02-20 16:44:03, INFO: Skip_connection: True -2024-02-20 16:44:03, INFO: Number of layers: 1 -2024-02-20 16:44:03, INFO: Planning depth: 1 -2024-02-20 16:44:03, INFO: Planning width: 10 -2024-02-20 16:44:03, INFO: Sparse search: None -2024-02-20 16:44:06, INFO: human number: 10 -2024-02-20 16:44:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:44:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:44:06, INFO: Square width: 10, circle width: 4 -2024-02-20 16:44:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:44:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:44:08, INFO: Animation.save using -2024-02-20 16:44:34, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.041208 -2024-02-20 16:44:37, INFO: Using device: cpu -2024-02-20 16:44:37, INFO: Loaded RL weights with best VAL -2024-02-20 16:44:37, INFO: Similarity_func: concatenation -2024-02-20 16:44:37, INFO: Layerwise_graph: False -2024-02-20 16:44:37, INFO: Skip_connection: True -2024-02-20 16:44:37, INFO: Number of layers: 1 -2024-02-20 16:44:37, INFO: Similarity_func: concatenation -2024-02-20 16:44:37, INFO: Layerwise_graph: False -2024-02-20 16:44:37, INFO: Skip_connection: True -2024-02-20 16:44:37, INFO: Number of layers: 1 -2024-02-20 16:44:37, INFO: Planning depth: 1 -2024-02-20 16:44:37, INFO: Planning width: 10 -2024-02-20 16:44:37, INFO: Sparse search: None -2024-02-20 16:44:40, INFO: human number: 10 -2024-02-20 16:44:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:44:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:44:40, INFO: Square width: 10, circle width: 4 -2024-02-20 16:44:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:44:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:44:41, INFO: Animation.save using -2024-02-20 16:45:05, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055491 -2024-02-20 16:45:08, INFO: Using device: cpu -2024-02-20 16:45:08, INFO: Loaded RL weights with best VAL -2024-02-20 16:45:08, INFO: Similarity_func: concatenation -2024-02-20 16:45:08, INFO: Layerwise_graph: False -2024-02-20 16:45:08, INFO: Skip_connection: True -2024-02-20 16:45:08, INFO: Number of layers: 1 -2024-02-20 16:45:08, INFO: Similarity_func: concatenation -2024-02-20 16:45:08, INFO: Layerwise_graph: False -2024-02-20 16:45:08, INFO: Skip_connection: True -2024-02-20 16:45:08, INFO: Number of layers: 1 -2024-02-20 16:45:08, INFO: Planning depth: 1 -2024-02-20 16:45:08, INFO: Planning width: 10 -2024-02-20 16:45:08, INFO: Sparse search: None -2024-02-20 16:45:11, INFO: human number: 10 -2024-02-20 16:45:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:45:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:45:11, INFO: Square width: 10, circle width: 4 -2024-02-20 16:45:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:45:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:45:16, INFO: Using device: cpu -2024-02-20 16:45:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:45:16, INFO: Similarity_func: concatenation -2024-02-20 16:45:16, INFO: Layerwise_graph: False -2024-02-20 16:45:16, INFO: Skip_connection: True -2024-02-20 16:45:16, INFO: Number of layers: 1 -2024-02-20 16:45:16, INFO: Similarity_func: concatenation -2024-02-20 16:45:16, INFO: Layerwise_graph: False -2024-02-20 16:45:16, INFO: Skip_connection: True -2024-02-20 16:45:16, INFO: Number of layers: 1 -2024-02-20 16:45:16, INFO: Planning depth: 1 -2024-02-20 16:45:16, INFO: Planning width: 10 -2024-02-20 16:45:16, INFO: Sparse search: None -2024-02-20 16:45:18, INFO: human number: 10 -2024-02-20 16:45:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:45:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:45:18, INFO: Square width: 10, circle width: 4 -2024-02-20 16:45:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:45:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:45:25, INFO: Using device: cpu -2024-02-20 16:45:25, INFO: Loaded RL weights with best VAL -2024-02-20 16:45:25, INFO: Similarity_func: concatenation -2024-02-20 16:45:25, INFO: Layerwise_graph: False -2024-02-20 16:45:25, INFO: Skip_connection: True -2024-02-20 16:45:25, INFO: Number of layers: 1 -2024-02-20 16:45:25, INFO: Similarity_func: concatenation -2024-02-20 16:45:25, INFO: Layerwise_graph: False -2024-02-20 16:45:25, INFO: Skip_connection: True -2024-02-20 16:45:25, INFO: Number of layers: 1 -2024-02-20 16:45:25, INFO: Planning depth: 1 -2024-02-20 16:45:25, INFO: Planning width: 10 -2024-02-20 16:45:25, INFO: Sparse search: None -2024-02-20 16:45:27, INFO: human number: 10 -2024-02-20 16:45:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:45:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:45:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:45:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:45:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:45:29, INFO: Animation.save using -2024-02-20 16:45:55, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.044375 -2024-02-20 16:45:57, INFO: Using device: cpu -2024-02-20 16:45:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:45:57, INFO: Similarity_func: concatenation -2024-02-20 16:45:57, INFO: Layerwise_graph: False -2024-02-20 16:45:57, INFO: Skip_connection: True -2024-02-20 16:45:57, INFO: Number of layers: 1 -2024-02-20 16:45:57, INFO: Similarity_func: concatenation -2024-02-20 16:45:57, INFO: Layerwise_graph: False -2024-02-20 16:45:57, INFO: Skip_connection: True -2024-02-20 16:45:57, INFO: Number of layers: 1 -2024-02-20 16:45:57, INFO: Planning depth: 1 -2024-02-20 16:45:57, INFO: Planning width: 10 -2024-02-20 16:45:57, INFO: Sparse search: None -2024-02-20 16:46:00, INFO: human number: 10 -2024-02-20 16:46:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:46:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:46:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:46:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:46:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:46:03, INFO: Animation.save using -2024-02-20 16:46:41, INFO: It takes 12.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.929340 -2024-02-20 16:46:44, INFO: Using device: cpu -2024-02-20 16:46:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:46:44, INFO: Similarity_func: concatenation -2024-02-20 16:46:44, INFO: Layerwise_graph: False -2024-02-20 16:46:44, INFO: Skip_connection: True -2024-02-20 16:46:44, INFO: Number of layers: 1 -2024-02-20 16:46:44, INFO: Similarity_func: concatenation -2024-02-20 16:46:44, INFO: Layerwise_graph: False -2024-02-20 16:46:44, INFO: Skip_connection: True -2024-02-20 16:46:44, INFO: Number of layers: 1 -2024-02-20 16:46:44, INFO: Planning depth: 1 -2024-02-20 16:46:44, INFO: Planning width: 10 -2024-02-20 16:46:44, INFO: Sparse search: None -2024-02-20 16:46:47, INFO: human number: 10 -2024-02-20 16:46:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:46:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:46:47, INFO: Square width: 10, circle width: 4 -2024-02-20 16:46:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:46:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:46:51, INFO: Using device: cpu -2024-02-20 16:46:51, INFO: Loaded RL weights with best VAL -2024-02-20 16:46:51, INFO: Similarity_func: concatenation -2024-02-20 16:46:51, INFO: Layerwise_graph: False -2024-02-20 16:46:51, INFO: Skip_connection: True -2024-02-20 16:46:51, INFO: Number of layers: 1 -2024-02-20 16:46:51, INFO: Similarity_func: concatenation -2024-02-20 16:46:51, INFO: Layerwise_graph: False -2024-02-20 16:46:51, INFO: Skip_connection: True -2024-02-20 16:46:51, INFO: Number of layers: 1 -2024-02-20 16:46:51, INFO: Planning depth: 1 -2024-02-20 16:46:51, INFO: Planning width: 10 -2024-02-20 16:46:51, INFO: Sparse search: None -2024-02-20 16:46:54, INFO: human number: 10 -2024-02-20 16:46:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:46:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:46:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:46:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:46:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:46:59, INFO: Using device: cpu -2024-02-20 16:46:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:46:59, INFO: Similarity_func: concatenation -2024-02-20 16:46:59, INFO: Layerwise_graph: False -2024-02-20 16:46:59, INFO: Skip_connection: True -2024-02-20 16:46:59, INFO: Number of layers: 1 -2024-02-20 16:46:59, INFO: Similarity_func: concatenation -2024-02-20 16:46:59, INFO: Layerwise_graph: False -2024-02-20 16:46:59, INFO: Skip_connection: True -2024-02-20 16:46:59, INFO: Number of layers: 1 -2024-02-20 16:46:59, INFO: Planning depth: 1 -2024-02-20 16:46:59, INFO: Planning width: 10 -2024-02-20 16:46:59, INFO: Sparse search: None -2024-02-20 16:47:02, INFO: human number: 10 -2024-02-20 16:47:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:47:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:47:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:47:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:47:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:47:06, INFO: Using device: cpu -2024-02-20 16:47:06, INFO: Loaded RL weights with best VAL -2024-02-20 16:47:06, INFO: Similarity_func: concatenation -2024-02-20 16:47:06, INFO: Layerwise_graph: False -2024-02-20 16:47:06, INFO: Skip_connection: True -2024-02-20 16:47:06, INFO: Number of layers: 1 -2024-02-20 16:47:06, INFO: Similarity_func: concatenation -2024-02-20 16:47:06, INFO: Layerwise_graph: False -2024-02-20 16:47:06, INFO: Skip_connection: True -2024-02-20 16:47:06, INFO: Number of layers: 1 -2024-02-20 16:47:06, INFO: Planning depth: 1 -2024-02-20 16:47:06, INFO: Planning width: 10 -2024-02-20 16:47:06, INFO: Sparse search: None -2024-02-20 16:47:09, INFO: human number: 10 -2024-02-20 16:47:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:47:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:47:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:47:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:47:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:47:14, INFO: Using device: cpu -2024-02-20 16:47:14, INFO: Loaded RL weights with best VAL -2024-02-20 16:47:14, INFO: Similarity_func: concatenation -2024-02-20 16:47:14, INFO: Layerwise_graph: False -2024-02-20 16:47:14, INFO: Skip_connection: True -2024-02-20 16:47:14, INFO: Number of layers: 1 -2024-02-20 16:47:14, INFO: Similarity_func: concatenation -2024-02-20 16:47:14, INFO: Layerwise_graph: False -2024-02-20 16:47:14, INFO: Skip_connection: True -2024-02-20 16:47:14, INFO: Number of layers: 1 -2024-02-20 16:47:14, INFO: Planning depth: 1 -2024-02-20 16:47:14, INFO: Planning width: 10 -2024-02-20 16:47:14, INFO: Sparse search: None -2024-02-20 16:47:17, INFO: human number: 10 -2024-02-20 16:47:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:47:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:47:17, INFO: Square width: 10, circle width: 4 -2024-02-20 16:47:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:47:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:47:21, INFO: Using device: cpu -2024-02-20 16:47:21, INFO: Loaded RL weights with best VAL -2024-02-20 16:47:21, INFO: Similarity_func: concatenation -2024-02-20 16:47:21, INFO: Layerwise_graph: False -2024-02-20 16:47:21, INFO: Skip_connection: True -2024-02-20 16:47:21, INFO: Number of layers: 1 -2024-02-20 16:47:21, INFO: Similarity_func: concatenation -2024-02-20 16:47:21, INFO: Layerwise_graph: False -2024-02-20 16:47:21, INFO: Skip_connection: True -2024-02-20 16:47:21, INFO: Number of layers: 1 -2024-02-20 16:47:21, INFO: Planning depth: 1 -2024-02-20 16:47:21, INFO: Planning width: 10 -2024-02-20 16:47:21, INFO: Sparse search: None -2024-02-20 16:47:24, INFO: human number: 10 -2024-02-20 16:47:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:47:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:47:24, INFO: Square width: 10, circle width: 4 -2024-02-20 16:47:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:47:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:47:29, INFO: Using device: cpu -2024-02-20 16:47:29, INFO: Loaded RL weights with best VAL -2024-02-20 16:47:29, INFO: Similarity_func: concatenation -2024-02-20 16:47:29, INFO: Layerwise_graph: False -2024-02-20 16:47:29, INFO: Skip_connection: True -2024-02-20 16:47:29, INFO: Number of layers: 1 -2024-02-20 16:47:29, INFO: Similarity_func: concatenation -2024-02-20 16:47:29, INFO: Layerwise_graph: False -2024-02-20 16:47:29, INFO: Skip_connection: True -2024-02-20 16:47:29, INFO: Number of layers: 1 -2024-02-20 16:47:29, INFO: Planning depth: 1 -2024-02-20 16:47:29, INFO: Planning width: 10 -2024-02-20 16:47:29, INFO: Sparse search: None -2024-02-20 16:47:32, INFO: human number: 10 -2024-02-20 16:47:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:47:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:47:32, INFO: Square width: 10, circle width: 4 -2024-02-20 16:47:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:47:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:47:33, INFO: Animation.save using -2024-02-20 16:47:58, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.063744 -2024-02-20 16:48:02, INFO: Using device: cpu -2024-02-20 16:48:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:02, INFO: Similarity_func: concatenation -2024-02-20 16:48:02, INFO: Layerwise_graph: False -2024-02-20 16:48:02, INFO: Skip_connection: True -2024-02-20 16:48:02, INFO: Number of layers: 1 -2024-02-20 16:48:02, INFO: Similarity_func: concatenation -2024-02-20 16:48:02, INFO: Layerwise_graph: False -2024-02-20 16:48:02, INFO: Skip_connection: True -2024-02-20 16:48:02, INFO: Number of layers: 1 -2024-02-20 16:48:02, INFO: Planning depth: 1 -2024-02-20 16:48:02, INFO: Planning width: 10 -2024-02-20 16:48:02, INFO: Sparse search: None -2024-02-20 16:48:04, INFO: human number: 10 -2024-02-20 16:48:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:04, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:09, INFO: Using device: cpu -2024-02-20 16:48:09, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:09, INFO: Similarity_func: concatenation -2024-02-20 16:48:09, INFO: Layerwise_graph: False -2024-02-20 16:48:09, INFO: Skip_connection: True -2024-02-20 16:48:09, INFO: Number of layers: 1 -2024-02-20 16:48:09, INFO: Similarity_func: concatenation -2024-02-20 16:48:09, INFO: Layerwise_graph: False -2024-02-20 16:48:09, INFO: Skip_connection: True -2024-02-20 16:48:09, INFO: Number of layers: 1 -2024-02-20 16:48:09, INFO: Planning depth: 1 -2024-02-20 16:48:09, INFO: Planning width: 10 -2024-02-20 16:48:09, INFO: Sparse search: None -2024-02-20 16:48:12, INFO: human number: 10 -2024-02-20 16:48:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:12, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:17, INFO: Using device: cpu -2024-02-20 16:48:17, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:17, INFO: Similarity_func: concatenation -2024-02-20 16:48:17, INFO: Layerwise_graph: False -2024-02-20 16:48:17, INFO: Skip_connection: True -2024-02-20 16:48:17, INFO: Number of layers: 1 -2024-02-20 16:48:17, INFO: Similarity_func: concatenation -2024-02-20 16:48:17, INFO: Layerwise_graph: False -2024-02-20 16:48:17, INFO: Skip_connection: True -2024-02-20 16:48:17, INFO: Number of layers: 1 -2024-02-20 16:48:17, INFO: Planning depth: 1 -2024-02-20 16:48:17, INFO: Planning width: 10 -2024-02-20 16:48:17, INFO: Sparse search: None -2024-02-20 16:48:19, INFO: human number: 10 -2024-02-20 16:48:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:19, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:24, INFO: Using device: cpu -2024-02-20 16:48:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:24, INFO: Similarity_func: concatenation -2024-02-20 16:48:24, INFO: Layerwise_graph: False -2024-02-20 16:48:24, INFO: Skip_connection: True -2024-02-20 16:48:24, INFO: Number of layers: 1 -2024-02-20 16:48:24, INFO: Similarity_func: concatenation -2024-02-20 16:48:24, INFO: Layerwise_graph: False -2024-02-20 16:48:24, INFO: Skip_connection: True -2024-02-20 16:48:24, INFO: Number of layers: 1 -2024-02-20 16:48:24, INFO: Planning depth: 1 -2024-02-20 16:48:24, INFO: Planning width: 10 -2024-02-20 16:48:24, INFO: Sparse search: None -2024-02-20 16:48:27, INFO: human number: 10 -2024-02-20 16:48:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:33, INFO: Using device: cpu -2024-02-20 16:48:33, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:33, INFO: Similarity_func: concatenation -2024-02-20 16:48:33, INFO: Layerwise_graph: False -2024-02-20 16:48:33, INFO: Skip_connection: True -2024-02-20 16:48:33, INFO: Number of layers: 1 -2024-02-20 16:48:33, INFO: Similarity_func: concatenation -2024-02-20 16:48:33, INFO: Layerwise_graph: False -2024-02-20 16:48:33, INFO: Skip_connection: True -2024-02-20 16:48:33, INFO: Number of layers: 1 -2024-02-20 16:48:33, INFO: Planning depth: 1 -2024-02-20 16:48:33, INFO: Planning width: 10 -2024-02-20 16:48:33, INFO: Sparse search: None -2024-02-20 16:48:35, INFO: human number: 10 -2024-02-20 16:48:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:35, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:40, INFO: Using device: cpu -2024-02-20 16:48:40, INFO: Loaded RL weights with best VAL -2024-02-20 16:48:40, INFO: Similarity_func: concatenation -2024-02-20 16:48:40, INFO: Layerwise_graph: False -2024-02-20 16:48:40, INFO: Skip_connection: True -2024-02-20 16:48:40, INFO: Number of layers: 1 -2024-02-20 16:48:40, INFO: Similarity_func: concatenation -2024-02-20 16:48:40, INFO: Layerwise_graph: False -2024-02-20 16:48:40, INFO: Skip_connection: True -2024-02-20 16:48:40, INFO: Number of layers: 1 -2024-02-20 16:48:40, INFO: Planning depth: 1 -2024-02-20 16:48:40, INFO: Planning width: 10 -2024-02-20 16:48:40, INFO: Sparse search: None -2024-02-20 16:48:43, INFO: human number: 10 -2024-02-20 16:48:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:48:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:48:43, INFO: Square width: 10, circle width: 4 -2024-02-20 16:48:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:48:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:48:45, INFO: Animation.save using -2024-02-20 16:49:27, INFO: It takes 14.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.861264 -2024-02-20 16:49:30, INFO: Using device: cpu -2024-02-20 16:49:30, INFO: Loaded RL weights with best VAL -2024-02-20 16:49:30, INFO: Similarity_func: concatenation -2024-02-20 16:49:30, INFO: Layerwise_graph: False -2024-02-20 16:49:30, INFO: Skip_connection: True -2024-02-20 16:49:30, INFO: Number of layers: 1 -2024-02-20 16:49:30, INFO: Similarity_func: concatenation -2024-02-20 16:49:30, INFO: Layerwise_graph: False -2024-02-20 16:49:30, INFO: Skip_connection: True -2024-02-20 16:49:30, INFO: Number of layers: 1 -2024-02-20 16:49:30, INFO: Planning depth: 1 -2024-02-20 16:49:30, INFO: Planning width: 10 -2024-02-20 16:49:30, INFO: Sparse search: None -2024-02-20 16:49:32, INFO: human number: 10 -2024-02-20 16:49:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:49:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:49:32, INFO: Square width: 10, circle width: 4 -2024-02-20 16:49:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:49:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:49:37, INFO: Using device: cpu -2024-02-20 16:49:37, INFO: Loaded RL weights with best VAL -2024-02-20 16:49:37, INFO: Similarity_func: concatenation -2024-02-20 16:49:37, INFO: Layerwise_graph: False -2024-02-20 16:49:37, INFO: Skip_connection: True -2024-02-20 16:49:37, INFO: Number of layers: 1 -2024-02-20 16:49:37, INFO: Similarity_func: concatenation -2024-02-20 16:49:37, INFO: Layerwise_graph: False -2024-02-20 16:49:37, INFO: Skip_connection: True -2024-02-20 16:49:37, INFO: Number of layers: 1 -2024-02-20 16:49:37, INFO: Planning depth: 1 -2024-02-20 16:49:37, INFO: Planning width: 10 -2024-02-20 16:49:37, INFO: Sparse search: None -2024-02-20 16:49:40, INFO: human number: 10 -2024-02-20 16:49:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:49:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:49:40, INFO: Square width: 10, circle width: 4 -2024-02-20 16:49:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:49:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:49:44, INFO: Using device: cpu -2024-02-20 16:49:44, INFO: Loaded RL weights with best VAL -2024-02-20 16:49:44, INFO: Similarity_func: concatenation -2024-02-20 16:49:44, INFO: Layerwise_graph: False -2024-02-20 16:49:44, INFO: Skip_connection: True -2024-02-20 16:49:44, INFO: Number of layers: 1 -2024-02-20 16:49:44, INFO: Similarity_func: concatenation -2024-02-20 16:49:44, INFO: Layerwise_graph: False -2024-02-20 16:49:44, INFO: Skip_connection: True -2024-02-20 16:49:44, INFO: Number of layers: 1 -2024-02-20 16:49:44, INFO: Planning depth: 1 -2024-02-20 16:49:44, INFO: Planning width: 10 -2024-02-20 16:49:44, INFO: Sparse search: None -2024-02-20 16:49:47, INFO: human number: 10 -2024-02-20 16:49:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:49:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:49:47, INFO: Square width: 10, circle width: 4 -2024-02-20 16:49:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:49:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:49:52, INFO: Using device: cpu -2024-02-20 16:49:52, INFO: Loaded RL weights with best VAL -2024-02-20 16:49:52, INFO: Similarity_func: concatenation -2024-02-20 16:49:52, INFO: Layerwise_graph: False -2024-02-20 16:49:52, INFO: Skip_connection: True -2024-02-20 16:49:52, INFO: Number of layers: 1 -2024-02-20 16:49:52, INFO: Similarity_func: concatenation -2024-02-20 16:49:52, INFO: Layerwise_graph: False -2024-02-20 16:49:52, INFO: Skip_connection: True -2024-02-20 16:49:52, INFO: Number of layers: 1 -2024-02-20 16:49:52, INFO: Planning depth: 1 -2024-02-20 16:49:52, INFO: Planning width: 10 -2024-02-20 16:49:52, INFO: Sparse search: None -2024-02-20 16:49:54, INFO: human number: 10 -2024-02-20 16:49:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:49:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:49:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:49:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:49:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:49:59, INFO: Using device: cpu -2024-02-20 16:49:59, INFO: Loaded RL weights with best VAL -2024-02-20 16:49:59, INFO: Similarity_func: concatenation -2024-02-20 16:49:59, INFO: Layerwise_graph: False -2024-02-20 16:49:59, INFO: Skip_connection: True -2024-02-20 16:49:59, INFO: Number of layers: 1 -2024-02-20 16:49:59, INFO: Similarity_func: concatenation -2024-02-20 16:49:59, INFO: Layerwise_graph: False -2024-02-20 16:49:59, INFO: Skip_connection: True -2024-02-20 16:49:59, INFO: Number of layers: 1 -2024-02-20 16:49:59, INFO: Planning depth: 1 -2024-02-20 16:49:59, INFO: Planning width: 10 -2024-02-20 16:49:59, INFO: Sparse search: None -2024-02-20 16:50:02, INFO: human number: 10 -2024-02-20 16:50:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:50:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:50:02, INFO: Square width: 10, circle width: 4 -2024-02-20 16:50:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:50:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:50:06, INFO: Using device: cpu -2024-02-20 16:50:06, INFO: Loaded RL weights with best VAL -2024-02-20 16:50:06, INFO: Similarity_func: concatenation -2024-02-20 16:50:06, INFO: Layerwise_graph: False -2024-02-20 16:50:06, INFO: Skip_connection: True -2024-02-20 16:50:06, INFO: Number of layers: 1 -2024-02-20 16:50:06, INFO: Similarity_func: concatenation -2024-02-20 16:50:06, INFO: Layerwise_graph: False -2024-02-20 16:50:06, INFO: Skip_connection: True -2024-02-20 16:50:06, INFO: Number of layers: 1 -2024-02-20 16:50:06, INFO: Planning depth: 1 -2024-02-20 16:50:06, INFO: Planning width: 10 -2024-02-20 16:50:06, INFO: Sparse search: None -2024-02-20 16:50:09, INFO: human number: 10 -2024-02-20 16:50:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:50:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:50:09, INFO: Square width: 10, circle width: 4 -2024-02-20 16:50:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:50:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:50:11, INFO: Animation.save using -2024-02-20 16:50:40, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.895454 -2024-02-20 16:50:43, INFO: Using device: cpu -2024-02-20 16:50:43, INFO: Loaded RL weights with best VAL -2024-02-20 16:50:43, INFO: Similarity_func: concatenation -2024-02-20 16:50:43, INFO: Layerwise_graph: False -2024-02-20 16:50:43, INFO: Skip_connection: True -2024-02-20 16:50:43, INFO: Number of layers: 1 -2024-02-20 16:50:43, INFO: Similarity_func: concatenation -2024-02-20 16:50:43, INFO: Layerwise_graph: False -2024-02-20 16:50:43, INFO: Skip_connection: True -2024-02-20 16:50:43, INFO: Number of layers: 1 -2024-02-20 16:50:43, INFO: Planning depth: 1 -2024-02-20 16:50:43, INFO: Planning width: 10 -2024-02-20 16:50:43, INFO: Sparse search: None -2024-02-20 16:50:46, INFO: human number: 10 -2024-02-20 16:50:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:50:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:50:46, INFO: Square width: 10, circle width: 4 -2024-02-20 16:50:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:50:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:50:48, INFO: Animation.save using -2024-02-20 16:51:23, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.895402 -2024-02-20 16:51:25, INFO: Using device: cpu -2024-02-20 16:51:25, INFO: Loaded RL weights with best VAL -2024-02-20 16:51:25, INFO: Similarity_func: concatenation -2024-02-20 16:51:25, INFO: Layerwise_graph: False -2024-02-20 16:51:25, INFO: Skip_connection: True -2024-02-20 16:51:25, INFO: Number of layers: 1 -2024-02-20 16:51:25, INFO: Similarity_func: concatenation -2024-02-20 16:51:25, INFO: Layerwise_graph: False -2024-02-20 16:51:25, INFO: Skip_connection: True -2024-02-20 16:51:25, INFO: Number of layers: 1 -2024-02-20 16:51:25, INFO: Planning depth: 1 -2024-02-20 16:51:25, INFO: Planning width: 10 -2024-02-20 16:51:25, INFO: Sparse search: None -2024-02-20 16:51:28, INFO: human number: 10 -2024-02-20 16:51:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:51:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:51:28, INFO: Square width: 10, circle width: 4 -2024-02-20 16:51:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:51:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:51:33, INFO: Using device: cpu -2024-02-20 16:51:33, INFO: Loaded RL weights with best VAL -2024-02-20 16:51:33, INFO: Similarity_func: concatenation -2024-02-20 16:51:33, INFO: Layerwise_graph: False -2024-02-20 16:51:33, INFO: Skip_connection: True -2024-02-20 16:51:33, INFO: Number of layers: 1 -2024-02-20 16:51:33, INFO: Similarity_func: concatenation -2024-02-20 16:51:33, INFO: Layerwise_graph: False -2024-02-20 16:51:33, INFO: Skip_connection: True -2024-02-20 16:51:33, INFO: Number of layers: 1 -2024-02-20 16:51:33, INFO: Planning depth: 1 -2024-02-20 16:51:33, INFO: Planning width: 10 -2024-02-20 16:51:33, INFO: Sparse search: None -2024-02-20 16:51:35, INFO: human number: 10 -2024-02-20 16:51:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:51:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:51:35, INFO: Square width: 10, circle width: 4 -2024-02-20 16:51:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:51:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:51:41, INFO: Using device: cpu -2024-02-20 16:51:41, INFO: Loaded RL weights with best VAL -2024-02-20 16:51:41, INFO: Similarity_func: concatenation -2024-02-20 16:51:41, INFO: Layerwise_graph: False -2024-02-20 16:51:41, INFO: Skip_connection: True -2024-02-20 16:51:41, INFO: Number of layers: 1 -2024-02-20 16:51:41, INFO: Similarity_func: concatenation -2024-02-20 16:51:41, INFO: Layerwise_graph: False -2024-02-20 16:51:41, INFO: Skip_connection: True -2024-02-20 16:51:41, INFO: Number of layers: 1 -2024-02-20 16:51:41, INFO: Planning depth: 1 -2024-02-20 16:51:41, INFO: Planning width: 10 -2024-02-20 16:51:41, INFO: Sparse search: None -2024-02-20 16:51:44, INFO: human number: 10 -2024-02-20 16:51:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:51:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:51:44, INFO: Square width: 10, circle width: 4 -2024-02-20 16:51:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:51:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:51:45, INFO: Animation.save using -2024-02-20 16:52:08, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055101 -2024-02-20 16:52:12, INFO: Using device: cpu -2024-02-20 16:52:12, INFO: Loaded RL weights with best VAL -2024-02-20 16:52:12, INFO: Similarity_func: concatenation -2024-02-20 16:52:12, INFO: Layerwise_graph: False -2024-02-20 16:52:12, INFO: Skip_connection: True -2024-02-20 16:52:12, INFO: Number of layers: 1 -2024-02-20 16:52:12, INFO: Similarity_func: concatenation -2024-02-20 16:52:12, INFO: Layerwise_graph: False -2024-02-20 16:52:12, INFO: Skip_connection: True -2024-02-20 16:52:12, INFO: Number of layers: 1 -2024-02-20 16:52:12, INFO: Planning depth: 1 -2024-02-20 16:52:12, INFO: Planning width: 10 -2024-02-20 16:52:12, INFO: Sparse search: None -2024-02-20 16:52:14, INFO: human number: 10 -2024-02-20 16:52:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:52:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:52:14, INFO: Square width: 10, circle width: 4 -2024-02-20 16:52:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:52:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:52:16, INFO: Animation.save using -2024-02-20 16:53:00, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.842915 -2024-02-20 16:53:03, INFO: Using device: cpu -2024-02-20 16:53:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:03, INFO: Similarity_func: concatenation -2024-02-20 16:53:03, INFO: Layerwise_graph: False -2024-02-20 16:53:03, INFO: Skip_connection: True -2024-02-20 16:53:03, INFO: Number of layers: 1 -2024-02-20 16:53:03, INFO: Similarity_func: concatenation -2024-02-20 16:53:03, INFO: Layerwise_graph: False -2024-02-20 16:53:03, INFO: Skip_connection: True -2024-02-20 16:53:03, INFO: Number of layers: 1 -2024-02-20 16:53:03, INFO: Planning depth: 1 -2024-02-20 16:53:03, INFO: Planning width: 10 -2024-02-20 16:53:03, INFO: Sparse search: None -2024-02-20 16:53:06, INFO: human number: 10 -2024-02-20 16:53:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:06, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:16, INFO: Using device: cpu -2024-02-20 16:53:16, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:16, INFO: Similarity_func: concatenation -2024-02-20 16:53:16, INFO: Layerwise_graph: False -2024-02-20 16:53:16, INFO: Skip_connection: True -2024-02-20 16:53:16, INFO: Number of layers: 1 -2024-02-20 16:53:16, INFO: Similarity_func: concatenation -2024-02-20 16:53:16, INFO: Layerwise_graph: False -2024-02-20 16:53:16, INFO: Skip_connection: True -2024-02-20 16:53:16, INFO: Number of layers: 1 -2024-02-20 16:53:16, INFO: Planning depth: 1 -2024-02-20 16:53:16, INFO: Planning width: 10 -2024-02-20 16:53:16, INFO: Sparse search: None -2024-02-20 16:53:19, INFO: human number: 10 -2024-02-20 16:53:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:19, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:24, INFO: Using device: cpu -2024-02-20 16:53:24, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:24, INFO: Similarity_func: concatenation -2024-02-20 16:53:24, INFO: Layerwise_graph: False -2024-02-20 16:53:24, INFO: Skip_connection: True -2024-02-20 16:53:24, INFO: Number of layers: 1 -2024-02-20 16:53:24, INFO: Similarity_func: concatenation -2024-02-20 16:53:24, INFO: Layerwise_graph: False -2024-02-20 16:53:24, INFO: Skip_connection: True -2024-02-20 16:53:24, INFO: Number of layers: 1 -2024-02-20 16:53:24, INFO: Planning depth: 1 -2024-02-20 16:53:24, INFO: Planning width: 10 -2024-02-20 16:53:24, INFO: Sparse search: None -2024-02-20 16:53:27, INFO: human number: 10 -2024-02-20 16:53:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:27, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:31, INFO: Using device: cpu -2024-02-20 16:53:31, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:31, INFO: Similarity_func: concatenation -2024-02-20 16:53:31, INFO: Layerwise_graph: False -2024-02-20 16:53:31, INFO: Skip_connection: True -2024-02-20 16:53:31, INFO: Number of layers: 1 -2024-02-20 16:53:31, INFO: Similarity_func: concatenation -2024-02-20 16:53:31, INFO: Layerwise_graph: False -2024-02-20 16:53:31, INFO: Skip_connection: True -2024-02-20 16:53:31, INFO: Number of layers: 1 -2024-02-20 16:53:31, INFO: Planning depth: 1 -2024-02-20 16:53:31, INFO: Planning width: 10 -2024-02-20 16:53:31, INFO: Sparse search: None -2024-02-20 16:53:34, INFO: human number: 10 -2024-02-20 16:53:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:34, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:40, INFO: Using device: cpu -2024-02-20 16:53:40, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:40, INFO: Similarity_func: concatenation -2024-02-20 16:53:40, INFO: Layerwise_graph: False -2024-02-20 16:53:40, INFO: Skip_connection: True -2024-02-20 16:53:40, INFO: Number of layers: 1 -2024-02-20 16:53:40, INFO: Similarity_func: concatenation -2024-02-20 16:53:40, INFO: Layerwise_graph: False -2024-02-20 16:53:40, INFO: Skip_connection: True -2024-02-20 16:53:40, INFO: Number of layers: 1 -2024-02-20 16:53:40, INFO: Planning depth: 1 -2024-02-20 16:53:40, INFO: Planning width: 10 -2024-02-20 16:53:40, INFO: Sparse search: None -2024-02-20 16:53:42, INFO: human number: 10 -2024-02-20 16:53:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:42, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:48, INFO: Using device: cpu -2024-02-20 16:53:48, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:48, INFO: Similarity_func: concatenation -2024-02-20 16:53:48, INFO: Layerwise_graph: False -2024-02-20 16:53:48, INFO: Skip_connection: True -2024-02-20 16:53:48, INFO: Number of layers: 1 -2024-02-20 16:53:48, INFO: Similarity_func: concatenation -2024-02-20 16:53:48, INFO: Layerwise_graph: False -2024-02-20 16:53:48, INFO: Skip_connection: True -2024-02-20 16:53:48, INFO: Number of layers: 1 -2024-02-20 16:53:48, INFO: Planning depth: 1 -2024-02-20 16:53:48, INFO: Planning width: 10 -2024-02-20 16:53:48, INFO: Sparse search: None -2024-02-20 16:53:51, INFO: human number: 10 -2024-02-20 16:53:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:51, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:53:56, INFO: Using device: cpu -2024-02-20 16:53:56, INFO: Loaded RL weights with best VAL -2024-02-20 16:53:56, INFO: Similarity_func: concatenation -2024-02-20 16:53:56, INFO: Layerwise_graph: False -2024-02-20 16:53:56, INFO: Skip_connection: True -2024-02-20 16:53:56, INFO: Number of layers: 1 -2024-02-20 16:53:56, INFO: Similarity_func: concatenation -2024-02-20 16:53:56, INFO: Layerwise_graph: False -2024-02-20 16:53:56, INFO: Skip_connection: True -2024-02-20 16:53:56, INFO: Number of layers: 1 -2024-02-20 16:53:56, INFO: Planning depth: 1 -2024-02-20 16:53:56, INFO: Planning width: 10 -2024-02-20 16:53:56, INFO: Sparse search: None -2024-02-20 16:53:58, INFO: human number: 10 -2024-02-20 16:53:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:53:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:53:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:53:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:53:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:54:02, INFO: Using device: cpu -2024-02-20 16:54:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:54:02, INFO: Similarity_func: concatenation -2024-02-20 16:54:02, INFO: Layerwise_graph: False -2024-02-20 16:54:02, INFO: Skip_connection: True -2024-02-20 16:54:02, INFO: Number of layers: 1 -2024-02-20 16:54:02, INFO: Similarity_func: concatenation -2024-02-20 16:54:02, INFO: Layerwise_graph: False -2024-02-20 16:54:02, INFO: Skip_connection: True -2024-02-20 16:54:02, INFO: Number of layers: 1 -2024-02-20 16:54:02, INFO: Planning depth: 1 -2024-02-20 16:54:02, INFO: Planning width: 10 -2024-02-20 16:54:02, INFO: Sparse search: None -2024-02-20 16:54:05, INFO: human number: 10 -2024-02-20 16:54:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:54:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:54:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:54:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:54:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:54:06, INFO: Animation.save using -2024-02-20 16:54:32, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.012152 -2024-02-20 16:54:35, INFO: Using device: cpu -2024-02-20 16:54:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:54:35, INFO: Similarity_func: concatenation -2024-02-20 16:54:35, INFO: Layerwise_graph: False -2024-02-20 16:54:35, INFO: Skip_connection: True -2024-02-20 16:54:35, INFO: Number of layers: 1 -2024-02-20 16:54:35, INFO: Similarity_func: concatenation -2024-02-20 16:54:35, INFO: Layerwise_graph: False -2024-02-20 16:54:35, INFO: Skip_connection: True -2024-02-20 16:54:35, INFO: Number of layers: 1 -2024-02-20 16:54:35, INFO: Planning depth: 1 -2024-02-20 16:54:35, INFO: Planning width: 10 -2024-02-20 16:54:35, INFO: Sparse search: None -2024-02-20 16:54:37, INFO: human number: 10 -2024-02-20 16:54:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:54:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:54:37, INFO: Square width: 10, circle width: 4 -2024-02-20 16:54:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:54:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:54:42, INFO: Using device: cpu -2024-02-20 16:54:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:54:42, INFO: Similarity_func: concatenation -2024-02-20 16:54:42, INFO: Layerwise_graph: False -2024-02-20 16:54:42, INFO: Skip_connection: True -2024-02-20 16:54:42, INFO: Number of layers: 1 -2024-02-20 16:54:42, INFO: Similarity_func: concatenation -2024-02-20 16:54:42, INFO: Layerwise_graph: False -2024-02-20 16:54:42, INFO: Skip_connection: True -2024-02-20 16:54:42, INFO: Number of layers: 1 -2024-02-20 16:54:42, INFO: Planning depth: 1 -2024-02-20 16:54:42, INFO: Planning width: 10 -2024-02-20 16:54:42, INFO: Sparse search: None -2024-02-20 16:54:44, INFO: human number: 10 -2024-02-20 16:54:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:54:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:54:44, INFO: Square width: 10, circle width: 4 -2024-02-20 16:54:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:54:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:54:49, INFO: Using device: cpu -2024-02-20 16:54:49, INFO: Loaded RL weights with best VAL -2024-02-20 16:54:49, INFO: Similarity_func: concatenation -2024-02-20 16:54:49, INFO: Layerwise_graph: False -2024-02-20 16:54:49, INFO: Skip_connection: True -2024-02-20 16:54:49, INFO: Number of layers: 1 -2024-02-20 16:54:49, INFO: Similarity_func: concatenation -2024-02-20 16:54:49, INFO: Layerwise_graph: False -2024-02-20 16:54:49, INFO: Skip_connection: True -2024-02-20 16:54:49, INFO: Number of layers: 1 -2024-02-20 16:54:49, INFO: Planning depth: 1 -2024-02-20 16:54:49, INFO: Planning width: 10 -2024-02-20 16:54:49, INFO: Sparse search: None -2024-02-20 16:54:52, INFO: human number: 10 -2024-02-20 16:54:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:54:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:54:52, INFO: Square width: 10, circle width: 4 -2024-02-20 16:54:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:54:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:54:56, INFO: Using device: cpu -2024-02-20 16:54:56, INFO: Loaded RL weights with best VAL -2024-02-20 16:54:56, INFO: Similarity_func: concatenation -2024-02-20 16:54:56, INFO: Layerwise_graph: False -2024-02-20 16:54:56, INFO: Skip_connection: True -2024-02-20 16:54:56, INFO: Number of layers: 1 -2024-02-20 16:54:56, INFO: Similarity_func: concatenation -2024-02-20 16:54:56, INFO: Layerwise_graph: False -2024-02-20 16:54:56, INFO: Skip_connection: True -2024-02-20 16:54:56, INFO: Number of layers: 1 -2024-02-20 16:54:56, INFO: Planning depth: 1 -2024-02-20 16:54:56, INFO: Planning width: 10 -2024-02-20 16:54:56, INFO: Sparse search: None -2024-02-20 16:54:59, INFO: human number: 10 -2024-02-20 16:54:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:54:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:54:59, INFO: Square width: 10, circle width: 4 -2024-02-20 16:54:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:54:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:55:03, INFO: Using device: cpu -2024-02-20 16:55:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:55:03, INFO: Similarity_func: concatenation -2024-02-20 16:55:03, INFO: Layerwise_graph: False -2024-02-20 16:55:03, INFO: Skip_connection: True -2024-02-20 16:55:03, INFO: Number of layers: 1 -2024-02-20 16:55:03, INFO: Similarity_func: concatenation -2024-02-20 16:55:03, INFO: Layerwise_graph: False -2024-02-20 16:55:03, INFO: Skip_connection: True -2024-02-20 16:55:03, INFO: Number of layers: 1 -2024-02-20 16:55:03, INFO: Planning depth: 1 -2024-02-20 16:55:03, INFO: Planning width: 10 -2024-02-20 16:55:03, INFO: Sparse search: None -2024-02-20 16:55:06, INFO: human number: 10 -2024-02-20 16:55:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:55:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:55:06, INFO: Square width: 10, circle width: 4 -2024-02-20 16:55:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:55:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:55:11, INFO: Using device: cpu -2024-02-20 16:55:11, INFO: Loaded RL weights with best VAL -2024-02-20 16:55:11, INFO: Similarity_func: concatenation -2024-02-20 16:55:11, INFO: Layerwise_graph: False -2024-02-20 16:55:11, INFO: Skip_connection: True -2024-02-20 16:55:11, INFO: Number of layers: 1 -2024-02-20 16:55:11, INFO: Similarity_func: concatenation -2024-02-20 16:55:11, INFO: Layerwise_graph: False -2024-02-20 16:55:11, INFO: Skip_connection: True -2024-02-20 16:55:11, INFO: Number of layers: 1 -2024-02-20 16:55:11, INFO: Planning depth: 1 -2024-02-20 16:55:11, INFO: Planning width: 10 -2024-02-20 16:55:11, INFO: Sparse search: None -2024-02-20 16:55:13, INFO: human number: 10 -2024-02-20 16:55:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:55:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:55:13, INFO: Square width: 10, circle width: 4 -2024-02-20 16:55:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:55:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:55:15, INFO: Animation.save using -2024-02-20 16:55:44, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.949856 -2024-02-20 16:55:47, INFO: Using device: cpu -2024-02-20 16:55:47, INFO: Loaded RL weights with best VAL -2024-02-20 16:55:47, INFO: Similarity_func: concatenation -2024-02-20 16:55:47, INFO: Layerwise_graph: False -2024-02-20 16:55:47, INFO: Skip_connection: True -2024-02-20 16:55:47, INFO: Number of layers: 1 -2024-02-20 16:55:47, INFO: Similarity_func: concatenation -2024-02-20 16:55:47, INFO: Layerwise_graph: False -2024-02-20 16:55:47, INFO: Skip_connection: True -2024-02-20 16:55:47, INFO: Number of layers: 1 -2024-02-20 16:55:47, INFO: Planning depth: 1 -2024-02-20 16:55:47, INFO: Planning width: 10 -2024-02-20 16:55:47, INFO: Sparse search: None -2024-02-20 16:55:50, INFO: human number: 10 -2024-02-20 16:55:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:55:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:55:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:55:55, INFO: Using device: cpu -2024-02-20 16:55:55, INFO: Loaded RL weights with best VAL -2024-02-20 16:55:55, INFO: Similarity_func: concatenation -2024-02-20 16:55:55, INFO: Layerwise_graph: False -2024-02-20 16:55:55, INFO: Skip_connection: True -2024-02-20 16:55:55, INFO: Number of layers: 1 -2024-02-20 16:55:55, INFO: Similarity_func: concatenation -2024-02-20 16:55:55, INFO: Layerwise_graph: False -2024-02-20 16:55:55, INFO: Skip_connection: True -2024-02-20 16:55:55, INFO: Number of layers: 1 -2024-02-20 16:55:55, INFO: Planning depth: 1 -2024-02-20 16:55:55, INFO: Planning width: 10 -2024-02-20 16:55:55, INFO: Sparse search: None -2024-02-20 16:55:58, INFO: human number: 10 -2024-02-20 16:55:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:55:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:55:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:55:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:55:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:56:02, INFO: Using device: cpu -2024-02-20 16:56:02, INFO: Loaded RL weights with best VAL -2024-02-20 16:56:02, INFO: Similarity_func: concatenation -2024-02-20 16:56:02, INFO: Layerwise_graph: False -2024-02-20 16:56:02, INFO: Skip_connection: True -2024-02-20 16:56:02, INFO: Number of layers: 1 -2024-02-20 16:56:02, INFO: Similarity_func: concatenation -2024-02-20 16:56:02, INFO: Layerwise_graph: False -2024-02-20 16:56:02, INFO: Skip_connection: True -2024-02-20 16:56:02, INFO: Number of layers: 1 -2024-02-20 16:56:02, INFO: Planning depth: 1 -2024-02-20 16:56:02, INFO: Planning width: 10 -2024-02-20 16:56:02, INFO: Sparse search: None -2024-02-20 16:56:05, INFO: human number: 10 -2024-02-20 16:56:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:56:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:56:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:56:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:56:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:56:07, INFO: Animation.save using -2024-02-20 16:56:32, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.060022 -2024-02-20 16:56:35, INFO: Using device: cpu -2024-02-20 16:56:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:56:35, INFO: Similarity_func: concatenation -2024-02-20 16:56:35, INFO: Layerwise_graph: False -2024-02-20 16:56:35, INFO: Skip_connection: True -2024-02-20 16:56:35, INFO: Number of layers: 1 -2024-02-20 16:56:35, INFO: Similarity_func: concatenation -2024-02-20 16:56:35, INFO: Layerwise_graph: False -2024-02-20 16:56:35, INFO: Skip_connection: True -2024-02-20 16:56:35, INFO: Number of layers: 1 -2024-02-20 16:56:35, INFO: Planning depth: 1 -2024-02-20 16:56:35, INFO: Planning width: 10 -2024-02-20 16:56:35, INFO: Sparse search: None -2024-02-20 16:56:38, INFO: human number: 10 -2024-02-20 16:56:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:56:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:56:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:56:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:56:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:56:42, INFO: Using device: cpu -2024-02-20 16:56:42, INFO: Loaded RL weights with best VAL -2024-02-20 16:56:42, INFO: Similarity_func: concatenation -2024-02-20 16:56:42, INFO: Layerwise_graph: False -2024-02-20 16:56:42, INFO: Skip_connection: True -2024-02-20 16:56:42, INFO: Number of layers: 1 -2024-02-20 16:56:42, INFO: Similarity_func: concatenation -2024-02-20 16:56:42, INFO: Layerwise_graph: False -2024-02-20 16:56:42, INFO: Skip_connection: True -2024-02-20 16:56:42, INFO: Number of layers: 1 -2024-02-20 16:56:42, INFO: Planning depth: 1 -2024-02-20 16:56:42, INFO: Planning width: 10 -2024-02-20 16:56:42, INFO: Sparse search: None -2024-02-20 16:56:45, INFO: human number: 10 -2024-02-20 16:56:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:56:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:56:45, INFO: Square width: 10, circle width: 4 -2024-02-20 16:56:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:56:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:56:50, INFO: Using device: cpu -2024-02-20 16:56:50, INFO: Loaded RL weights with best VAL -2024-02-20 16:56:50, INFO: Similarity_func: concatenation -2024-02-20 16:56:50, INFO: Layerwise_graph: False -2024-02-20 16:56:50, INFO: Skip_connection: True -2024-02-20 16:56:50, INFO: Number of layers: 1 -2024-02-20 16:56:50, INFO: Similarity_func: concatenation -2024-02-20 16:56:50, INFO: Layerwise_graph: False -2024-02-20 16:56:50, INFO: Skip_connection: True -2024-02-20 16:56:50, INFO: Number of layers: 1 -2024-02-20 16:56:50, INFO: Planning depth: 1 -2024-02-20 16:56:50, INFO: Planning width: 10 -2024-02-20 16:56:50, INFO: Sparse search: None -2024-02-20 16:56:53, INFO: human number: 10 -2024-02-20 16:56:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:56:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:56:53, INFO: Square width: 10, circle width: 4 -2024-02-20 16:56:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:56:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:56:57, INFO: Using device: cpu -2024-02-20 16:56:57, INFO: Loaded RL weights with best VAL -2024-02-20 16:56:57, INFO: Similarity_func: concatenation -2024-02-20 16:56:57, INFO: Layerwise_graph: False -2024-02-20 16:56:57, INFO: Skip_connection: True -2024-02-20 16:56:57, INFO: Number of layers: 1 -2024-02-20 16:56:57, INFO: Similarity_func: concatenation -2024-02-20 16:56:57, INFO: Layerwise_graph: False -2024-02-20 16:56:57, INFO: Skip_connection: True -2024-02-20 16:56:57, INFO: Number of layers: 1 -2024-02-20 16:56:57, INFO: Planning depth: 1 -2024-02-20 16:56:57, INFO: Planning width: 10 -2024-02-20 16:56:57, INFO: Sparse search: None -2024-02-20 16:57:00, INFO: human number: 10 -2024-02-20 16:57:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:00, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:05, INFO: Using device: cpu -2024-02-20 16:57:05, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:05, INFO: Similarity_func: concatenation -2024-02-20 16:57:05, INFO: Layerwise_graph: False -2024-02-20 16:57:05, INFO: Skip_connection: True -2024-02-20 16:57:05, INFO: Number of layers: 1 -2024-02-20 16:57:05, INFO: Similarity_func: concatenation -2024-02-20 16:57:05, INFO: Layerwise_graph: False -2024-02-20 16:57:05, INFO: Skip_connection: True -2024-02-20 16:57:05, INFO: Number of layers: 1 -2024-02-20 16:57:05, INFO: Planning depth: 1 -2024-02-20 16:57:05, INFO: Planning width: 10 -2024-02-20 16:57:05, INFO: Sparse search: None -2024-02-20 16:57:08, INFO: human number: 10 -2024-02-20 16:57:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:08, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:12, INFO: Using device: cpu -2024-02-20 16:57:12, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:12, INFO: Similarity_func: concatenation -2024-02-20 16:57:12, INFO: Layerwise_graph: False -2024-02-20 16:57:12, INFO: Skip_connection: True -2024-02-20 16:57:12, INFO: Number of layers: 1 -2024-02-20 16:57:12, INFO: Similarity_func: concatenation -2024-02-20 16:57:12, INFO: Layerwise_graph: False -2024-02-20 16:57:12, INFO: Skip_connection: True -2024-02-20 16:57:12, INFO: Number of layers: 1 -2024-02-20 16:57:12, INFO: Planning depth: 1 -2024-02-20 16:57:12, INFO: Planning width: 10 -2024-02-20 16:57:12, INFO: Sparse search: None -2024-02-20 16:57:15, INFO: human number: 10 -2024-02-20 16:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:15, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:20, INFO: Using device: cpu -2024-02-20 16:57:20, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:20, INFO: Similarity_func: concatenation -2024-02-20 16:57:20, INFO: Layerwise_graph: False -2024-02-20 16:57:20, INFO: Skip_connection: True -2024-02-20 16:57:20, INFO: Number of layers: 1 -2024-02-20 16:57:20, INFO: Similarity_func: concatenation -2024-02-20 16:57:20, INFO: Layerwise_graph: False -2024-02-20 16:57:20, INFO: Skip_connection: True -2024-02-20 16:57:20, INFO: Number of layers: 1 -2024-02-20 16:57:20, INFO: Planning depth: 1 -2024-02-20 16:57:20, INFO: Planning width: 10 -2024-02-20 16:57:20, INFO: Sparse search: None -2024-02-20 16:57:23, INFO: human number: 10 -2024-02-20 16:57:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:23, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:28, INFO: Using device: cpu -2024-02-20 16:57:28, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:28, INFO: Similarity_func: concatenation -2024-02-20 16:57:28, INFO: Layerwise_graph: False -2024-02-20 16:57:28, INFO: Skip_connection: True -2024-02-20 16:57:28, INFO: Number of layers: 1 -2024-02-20 16:57:28, INFO: Similarity_func: concatenation -2024-02-20 16:57:28, INFO: Layerwise_graph: False -2024-02-20 16:57:28, INFO: Skip_connection: True -2024-02-20 16:57:28, INFO: Number of layers: 1 -2024-02-20 16:57:28, INFO: Planning depth: 1 -2024-02-20 16:57:28, INFO: Planning width: 10 -2024-02-20 16:57:28, INFO: Sparse search: None -2024-02-20 16:57:31, INFO: human number: 10 -2024-02-20 16:57:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:31, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:35, INFO: Using device: cpu -2024-02-20 16:57:35, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:35, INFO: Similarity_func: concatenation -2024-02-20 16:57:35, INFO: Layerwise_graph: False -2024-02-20 16:57:35, INFO: Skip_connection: True -2024-02-20 16:57:35, INFO: Number of layers: 1 -2024-02-20 16:57:35, INFO: Similarity_func: concatenation -2024-02-20 16:57:35, INFO: Layerwise_graph: False -2024-02-20 16:57:35, INFO: Skip_connection: True -2024-02-20 16:57:35, INFO: Number of layers: 1 -2024-02-20 16:57:35, INFO: Planning depth: 1 -2024-02-20 16:57:35, INFO: Planning width: 10 -2024-02-20 16:57:35, INFO: Sparse search: None -2024-02-20 16:57:38, INFO: human number: 10 -2024-02-20 16:57:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:38, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:43, INFO: Using device: cpu -2024-02-20 16:57:43, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:43, INFO: Similarity_func: concatenation -2024-02-20 16:57:43, INFO: Layerwise_graph: False -2024-02-20 16:57:43, INFO: Skip_connection: True -2024-02-20 16:57:43, INFO: Number of layers: 1 -2024-02-20 16:57:43, INFO: Similarity_func: concatenation -2024-02-20 16:57:43, INFO: Layerwise_graph: False -2024-02-20 16:57:43, INFO: Skip_connection: True -2024-02-20 16:57:43, INFO: Number of layers: 1 -2024-02-20 16:57:43, INFO: Planning depth: 1 -2024-02-20 16:57:43, INFO: Planning width: 10 -2024-02-20 16:57:43, INFO: Sparse search: None -2024-02-20 16:57:46, INFO: human number: 10 -2024-02-20 16:57:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:46, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:51, INFO: Using device: cpu -2024-02-20 16:57:51, INFO: Loaded RL weights with best VAL -2024-02-20 16:57:51, INFO: Similarity_func: concatenation -2024-02-20 16:57:51, INFO: Layerwise_graph: False -2024-02-20 16:57:51, INFO: Skip_connection: True -2024-02-20 16:57:51, INFO: Number of layers: 1 -2024-02-20 16:57:51, INFO: Similarity_func: concatenation -2024-02-20 16:57:51, INFO: Layerwise_graph: False -2024-02-20 16:57:51, INFO: Skip_connection: True -2024-02-20 16:57:51, INFO: Number of layers: 1 -2024-02-20 16:57:51, INFO: Planning depth: 1 -2024-02-20 16:57:51, INFO: Planning width: 10 -2024-02-20 16:57:51, INFO: Sparse search: None -2024-02-20 16:57:54, INFO: human number: 10 -2024-02-20 16:57:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:57:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:57:54, INFO: Square width: 10, circle width: 4 -2024-02-20 16:57:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:57:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:57:56, INFO: Animation.save using -2024-02-20 16:58:30, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.962176 -2024-02-20 16:58:33, INFO: Using device: cpu -2024-02-20 16:58:33, INFO: Loaded RL weights with best VAL -2024-02-20 16:58:33, INFO: Similarity_func: concatenation -2024-02-20 16:58:33, INFO: Layerwise_graph: False -2024-02-20 16:58:33, INFO: Skip_connection: True -2024-02-20 16:58:33, INFO: Number of layers: 1 -2024-02-20 16:58:33, INFO: Similarity_func: concatenation -2024-02-20 16:58:33, INFO: Layerwise_graph: False -2024-02-20 16:58:33, INFO: Skip_connection: True -2024-02-20 16:58:33, INFO: Number of layers: 1 -2024-02-20 16:58:33, INFO: Planning depth: 1 -2024-02-20 16:58:33, INFO: Planning width: 10 -2024-02-20 16:58:33, INFO: Sparse search: None -2024-02-20 16:58:36, INFO: human number: 10 -2024-02-20 16:58:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:58:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:58:36, INFO: Square width: 10, circle width: 4 -2024-02-20 16:58:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:58:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:58:40, INFO: Using device: cpu -2024-02-20 16:58:40, INFO: Loaded RL weights with best VAL -2024-02-20 16:58:40, INFO: Similarity_func: concatenation -2024-02-20 16:58:40, INFO: Layerwise_graph: False -2024-02-20 16:58:40, INFO: Skip_connection: True -2024-02-20 16:58:40, INFO: Number of layers: 1 -2024-02-20 16:58:40, INFO: Similarity_func: concatenation -2024-02-20 16:58:40, INFO: Layerwise_graph: False -2024-02-20 16:58:40, INFO: Skip_connection: True -2024-02-20 16:58:40, INFO: Number of layers: 1 -2024-02-20 16:58:40, INFO: Planning depth: 1 -2024-02-20 16:58:40, INFO: Planning width: 10 -2024-02-20 16:58:40, INFO: Sparse search: None -2024-02-20 16:58:43, INFO: human number: 10 -2024-02-20 16:58:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:58:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:58:43, INFO: Square width: 10, circle width: 4 -2024-02-20 16:58:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:58:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:58:48, INFO: Using device: cpu -2024-02-20 16:58:48, INFO: Loaded RL weights with best VAL -2024-02-20 16:58:48, INFO: Similarity_func: concatenation -2024-02-20 16:58:48, INFO: Layerwise_graph: False -2024-02-20 16:58:48, INFO: Skip_connection: True -2024-02-20 16:58:48, INFO: Number of layers: 1 -2024-02-20 16:58:48, INFO: Similarity_func: concatenation -2024-02-20 16:58:48, INFO: Layerwise_graph: False -2024-02-20 16:58:48, INFO: Skip_connection: True -2024-02-20 16:58:48, INFO: Number of layers: 1 -2024-02-20 16:58:48, INFO: Planning depth: 1 -2024-02-20 16:58:48, INFO: Planning width: 10 -2024-02-20 16:58:48, INFO: Sparse search: None -2024-02-20 16:58:50, INFO: human number: 10 -2024-02-20 16:58:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:58:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:58:50, INFO: Square width: 10, circle width: 4 -2024-02-20 16:58:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:58:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:58:55, INFO: Using device: cpu -2024-02-20 16:58:55, INFO: Loaded RL weights with best VAL -2024-02-20 16:58:55, INFO: Similarity_func: concatenation -2024-02-20 16:58:55, INFO: Layerwise_graph: False -2024-02-20 16:58:55, INFO: Skip_connection: True -2024-02-20 16:58:55, INFO: Number of layers: 1 -2024-02-20 16:58:55, INFO: Similarity_func: concatenation -2024-02-20 16:58:55, INFO: Layerwise_graph: False -2024-02-20 16:58:55, INFO: Skip_connection: True -2024-02-20 16:58:55, INFO: Number of layers: 1 -2024-02-20 16:58:55, INFO: Planning depth: 1 -2024-02-20 16:58:55, INFO: Planning width: 10 -2024-02-20 16:58:55, INFO: Sparse search: None -2024-02-20 16:58:58, INFO: human number: 10 -2024-02-20 16:58:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:58:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:58:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:58:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:58:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:03, INFO: Using device: cpu -2024-02-20 16:59:03, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:03, INFO: Similarity_func: concatenation -2024-02-20 16:59:03, INFO: Layerwise_graph: False -2024-02-20 16:59:03, INFO: Skip_connection: True -2024-02-20 16:59:03, INFO: Number of layers: 1 -2024-02-20 16:59:03, INFO: Similarity_func: concatenation -2024-02-20 16:59:03, INFO: Layerwise_graph: False -2024-02-20 16:59:03, INFO: Skip_connection: True -2024-02-20 16:59:03, INFO: Number of layers: 1 -2024-02-20 16:59:03, INFO: Planning depth: 1 -2024-02-20 16:59:03, INFO: Planning width: 10 -2024-02-20 16:59:03, INFO: Sparse search: None -2024-02-20 16:59:05, INFO: human number: 10 -2024-02-20 16:59:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:05, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:15, INFO: Using device: cpu -2024-02-20 16:59:15, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:15, INFO: Similarity_func: concatenation -2024-02-20 16:59:15, INFO: Layerwise_graph: False -2024-02-20 16:59:15, INFO: Skip_connection: True -2024-02-20 16:59:15, INFO: Number of layers: 1 -2024-02-20 16:59:15, INFO: Similarity_func: concatenation -2024-02-20 16:59:15, INFO: Layerwise_graph: False -2024-02-20 16:59:15, INFO: Skip_connection: True -2024-02-20 16:59:15, INFO: Number of layers: 1 -2024-02-20 16:59:15, INFO: Planning depth: 1 -2024-02-20 16:59:15, INFO: Planning width: 10 -2024-02-20 16:59:15, INFO: Sparse search: None -2024-02-20 16:59:17, INFO: human number: 10 -2024-02-20 16:59:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:17, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:23, INFO: Using device: cpu -2024-02-20 16:59:23, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:23, INFO: Similarity_func: concatenation -2024-02-20 16:59:23, INFO: Layerwise_graph: False -2024-02-20 16:59:23, INFO: Skip_connection: True -2024-02-20 16:59:23, INFO: Number of layers: 1 -2024-02-20 16:59:23, INFO: Similarity_func: concatenation -2024-02-20 16:59:23, INFO: Layerwise_graph: False -2024-02-20 16:59:23, INFO: Skip_connection: True -2024-02-20 16:59:23, INFO: Number of layers: 1 -2024-02-20 16:59:23, INFO: Planning depth: 1 -2024-02-20 16:59:23, INFO: Planning width: 10 -2024-02-20 16:59:23, INFO: Sparse search: None -2024-02-20 16:59:26, INFO: human number: 10 -2024-02-20 16:59:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:26, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:31, INFO: Using device: cpu -2024-02-20 16:59:31, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:31, INFO: Similarity_func: concatenation -2024-02-20 16:59:31, INFO: Layerwise_graph: False -2024-02-20 16:59:31, INFO: Skip_connection: True -2024-02-20 16:59:31, INFO: Number of layers: 1 -2024-02-20 16:59:31, INFO: Similarity_func: concatenation -2024-02-20 16:59:31, INFO: Layerwise_graph: False -2024-02-20 16:59:31, INFO: Skip_connection: True -2024-02-20 16:59:31, INFO: Number of layers: 1 -2024-02-20 16:59:31, INFO: Planning depth: 1 -2024-02-20 16:59:31, INFO: Planning width: 10 -2024-02-20 16:59:31, INFO: Sparse search: None -2024-02-20 16:59:34, INFO: human number: 10 -2024-02-20 16:59:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:34, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:39, INFO: Using device: cpu -2024-02-20 16:59:39, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:39, INFO: Similarity_func: concatenation -2024-02-20 16:59:39, INFO: Layerwise_graph: False -2024-02-20 16:59:39, INFO: Skip_connection: True -2024-02-20 16:59:39, INFO: Number of layers: 1 -2024-02-20 16:59:39, INFO: Similarity_func: concatenation -2024-02-20 16:59:39, INFO: Layerwise_graph: False -2024-02-20 16:59:39, INFO: Skip_connection: True -2024-02-20 16:59:39, INFO: Number of layers: 1 -2024-02-20 16:59:39, INFO: Planning depth: 1 -2024-02-20 16:59:39, INFO: Planning width: 10 -2024-02-20 16:59:39, INFO: Sparse search: None -2024-02-20 16:59:42, INFO: human number: 10 -2024-02-20 16:59:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:42, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:48, INFO: Using device: cpu -2024-02-20 16:59:48, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:48, INFO: Similarity_func: concatenation -2024-02-20 16:59:48, INFO: Layerwise_graph: False -2024-02-20 16:59:48, INFO: Skip_connection: True -2024-02-20 16:59:48, INFO: Number of layers: 1 -2024-02-20 16:59:48, INFO: Similarity_func: concatenation -2024-02-20 16:59:48, INFO: Layerwise_graph: False -2024-02-20 16:59:48, INFO: Skip_connection: True -2024-02-20 16:59:48, INFO: Number of layers: 1 -2024-02-20 16:59:48, INFO: Planning depth: 1 -2024-02-20 16:59:48, INFO: Planning width: 10 -2024-02-20 16:59:48, INFO: Sparse search: None -2024-02-20 16:59:51, INFO: human number: 10 -2024-02-20 16:59:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:51, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 16:59:56, INFO: Using device: cpu -2024-02-20 16:59:56, INFO: Loaded RL weights with best VAL -2024-02-20 16:59:56, INFO: Similarity_func: concatenation -2024-02-20 16:59:56, INFO: Layerwise_graph: False -2024-02-20 16:59:56, INFO: Skip_connection: True -2024-02-20 16:59:56, INFO: Number of layers: 1 -2024-02-20 16:59:56, INFO: Similarity_func: concatenation -2024-02-20 16:59:56, INFO: Layerwise_graph: False -2024-02-20 16:59:56, INFO: Skip_connection: True -2024-02-20 16:59:56, INFO: Number of layers: 1 -2024-02-20 16:59:56, INFO: Planning depth: 1 -2024-02-20 16:59:56, INFO: Planning width: 10 -2024-02-20 16:59:56, INFO: Sparse search: None -2024-02-20 16:59:58, INFO: human number: 10 -2024-02-20 16:59:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 16:59:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 16:59:58, INFO: Square width: 10, circle width: 4 -2024-02-20 16:59:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 16:59:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:03, INFO: Using device: cpu -2024-02-20 17:00:03, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:03, INFO: Similarity_func: concatenation -2024-02-20 17:00:03, INFO: Layerwise_graph: False -2024-02-20 17:00:03, INFO: Skip_connection: True -2024-02-20 17:00:03, INFO: Number of layers: 1 -2024-02-20 17:00:03, INFO: Similarity_func: concatenation -2024-02-20 17:00:03, INFO: Layerwise_graph: False -2024-02-20 17:00:03, INFO: Skip_connection: True -2024-02-20 17:00:03, INFO: Number of layers: 1 -2024-02-20 17:00:03, INFO: Planning depth: 1 -2024-02-20 17:00:03, INFO: Planning width: 10 -2024-02-20 17:00:03, INFO: Sparse search: None -2024-02-20 17:00:06, INFO: human number: 10 -2024-02-20 17:00:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:06, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:11, INFO: Using device: cpu -2024-02-20 17:00:11, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:11, INFO: Similarity_func: concatenation -2024-02-20 17:00:11, INFO: Layerwise_graph: False -2024-02-20 17:00:11, INFO: Skip_connection: True -2024-02-20 17:00:11, INFO: Number of layers: 1 -2024-02-20 17:00:11, INFO: Similarity_func: concatenation -2024-02-20 17:00:11, INFO: Layerwise_graph: False -2024-02-20 17:00:11, INFO: Skip_connection: True -2024-02-20 17:00:11, INFO: Number of layers: 1 -2024-02-20 17:00:11, INFO: Planning depth: 1 -2024-02-20 17:00:11, INFO: Planning width: 10 -2024-02-20 17:00:11, INFO: Sparse search: None -2024-02-20 17:00:14, INFO: human number: 10 -2024-02-20 17:00:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:14, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:21, INFO: Using device: cpu -2024-02-20 17:00:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:21, INFO: Similarity_func: concatenation -2024-02-20 17:00:21, INFO: Layerwise_graph: False -2024-02-20 17:00:21, INFO: Skip_connection: True -2024-02-20 17:00:21, INFO: Number of layers: 1 -2024-02-20 17:00:21, INFO: Similarity_func: concatenation -2024-02-20 17:00:21, INFO: Layerwise_graph: False -2024-02-20 17:00:21, INFO: Skip_connection: True -2024-02-20 17:00:21, INFO: Number of layers: 1 -2024-02-20 17:00:21, INFO: Planning depth: 1 -2024-02-20 17:00:21, INFO: Planning width: 10 -2024-02-20 17:00:21, INFO: Sparse search: None -2024-02-20 17:00:23, INFO: human number: 10 -2024-02-20 17:00:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:30, INFO: Using device: cpu -2024-02-20 17:00:30, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:30, INFO: Similarity_func: concatenation -2024-02-20 17:00:30, INFO: Layerwise_graph: False -2024-02-20 17:00:30, INFO: Skip_connection: True -2024-02-20 17:00:30, INFO: Number of layers: 1 -2024-02-20 17:00:30, INFO: Similarity_func: concatenation -2024-02-20 17:00:30, INFO: Layerwise_graph: False -2024-02-20 17:00:30, INFO: Skip_connection: True -2024-02-20 17:00:30, INFO: Number of layers: 1 -2024-02-20 17:00:30, INFO: Planning depth: 1 -2024-02-20 17:00:30, INFO: Planning width: 10 -2024-02-20 17:00:30, INFO: Sparse search: None -2024-02-20 17:00:33, INFO: human number: 10 -2024-02-20 17:00:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:33, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:38, INFO: Using device: cpu -2024-02-20 17:00:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:38, INFO: Similarity_func: concatenation -2024-02-20 17:00:38, INFO: Layerwise_graph: False -2024-02-20 17:00:38, INFO: Skip_connection: True -2024-02-20 17:00:38, INFO: Number of layers: 1 -2024-02-20 17:00:38, INFO: Similarity_func: concatenation -2024-02-20 17:00:38, INFO: Layerwise_graph: False -2024-02-20 17:00:38, INFO: Skip_connection: True -2024-02-20 17:00:38, INFO: Number of layers: 1 -2024-02-20 17:00:38, INFO: Planning depth: 1 -2024-02-20 17:00:38, INFO: Planning width: 10 -2024-02-20 17:00:38, INFO: Sparse search: None -2024-02-20 17:00:40, INFO: human number: 10 -2024-02-20 17:00:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:40, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:45, INFO: Using device: cpu -2024-02-20 17:00:45, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:45, INFO: Similarity_func: concatenation -2024-02-20 17:00:45, INFO: Layerwise_graph: False -2024-02-20 17:00:45, INFO: Skip_connection: True -2024-02-20 17:00:45, INFO: Number of layers: 1 -2024-02-20 17:00:45, INFO: Similarity_func: concatenation -2024-02-20 17:00:45, INFO: Layerwise_graph: False -2024-02-20 17:00:45, INFO: Skip_connection: True -2024-02-20 17:00:45, INFO: Number of layers: 1 -2024-02-20 17:00:45, INFO: Planning depth: 1 -2024-02-20 17:00:45, INFO: Planning width: 10 -2024-02-20 17:00:45, INFO: Sparse search: None -2024-02-20 17:00:48, INFO: human number: 10 -2024-02-20 17:00:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:52, INFO: Using device: cpu -2024-02-20 17:00:52, INFO: Loaded RL weights with best VAL -2024-02-20 17:00:52, INFO: Similarity_func: concatenation -2024-02-20 17:00:52, INFO: Layerwise_graph: False -2024-02-20 17:00:52, INFO: Skip_connection: True -2024-02-20 17:00:52, INFO: Number of layers: 1 -2024-02-20 17:00:52, INFO: Similarity_func: concatenation -2024-02-20 17:00:52, INFO: Layerwise_graph: False -2024-02-20 17:00:52, INFO: Skip_connection: True -2024-02-20 17:00:52, INFO: Number of layers: 1 -2024-02-20 17:00:52, INFO: Planning depth: 1 -2024-02-20 17:00:52, INFO: Planning width: 10 -2024-02-20 17:00:52, INFO: Sparse search: None -2024-02-20 17:00:55, INFO: human number: 10 -2024-02-20 17:00:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:00:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:00:55, INFO: Square width: 10, circle width: 4 -2024-02-20 17:00:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:00:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:00:58, INFO: Animation.save using -2024-02-20 17:01:29, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.895461 -2024-02-20 17:01:32, INFO: Using device: cpu -2024-02-20 17:01:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:01:32, INFO: Similarity_func: concatenation -2024-02-20 17:01:32, INFO: Layerwise_graph: False -2024-02-20 17:01:32, INFO: Skip_connection: True -2024-02-20 17:01:32, INFO: Number of layers: 1 -2024-02-20 17:01:32, INFO: Similarity_func: concatenation -2024-02-20 17:01:32, INFO: Layerwise_graph: False -2024-02-20 17:01:32, INFO: Skip_connection: True -2024-02-20 17:01:32, INFO: Number of layers: 1 -2024-02-20 17:01:32, INFO: Planning depth: 1 -2024-02-20 17:01:32, INFO: Planning width: 10 -2024-02-20 17:01:32, INFO: Sparse search: None -2024-02-20 17:01:35, INFO: human number: 10 -2024-02-20 17:01:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:01:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:01:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:01:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:01:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:01:37, INFO: Animation.save using -2024-02-20 17:02:07, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.997512 -2024-02-20 17:02:10, INFO: Using device: cpu -2024-02-20 17:02:10, INFO: Loaded RL weights with best VAL -2024-02-20 17:02:10, INFO: Similarity_func: concatenation -2024-02-20 17:02:10, INFO: Layerwise_graph: False -2024-02-20 17:02:10, INFO: Skip_connection: True -2024-02-20 17:02:10, INFO: Number of layers: 1 -2024-02-20 17:02:10, INFO: Similarity_func: concatenation -2024-02-20 17:02:10, INFO: Layerwise_graph: False -2024-02-20 17:02:10, INFO: Skip_connection: True -2024-02-20 17:02:10, INFO: Number of layers: 1 -2024-02-20 17:02:10, INFO: Planning depth: 1 -2024-02-20 17:02:10, INFO: Planning width: 10 -2024-02-20 17:02:10, INFO: Sparse search: None -2024-02-20 17:02:13, INFO: human number: 10 -2024-02-20 17:02:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:02:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:02:13, INFO: Square width: 10, circle width: 4 -2024-02-20 17:02:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:02:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:02:17, INFO: Using device: cpu -2024-02-20 17:02:17, INFO: Loaded RL weights with best VAL -2024-02-20 17:02:17, INFO: Similarity_func: concatenation -2024-02-20 17:02:17, INFO: Layerwise_graph: False -2024-02-20 17:02:17, INFO: Skip_connection: True -2024-02-20 17:02:17, INFO: Number of layers: 1 -2024-02-20 17:02:17, INFO: Similarity_func: concatenation -2024-02-20 17:02:17, INFO: Layerwise_graph: False -2024-02-20 17:02:17, INFO: Skip_connection: True -2024-02-20 17:02:17, INFO: Number of layers: 1 -2024-02-20 17:02:17, INFO: Planning depth: 1 -2024-02-20 17:02:17, INFO: Planning width: 10 -2024-02-20 17:02:17, INFO: Sparse search: None -2024-02-20 17:02:20, INFO: human number: 10 -2024-02-20 17:02:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:02:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:02:20, INFO: Square width: 10, circle width: 4 -2024-02-20 17:02:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:02:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:02:25, INFO: Using device: cpu -2024-02-20 17:02:25, INFO: Loaded RL weights with best VAL -2024-02-20 17:02:25, INFO: Similarity_func: concatenation -2024-02-20 17:02:25, INFO: Layerwise_graph: False -2024-02-20 17:02:25, INFO: Skip_connection: True -2024-02-20 17:02:25, INFO: Number of layers: 1 -2024-02-20 17:02:25, INFO: Similarity_func: concatenation -2024-02-20 17:02:25, INFO: Layerwise_graph: False -2024-02-20 17:02:25, INFO: Skip_connection: True -2024-02-20 17:02:25, INFO: Number of layers: 1 -2024-02-20 17:02:25, INFO: Planning depth: 1 -2024-02-20 17:02:25, INFO: Planning width: 10 -2024-02-20 17:02:25, INFO: Sparse search: None -2024-02-20 17:02:27, INFO: human number: 10 -2024-02-20 17:02:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:02:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:02:27, INFO: Square width: 10, circle width: 4 -2024-02-20 17:02:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:02:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:02:32, INFO: Using device: cpu -2024-02-20 17:02:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:02:32, INFO: Similarity_func: concatenation -2024-02-20 17:02:32, INFO: Layerwise_graph: False -2024-02-20 17:02:32, INFO: Skip_connection: True -2024-02-20 17:02:32, INFO: Number of layers: 1 -2024-02-20 17:02:32, INFO: Similarity_func: concatenation -2024-02-20 17:02:32, INFO: Layerwise_graph: False -2024-02-20 17:02:32, INFO: Skip_connection: True -2024-02-20 17:02:32, INFO: Number of layers: 1 -2024-02-20 17:02:32, INFO: Planning depth: 1 -2024-02-20 17:02:32, INFO: Planning width: 10 -2024-02-20 17:02:32, INFO: Sparse search: None -2024-02-20 17:02:35, INFO: human number: 10 -2024-02-20 17:02:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:02:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:02:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:02:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:02:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:02:40, INFO: Using device: cpu -2024-02-20 17:02:40, INFO: Loaded RL weights with best VAL -2024-02-20 17:02:40, INFO: Similarity_func: concatenation -2024-02-20 17:02:40, INFO: Layerwise_graph: False -2024-02-20 17:02:40, INFO: Skip_connection: True -2024-02-20 17:02:40, INFO: Number of layers: 1 -2024-02-20 17:02:40, INFO: Similarity_func: concatenation -2024-02-20 17:02:40, INFO: Layerwise_graph: False -2024-02-20 17:02:40, INFO: Skip_connection: True -2024-02-20 17:02:40, INFO: Number of layers: 1 -2024-02-20 17:02:40, INFO: Planning depth: 1 -2024-02-20 17:02:40, INFO: Planning width: 10 -2024-02-20 17:02:40, INFO: Sparse search: None -2024-02-20 17:02:43, INFO: human number: 10 -2024-02-20 17:02:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:02:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:02:43, INFO: Square width: 10, circle width: 4 -2024-02-20 17:02:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:02:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:02:45, INFO: Animation.save using -2024-02-20 17:03:17, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.015848 -2024-02-20 17:03:20, INFO: Using device: cpu -2024-02-20 17:03:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:03:20, INFO: Similarity_func: concatenation -2024-02-20 17:03:20, INFO: Layerwise_graph: False -2024-02-20 17:03:20, INFO: Skip_connection: True -2024-02-20 17:03:20, INFO: Number of layers: 1 -2024-02-20 17:03:20, INFO: Similarity_func: concatenation -2024-02-20 17:03:20, INFO: Layerwise_graph: False -2024-02-20 17:03:20, INFO: Skip_connection: True -2024-02-20 17:03:20, INFO: Number of layers: 1 -2024-02-20 17:03:20, INFO: Planning depth: 1 -2024-02-20 17:03:20, INFO: Planning width: 10 -2024-02-20 17:03:20, INFO: Sparse search: None -2024-02-20 17:03:23, INFO: human number: 10 -2024-02-20 17:03:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:03:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:03:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:03:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:03:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:03:28, INFO: Using device: cpu -2024-02-20 17:03:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:03:28, INFO: Similarity_func: concatenation -2024-02-20 17:03:28, INFO: Layerwise_graph: False -2024-02-20 17:03:28, INFO: Skip_connection: True -2024-02-20 17:03:28, INFO: Number of layers: 1 -2024-02-20 17:03:28, INFO: Similarity_func: concatenation -2024-02-20 17:03:28, INFO: Layerwise_graph: False -2024-02-20 17:03:28, INFO: Skip_connection: True -2024-02-20 17:03:28, INFO: Number of layers: 1 -2024-02-20 17:03:28, INFO: Planning depth: 1 -2024-02-20 17:03:28, INFO: Planning width: 10 -2024-02-20 17:03:28, INFO: Sparse search: None -2024-02-20 17:03:30, INFO: human number: 10 -2024-02-20 17:03:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:03:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:03:30, INFO: Square width: 10, circle width: 4 -2024-02-20 17:03:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:03:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:03:34, INFO: Using device: cpu -2024-02-20 17:03:34, INFO: Loaded RL weights with best VAL -2024-02-20 17:03:34, INFO: Similarity_func: concatenation -2024-02-20 17:03:34, INFO: Layerwise_graph: False -2024-02-20 17:03:34, INFO: Skip_connection: True -2024-02-20 17:03:34, INFO: Number of layers: 1 -2024-02-20 17:03:34, INFO: Similarity_func: concatenation -2024-02-20 17:03:34, INFO: Layerwise_graph: False -2024-02-20 17:03:34, INFO: Skip_connection: True -2024-02-20 17:03:34, INFO: Number of layers: 1 -2024-02-20 17:03:34, INFO: Planning depth: 1 -2024-02-20 17:03:34, INFO: Planning width: 10 -2024-02-20 17:03:34, INFO: Sparse search: None -2024-02-20 17:03:37, INFO: human number: 10 -2024-02-20 17:03:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:03:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:03:37, INFO: Square width: 10, circle width: 4 -2024-02-20 17:03:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:03:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:03:43, INFO: Using device: cpu -2024-02-20 17:03:43, INFO: Loaded RL weights with best VAL -2024-02-20 17:03:43, INFO: Similarity_func: concatenation -2024-02-20 17:03:43, INFO: Layerwise_graph: False -2024-02-20 17:03:43, INFO: Skip_connection: True -2024-02-20 17:03:43, INFO: Number of layers: 1 -2024-02-20 17:03:43, INFO: Similarity_func: concatenation -2024-02-20 17:03:43, INFO: Layerwise_graph: False -2024-02-20 17:03:43, INFO: Skip_connection: True -2024-02-20 17:03:43, INFO: Number of layers: 1 -2024-02-20 17:03:43, INFO: Planning depth: 1 -2024-02-20 17:03:43, INFO: Planning width: 10 -2024-02-20 17:03:43, INFO: Sparse search: None -2024-02-20 17:03:45, INFO: human number: 10 -2024-02-20 17:03:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:03:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:03:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:03:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:03:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:03:47, INFO: Animation.save using -2024-02-20 17:04:17, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.919262 -2024-02-20 17:04:20, INFO: Using device: cpu -2024-02-20 17:04:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:04:20, INFO: Similarity_func: concatenation -2024-02-20 17:04:20, INFO: Layerwise_graph: False -2024-02-20 17:04:20, INFO: Skip_connection: True -2024-02-20 17:04:20, INFO: Number of layers: 1 -2024-02-20 17:04:20, INFO: Similarity_func: concatenation -2024-02-20 17:04:20, INFO: Layerwise_graph: False -2024-02-20 17:04:20, INFO: Skip_connection: True -2024-02-20 17:04:20, INFO: Number of layers: 1 -2024-02-20 17:04:20, INFO: Planning depth: 1 -2024-02-20 17:04:20, INFO: Planning width: 10 -2024-02-20 17:04:20, INFO: Sparse search: None -2024-02-20 17:04:22, INFO: human number: 10 -2024-02-20 17:04:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:04:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:04:22, INFO: Square width: 10, circle width: 4 -2024-02-20 17:04:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:04:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:04:24, INFO: Animation.save using -2024-02-20 17:04:48, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.883404 -2024-02-20 17:04:51, INFO: Using device: cpu -2024-02-20 17:04:51, INFO: Loaded RL weights with best VAL -2024-02-20 17:04:51, INFO: Similarity_func: concatenation -2024-02-20 17:04:51, INFO: Layerwise_graph: False -2024-02-20 17:04:51, INFO: Skip_connection: True -2024-02-20 17:04:51, INFO: Number of layers: 1 -2024-02-20 17:04:51, INFO: Similarity_func: concatenation -2024-02-20 17:04:51, INFO: Layerwise_graph: False -2024-02-20 17:04:51, INFO: Skip_connection: True -2024-02-20 17:04:51, INFO: Number of layers: 1 -2024-02-20 17:04:51, INFO: Planning depth: 1 -2024-02-20 17:04:51, INFO: Planning width: 10 -2024-02-20 17:04:51, INFO: Sparse search: None -2024-02-20 17:04:54, INFO: human number: 10 -2024-02-20 17:04:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:04:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:04:54, INFO: Square width: 10, circle width: 4 -2024-02-20 17:04:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:04:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:04:59, INFO: Using device: cpu -2024-02-20 17:04:59, INFO: Loaded RL weights with best VAL -2024-02-20 17:04:59, INFO: Similarity_func: concatenation -2024-02-20 17:04:59, INFO: Layerwise_graph: False -2024-02-20 17:04:59, INFO: Skip_connection: True -2024-02-20 17:04:59, INFO: Number of layers: 1 -2024-02-20 17:04:59, INFO: Similarity_func: concatenation -2024-02-20 17:04:59, INFO: Layerwise_graph: False -2024-02-20 17:04:59, INFO: Skip_connection: True -2024-02-20 17:04:59, INFO: Number of layers: 1 -2024-02-20 17:04:59, INFO: Planning depth: 1 -2024-02-20 17:04:59, INFO: Planning width: 10 -2024-02-20 17:04:59, INFO: Sparse search: None -2024-02-20 17:05:02, INFO: human number: 10 -2024-02-20 17:05:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:02, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:06, INFO: Using device: cpu -2024-02-20 17:05:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:06, INFO: Similarity_func: concatenation -2024-02-20 17:05:06, INFO: Layerwise_graph: False -2024-02-20 17:05:06, INFO: Skip_connection: True -2024-02-20 17:05:06, INFO: Number of layers: 1 -2024-02-20 17:05:06, INFO: Similarity_func: concatenation -2024-02-20 17:05:06, INFO: Layerwise_graph: False -2024-02-20 17:05:06, INFO: Skip_connection: True -2024-02-20 17:05:06, INFO: Number of layers: 1 -2024-02-20 17:05:06, INFO: Planning depth: 1 -2024-02-20 17:05:06, INFO: Planning width: 10 -2024-02-20 17:05:06, INFO: Sparse search: None -2024-02-20 17:05:09, INFO: human number: 10 -2024-02-20 17:05:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:09, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:14, INFO: Using device: cpu -2024-02-20 17:05:14, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:14, INFO: Similarity_func: concatenation -2024-02-20 17:05:14, INFO: Layerwise_graph: False -2024-02-20 17:05:14, INFO: Skip_connection: True -2024-02-20 17:05:14, INFO: Number of layers: 1 -2024-02-20 17:05:14, INFO: Similarity_func: concatenation -2024-02-20 17:05:14, INFO: Layerwise_graph: False -2024-02-20 17:05:14, INFO: Skip_connection: True -2024-02-20 17:05:14, INFO: Number of layers: 1 -2024-02-20 17:05:14, INFO: Planning depth: 1 -2024-02-20 17:05:14, INFO: Planning width: 10 -2024-02-20 17:05:14, INFO: Sparse search: None -2024-02-20 17:05:17, INFO: human number: 10 -2024-02-20 17:05:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:17, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:21, INFO: Using device: cpu -2024-02-20 17:05:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:21, INFO: Similarity_func: concatenation -2024-02-20 17:05:21, INFO: Layerwise_graph: False -2024-02-20 17:05:21, INFO: Skip_connection: True -2024-02-20 17:05:21, INFO: Number of layers: 1 -2024-02-20 17:05:21, INFO: Similarity_func: concatenation -2024-02-20 17:05:21, INFO: Layerwise_graph: False -2024-02-20 17:05:21, INFO: Skip_connection: True -2024-02-20 17:05:21, INFO: Number of layers: 1 -2024-02-20 17:05:21, INFO: Planning depth: 1 -2024-02-20 17:05:21, INFO: Planning width: 10 -2024-02-20 17:05:21, INFO: Sparse search: None -2024-02-20 17:05:24, INFO: human number: 10 -2024-02-20 17:05:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:24, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:29, INFO: Using device: cpu -2024-02-20 17:05:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:29, INFO: Similarity_func: concatenation -2024-02-20 17:05:29, INFO: Layerwise_graph: False -2024-02-20 17:05:29, INFO: Skip_connection: True -2024-02-20 17:05:29, INFO: Number of layers: 1 -2024-02-20 17:05:29, INFO: Similarity_func: concatenation -2024-02-20 17:05:29, INFO: Layerwise_graph: False -2024-02-20 17:05:29, INFO: Skip_connection: True -2024-02-20 17:05:29, INFO: Number of layers: 1 -2024-02-20 17:05:29, INFO: Planning depth: 1 -2024-02-20 17:05:29, INFO: Planning width: 10 -2024-02-20 17:05:29, INFO: Sparse search: None -2024-02-20 17:05:32, INFO: human number: 10 -2024-02-20 17:05:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:32, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:37, INFO: Using device: cpu -2024-02-20 17:05:37, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:37, INFO: Similarity_func: concatenation -2024-02-20 17:05:37, INFO: Layerwise_graph: False -2024-02-20 17:05:37, INFO: Skip_connection: True -2024-02-20 17:05:37, INFO: Number of layers: 1 -2024-02-20 17:05:37, INFO: Similarity_func: concatenation -2024-02-20 17:05:37, INFO: Layerwise_graph: False -2024-02-20 17:05:37, INFO: Skip_connection: True -2024-02-20 17:05:37, INFO: Number of layers: 1 -2024-02-20 17:05:37, INFO: Planning depth: 1 -2024-02-20 17:05:37, INFO: Planning width: 10 -2024-02-20 17:05:37, INFO: Sparse search: None -2024-02-20 17:05:40, INFO: human number: 10 -2024-02-20 17:05:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:40, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:45, INFO: Using device: cpu -2024-02-20 17:05:45, INFO: Loaded RL weights with best VAL -2024-02-20 17:05:45, INFO: Similarity_func: concatenation -2024-02-20 17:05:45, INFO: Layerwise_graph: False -2024-02-20 17:05:45, INFO: Skip_connection: True -2024-02-20 17:05:45, INFO: Number of layers: 1 -2024-02-20 17:05:45, INFO: Similarity_func: concatenation -2024-02-20 17:05:45, INFO: Layerwise_graph: False -2024-02-20 17:05:45, INFO: Skip_connection: True -2024-02-20 17:05:45, INFO: Number of layers: 1 -2024-02-20 17:05:45, INFO: Planning depth: 1 -2024-02-20 17:05:45, INFO: Planning width: 10 -2024-02-20 17:05:45, INFO: Sparse search: None -2024-02-20 17:05:48, INFO: human number: 10 -2024-02-20 17:05:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:05:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:05:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:05:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:05:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:05:50, INFO: Animation.save using -2024-02-20 17:06:24, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.837095 -2024-02-20 17:06:27, INFO: Using device: cpu -2024-02-20 17:06:27, INFO: Loaded RL weights with best VAL -2024-02-20 17:06:27, INFO: Similarity_func: concatenation -2024-02-20 17:06:27, INFO: Layerwise_graph: False -2024-02-20 17:06:27, INFO: Skip_connection: True -2024-02-20 17:06:27, INFO: Number of layers: 1 -2024-02-20 17:06:27, INFO: Similarity_func: concatenation -2024-02-20 17:06:27, INFO: Layerwise_graph: False -2024-02-20 17:06:27, INFO: Skip_connection: True -2024-02-20 17:06:27, INFO: Number of layers: 1 -2024-02-20 17:06:27, INFO: Planning depth: 1 -2024-02-20 17:06:27, INFO: Planning width: 10 -2024-02-20 17:06:27, INFO: Sparse search: None -2024-02-20 17:06:30, INFO: human number: 10 -2024-02-20 17:06:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:06:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:06:30, INFO: Square width: 10, circle width: 4 -2024-02-20 17:06:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:06:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:06:35, INFO: Using device: cpu -2024-02-20 17:06:35, INFO: Loaded RL weights with best VAL -2024-02-20 17:06:35, INFO: Similarity_func: concatenation -2024-02-20 17:06:35, INFO: Layerwise_graph: False -2024-02-20 17:06:35, INFO: Skip_connection: True -2024-02-20 17:06:35, INFO: Number of layers: 1 -2024-02-20 17:06:35, INFO: Similarity_func: concatenation -2024-02-20 17:06:35, INFO: Layerwise_graph: False -2024-02-20 17:06:35, INFO: Skip_connection: True -2024-02-20 17:06:35, INFO: Number of layers: 1 -2024-02-20 17:06:35, INFO: Planning depth: 1 -2024-02-20 17:06:35, INFO: Planning width: 10 -2024-02-20 17:06:35, INFO: Sparse search: None -2024-02-20 17:06:37, INFO: human number: 10 -2024-02-20 17:06:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:06:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:06:37, INFO: Square width: 10, circle width: 4 -2024-02-20 17:06:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:06:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:06:39, INFO: Animation.save using -2024-02-20 17:07:19, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.784827 -2024-02-20 17:07:22, INFO: Using device: cpu -2024-02-20 17:07:22, INFO: Loaded RL weights with best VAL -2024-02-20 17:07:22, INFO: Similarity_func: concatenation -2024-02-20 17:07:22, INFO: Layerwise_graph: False -2024-02-20 17:07:22, INFO: Skip_connection: True -2024-02-20 17:07:22, INFO: Number of layers: 1 -2024-02-20 17:07:22, INFO: Similarity_func: concatenation -2024-02-20 17:07:22, INFO: Layerwise_graph: False -2024-02-20 17:07:22, INFO: Skip_connection: True -2024-02-20 17:07:22, INFO: Number of layers: 1 -2024-02-20 17:07:22, INFO: Planning depth: 1 -2024-02-20 17:07:22, INFO: Planning width: 10 -2024-02-20 17:07:22, INFO: Sparse search: None -2024-02-20 17:07:25, INFO: human number: 10 -2024-02-20 17:07:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:07:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:07:25, INFO: Square width: 10, circle width: 4 -2024-02-20 17:07:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:07:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:07:27, INFO: Animation.save using -2024-02-20 17:08:03, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959944 -2024-02-20 17:08:06, INFO: Using device: cpu -2024-02-20 17:08:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:06, INFO: Similarity_func: concatenation -2024-02-20 17:08:06, INFO: Layerwise_graph: False -2024-02-20 17:08:06, INFO: Skip_connection: True -2024-02-20 17:08:06, INFO: Number of layers: 1 -2024-02-20 17:08:06, INFO: Similarity_func: concatenation -2024-02-20 17:08:06, INFO: Layerwise_graph: False -2024-02-20 17:08:06, INFO: Skip_connection: True -2024-02-20 17:08:06, INFO: Number of layers: 1 -2024-02-20 17:08:06, INFO: Planning depth: 1 -2024-02-20 17:08:06, INFO: Planning width: 10 -2024-02-20 17:08:06, INFO: Sparse search: None -2024-02-20 17:08:09, INFO: human number: 10 -2024-02-20 17:08:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:09, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:14, INFO: Using device: cpu -2024-02-20 17:08:14, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:14, INFO: Similarity_func: concatenation -2024-02-20 17:08:14, INFO: Layerwise_graph: False -2024-02-20 17:08:14, INFO: Skip_connection: True -2024-02-20 17:08:14, INFO: Number of layers: 1 -2024-02-20 17:08:14, INFO: Similarity_func: concatenation -2024-02-20 17:08:14, INFO: Layerwise_graph: False -2024-02-20 17:08:14, INFO: Skip_connection: True -2024-02-20 17:08:14, INFO: Number of layers: 1 -2024-02-20 17:08:14, INFO: Planning depth: 1 -2024-02-20 17:08:14, INFO: Planning width: 10 -2024-02-20 17:08:14, INFO: Sparse search: None -2024-02-20 17:08:16, INFO: human number: 10 -2024-02-20 17:08:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:21, INFO: Using device: cpu -2024-02-20 17:08:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:21, INFO: Similarity_func: concatenation -2024-02-20 17:08:21, INFO: Layerwise_graph: False -2024-02-20 17:08:21, INFO: Skip_connection: True -2024-02-20 17:08:21, INFO: Number of layers: 1 -2024-02-20 17:08:21, INFO: Similarity_func: concatenation -2024-02-20 17:08:21, INFO: Layerwise_graph: False -2024-02-20 17:08:21, INFO: Skip_connection: True -2024-02-20 17:08:21, INFO: Number of layers: 1 -2024-02-20 17:08:21, INFO: Planning depth: 1 -2024-02-20 17:08:21, INFO: Planning width: 10 -2024-02-20 17:08:21, INFO: Sparse search: None -2024-02-20 17:08:24, INFO: human number: 10 -2024-02-20 17:08:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:24, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:29, INFO: Using device: cpu -2024-02-20 17:08:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:29, INFO: Similarity_func: concatenation -2024-02-20 17:08:29, INFO: Layerwise_graph: False -2024-02-20 17:08:29, INFO: Skip_connection: True -2024-02-20 17:08:29, INFO: Number of layers: 1 -2024-02-20 17:08:29, INFO: Similarity_func: concatenation -2024-02-20 17:08:29, INFO: Layerwise_graph: False -2024-02-20 17:08:29, INFO: Skip_connection: True -2024-02-20 17:08:29, INFO: Number of layers: 1 -2024-02-20 17:08:29, INFO: Planning depth: 1 -2024-02-20 17:08:29, INFO: Planning width: 10 -2024-02-20 17:08:29, INFO: Sparse search: None -2024-02-20 17:08:32, INFO: human number: 10 -2024-02-20 17:08:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:32, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:37, INFO: Using device: cpu -2024-02-20 17:08:37, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:37, INFO: Similarity_func: concatenation -2024-02-20 17:08:37, INFO: Layerwise_graph: False -2024-02-20 17:08:37, INFO: Skip_connection: True -2024-02-20 17:08:37, INFO: Number of layers: 1 -2024-02-20 17:08:37, INFO: Similarity_func: concatenation -2024-02-20 17:08:37, INFO: Layerwise_graph: False -2024-02-20 17:08:37, INFO: Skip_connection: True -2024-02-20 17:08:37, INFO: Number of layers: 1 -2024-02-20 17:08:37, INFO: Planning depth: 1 -2024-02-20 17:08:37, INFO: Planning width: 10 -2024-02-20 17:08:37, INFO: Sparse search: None -2024-02-20 17:08:40, INFO: human number: 10 -2024-02-20 17:08:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:40, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:44, INFO: Using device: cpu -2024-02-20 17:08:44, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:44, INFO: Similarity_func: concatenation -2024-02-20 17:08:44, INFO: Layerwise_graph: False -2024-02-20 17:08:44, INFO: Skip_connection: True -2024-02-20 17:08:44, INFO: Number of layers: 1 -2024-02-20 17:08:44, INFO: Similarity_func: concatenation -2024-02-20 17:08:44, INFO: Layerwise_graph: False -2024-02-20 17:08:44, INFO: Skip_connection: True -2024-02-20 17:08:44, INFO: Number of layers: 1 -2024-02-20 17:08:44, INFO: Planning depth: 1 -2024-02-20 17:08:44, INFO: Planning width: 10 -2024-02-20 17:08:44, INFO: Sparse search: None -2024-02-20 17:08:47, INFO: human number: 10 -2024-02-20 17:08:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:47, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:08:52, INFO: Using device: cpu -2024-02-20 17:08:52, INFO: Loaded RL weights with best VAL -2024-02-20 17:08:52, INFO: Similarity_func: concatenation -2024-02-20 17:08:52, INFO: Layerwise_graph: False -2024-02-20 17:08:52, INFO: Skip_connection: True -2024-02-20 17:08:52, INFO: Number of layers: 1 -2024-02-20 17:08:52, INFO: Similarity_func: concatenation -2024-02-20 17:08:52, INFO: Layerwise_graph: False -2024-02-20 17:08:52, INFO: Skip_connection: True -2024-02-20 17:08:52, INFO: Number of layers: 1 -2024-02-20 17:08:52, INFO: Planning depth: 1 -2024-02-20 17:08:52, INFO: Planning width: 10 -2024-02-20 17:08:52, INFO: Sparse search: None -2024-02-20 17:08:54, INFO: human number: 10 -2024-02-20 17:08:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:08:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:08:54, INFO: Square width: 10, circle width: 4 -2024-02-20 17:08:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:08:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:09:02, INFO: Using device: cpu -2024-02-20 17:09:02, INFO: Loaded RL weights with best VAL -2024-02-20 17:09:02, INFO: Similarity_func: concatenation -2024-02-20 17:09:02, INFO: Layerwise_graph: False -2024-02-20 17:09:02, INFO: Skip_connection: True -2024-02-20 17:09:02, INFO: Number of layers: 1 -2024-02-20 17:09:02, INFO: Similarity_func: concatenation -2024-02-20 17:09:02, INFO: Layerwise_graph: False -2024-02-20 17:09:02, INFO: Skip_connection: True -2024-02-20 17:09:02, INFO: Number of layers: 1 -2024-02-20 17:09:02, INFO: Planning depth: 1 -2024-02-20 17:09:02, INFO: Planning width: 10 -2024-02-20 17:09:02, INFO: Sparse search: None -2024-02-20 17:09:04, INFO: human number: 10 -2024-02-20 17:09:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:09:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:09:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:09:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:09:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:09:10, INFO: Using device: cpu -2024-02-20 17:09:10, INFO: Loaded RL weights with best VAL -2024-02-20 17:09:10, INFO: Similarity_func: concatenation -2024-02-20 17:09:10, INFO: Layerwise_graph: False -2024-02-20 17:09:10, INFO: Skip_connection: True -2024-02-20 17:09:10, INFO: Number of layers: 1 -2024-02-20 17:09:10, INFO: Similarity_func: concatenation -2024-02-20 17:09:10, INFO: Layerwise_graph: False -2024-02-20 17:09:10, INFO: Skip_connection: True -2024-02-20 17:09:10, INFO: Number of layers: 1 -2024-02-20 17:09:10, INFO: Planning depth: 1 -2024-02-20 17:09:10, INFO: Planning width: 10 -2024-02-20 17:09:10, INFO: Sparse search: None -2024-02-20 17:09:13, INFO: human number: 10 -2024-02-20 17:09:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:09:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:09:13, INFO: Square width: 10, circle width: 4 -2024-02-20 17:09:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:09:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:09:17, INFO: Using device: cpu -2024-02-20 17:09:17, INFO: Loaded RL weights with best VAL -2024-02-20 17:09:17, INFO: Similarity_func: concatenation -2024-02-20 17:09:17, INFO: Layerwise_graph: False -2024-02-20 17:09:17, INFO: Skip_connection: True -2024-02-20 17:09:17, INFO: Number of layers: 1 -2024-02-20 17:09:17, INFO: Similarity_func: concatenation -2024-02-20 17:09:17, INFO: Layerwise_graph: False -2024-02-20 17:09:17, INFO: Skip_connection: True -2024-02-20 17:09:17, INFO: Number of layers: 1 -2024-02-20 17:09:17, INFO: Planning depth: 1 -2024-02-20 17:09:17, INFO: Planning width: 10 -2024-02-20 17:09:17, INFO: Sparse search: None -2024-02-20 17:09:20, INFO: human number: 10 -2024-02-20 17:09:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:09:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:09:20, INFO: Square width: 10, circle width: 4 -2024-02-20 17:09:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:09:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:09:24, INFO: Animation.save using -2024-02-20 17:09:53, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.041911 -2024-02-20 17:09:56, INFO: Using device: cpu -2024-02-20 17:09:56, INFO: Loaded RL weights with best VAL -2024-02-20 17:09:56, INFO: Similarity_func: concatenation -2024-02-20 17:09:56, INFO: Layerwise_graph: False -2024-02-20 17:09:56, INFO: Skip_connection: True -2024-02-20 17:09:56, INFO: Number of layers: 1 -2024-02-20 17:09:56, INFO: Similarity_func: concatenation -2024-02-20 17:09:56, INFO: Layerwise_graph: False -2024-02-20 17:09:56, INFO: Skip_connection: True -2024-02-20 17:09:56, INFO: Number of layers: 1 -2024-02-20 17:09:56, INFO: Planning depth: 1 -2024-02-20 17:09:56, INFO: Planning width: 10 -2024-02-20 17:09:56, INFO: Sparse search: None -2024-02-20 17:09:59, INFO: human number: 10 -2024-02-20 17:09:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:09:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:09:59, INFO: Square width: 10, circle width: 4 -2024-02-20 17:09:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:09:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:10:00, INFO: Animation.save using -2024-02-20 17:10:24, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.082391 -2024-02-20 17:10:27, INFO: Using device: cpu -2024-02-20 17:10:27, INFO: Loaded RL weights with best VAL -2024-02-20 17:10:27, INFO: Similarity_func: concatenation -2024-02-20 17:10:27, INFO: Layerwise_graph: False -2024-02-20 17:10:27, INFO: Skip_connection: True -2024-02-20 17:10:27, INFO: Number of layers: 1 -2024-02-20 17:10:27, INFO: Similarity_func: concatenation -2024-02-20 17:10:27, INFO: Layerwise_graph: False -2024-02-20 17:10:27, INFO: Skip_connection: True -2024-02-20 17:10:27, INFO: Number of layers: 1 -2024-02-20 17:10:27, INFO: Planning depth: 1 -2024-02-20 17:10:27, INFO: Planning width: 10 -2024-02-20 17:10:27, INFO: Sparse search: None -2024-02-20 17:10:30, INFO: human number: 10 -2024-02-20 17:10:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:10:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:10:30, INFO: Square width: 10, circle width: 4 -2024-02-20 17:10:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:10:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:10:35, INFO: Using device: cpu -2024-02-20 17:10:35, INFO: Loaded RL weights with best VAL -2024-02-20 17:10:35, INFO: Similarity_func: concatenation -2024-02-20 17:10:35, INFO: Layerwise_graph: False -2024-02-20 17:10:35, INFO: Skip_connection: True -2024-02-20 17:10:35, INFO: Number of layers: 1 -2024-02-20 17:10:35, INFO: Similarity_func: concatenation -2024-02-20 17:10:35, INFO: Layerwise_graph: False -2024-02-20 17:10:35, INFO: Skip_connection: True -2024-02-20 17:10:35, INFO: Number of layers: 1 -2024-02-20 17:10:35, INFO: Planning depth: 1 -2024-02-20 17:10:35, INFO: Planning width: 10 -2024-02-20 17:10:35, INFO: Sparse search: None -2024-02-20 17:10:38, INFO: human number: 10 -2024-02-20 17:10:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:10:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:10:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:10:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:10:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:10:42, INFO: Using device: cpu -2024-02-20 17:10:42, INFO: Loaded RL weights with best VAL -2024-02-20 17:10:42, INFO: Similarity_func: concatenation -2024-02-20 17:10:42, INFO: Layerwise_graph: False -2024-02-20 17:10:42, INFO: Skip_connection: True -2024-02-20 17:10:42, INFO: Number of layers: 1 -2024-02-20 17:10:42, INFO: Similarity_func: concatenation -2024-02-20 17:10:42, INFO: Layerwise_graph: False -2024-02-20 17:10:42, INFO: Skip_connection: True -2024-02-20 17:10:42, INFO: Number of layers: 1 -2024-02-20 17:10:42, INFO: Planning depth: 1 -2024-02-20 17:10:42, INFO: Planning width: 10 -2024-02-20 17:10:42, INFO: Sparse search: None -2024-02-20 17:10:45, INFO: human number: 10 -2024-02-20 17:10:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:10:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:10:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:10:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:10:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:10:49, INFO: Using device: cpu -2024-02-20 17:10:49, INFO: Loaded RL weights with best VAL -2024-02-20 17:10:49, INFO: Similarity_func: concatenation -2024-02-20 17:10:49, INFO: Layerwise_graph: False -2024-02-20 17:10:49, INFO: Skip_connection: True -2024-02-20 17:10:49, INFO: Number of layers: 1 -2024-02-20 17:10:49, INFO: Similarity_func: concatenation -2024-02-20 17:10:49, INFO: Layerwise_graph: False -2024-02-20 17:10:49, INFO: Skip_connection: True -2024-02-20 17:10:49, INFO: Number of layers: 1 -2024-02-20 17:10:49, INFO: Planning depth: 1 -2024-02-20 17:10:49, INFO: Planning width: 10 -2024-02-20 17:10:49, INFO: Sparse search: None -2024-02-20 17:10:52, INFO: human number: 10 -2024-02-20 17:10:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:10:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:10:52, INFO: Square width: 10, circle width: 4 -2024-02-20 17:10:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:10:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:10:54, INFO: Animation.save using -2024-02-20 17:11:35, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.904879 -2024-02-20 17:11:38, INFO: Using device: cpu -2024-02-20 17:11:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:11:38, INFO: Similarity_func: concatenation -2024-02-20 17:11:38, INFO: Layerwise_graph: False -2024-02-20 17:11:38, INFO: Skip_connection: True -2024-02-20 17:11:38, INFO: Number of layers: 1 -2024-02-20 17:11:38, INFO: Similarity_func: concatenation -2024-02-20 17:11:38, INFO: Layerwise_graph: False -2024-02-20 17:11:38, INFO: Skip_connection: True -2024-02-20 17:11:38, INFO: Number of layers: 1 -2024-02-20 17:11:38, INFO: Planning depth: 1 -2024-02-20 17:11:38, INFO: Planning width: 10 -2024-02-20 17:11:38, INFO: Sparse search: None -2024-02-20 17:11:41, INFO: human number: 10 -2024-02-20 17:11:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:11:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:11:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:11:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:11:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:11:43, INFO: Animation.save using -2024-02-20 17:12:15, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.992916 -2024-02-20 17:12:18, INFO: Using device: cpu -2024-02-20 17:12:18, INFO: Loaded RL weights with best VAL -2024-02-20 17:12:18, INFO: Similarity_func: concatenation -2024-02-20 17:12:18, INFO: Layerwise_graph: False -2024-02-20 17:12:18, INFO: Skip_connection: True -2024-02-20 17:12:18, INFO: Number of layers: 1 -2024-02-20 17:12:18, INFO: Similarity_func: concatenation -2024-02-20 17:12:18, INFO: Layerwise_graph: False -2024-02-20 17:12:18, INFO: Skip_connection: True -2024-02-20 17:12:18, INFO: Number of layers: 1 -2024-02-20 17:12:18, INFO: Planning depth: 1 -2024-02-20 17:12:18, INFO: Planning width: 10 -2024-02-20 17:12:18, INFO: Sparse search: None -2024-02-20 17:12:21, INFO: human number: 10 -2024-02-20 17:12:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:12:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:12:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:12:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:12:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:12:23, INFO: Animation.save using -2024-02-20 17:13:08, INFO: It takes 14.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.862153 -2024-02-20 17:13:11, INFO: Using device: cpu -2024-02-20 17:13:11, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:11, INFO: Similarity_func: concatenation -2024-02-20 17:13:11, INFO: Layerwise_graph: False -2024-02-20 17:13:11, INFO: Skip_connection: True -2024-02-20 17:13:11, INFO: Number of layers: 1 -2024-02-20 17:13:11, INFO: Similarity_func: concatenation -2024-02-20 17:13:11, INFO: Layerwise_graph: False -2024-02-20 17:13:11, INFO: Skip_connection: True -2024-02-20 17:13:11, INFO: Number of layers: 1 -2024-02-20 17:13:11, INFO: Planning depth: 1 -2024-02-20 17:13:11, INFO: Planning width: 10 -2024-02-20 17:13:11, INFO: Sparse search: None -2024-02-20 17:13:14, INFO: human number: 10 -2024-02-20 17:13:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:14, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:19, INFO: Using device: cpu -2024-02-20 17:13:19, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:19, INFO: Similarity_func: concatenation -2024-02-20 17:13:19, INFO: Layerwise_graph: False -2024-02-20 17:13:19, INFO: Skip_connection: True -2024-02-20 17:13:19, INFO: Number of layers: 1 -2024-02-20 17:13:19, INFO: Similarity_func: concatenation -2024-02-20 17:13:19, INFO: Layerwise_graph: False -2024-02-20 17:13:19, INFO: Skip_connection: True -2024-02-20 17:13:19, INFO: Number of layers: 1 -2024-02-20 17:13:19, INFO: Planning depth: 1 -2024-02-20 17:13:19, INFO: Planning width: 10 -2024-02-20 17:13:19, INFO: Sparse search: None -2024-02-20 17:13:21, INFO: human number: 10 -2024-02-20 17:13:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:27, INFO: Using device: cpu -2024-02-20 17:13:27, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:27, INFO: Similarity_func: concatenation -2024-02-20 17:13:27, INFO: Layerwise_graph: False -2024-02-20 17:13:27, INFO: Skip_connection: True -2024-02-20 17:13:27, INFO: Number of layers: 1 -2024-02-20 17:13:27, INFO: Similarity_func: concatenation -2024-02-20 17:13:27, INFO: Layerwise_graph: False -2024-02-20 17:13:27, INFO: Skip_connection: True -2024-02-20 17:13:27, INFO: Number of layers: 1 -2024-02-20 17:13:27, INFO: Planning depth: 1 -2024-02-20 17:13:27, INFO: Planning width: 10 -2024-02-20 17:13:27, INFO: Sparse search: None -2024-02-20 17:13:30, INFO: human number: 10 -2024-02-20 17:13:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:30, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:35, INFO: Using device: cpu -2024-02-20 17:13:35, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:35, INFO: Similarity_func: concatenation -2024-02-20 17:13:35, INFO: Layerwise_graph: False -2024-02-20 17:13:35, INFO: Skip_connection: True -2024-02-20 17:13:35, INFO: Number of layers: 1 -2024-02-20 17:13:35, INFO: Similarity_func: concatenation -2024-02-20 17:13:35, INFO: Layerwise_graph: False -2024-02-20 17:13:35, INFO: Skip_connection: True -2024-02-20 17:13:35, INFO: Number of layers: 1 -2024-02-20 17:13:35, INFO: Planning depth: 1 -2024-02-20 17:13:35, INFO: Planning width: 10 -2024-02-20 17:13:35, INFO: Sparse search: None -2024-02-20 17:13:37, INFO: human number: 10 -2024-02-20 17:13:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:37, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:42, INFO: Using device: cpu -2024-02-20 17:13:42, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:42, INFO: Similarity_func: concatenation -2024-02-20 17:13:42, INFO: Layerwise_graph: False -2024-02-20 17:13:42, INFO: Skip_connection: True -2024-02-20 17:13:42, INFO: Number of layers: 1 -2024-02-20 17:13:42, INFO: Similarity_func: concatenation -2024-02-20 17:13:42, INFO: Layerwise_graph: False -2024-02-20 17:13:42, INFO: Skip_connection: True -2024-02-20 17:13:42, INFO: Number of layers: 1 -2024-02-20 17:13:42, INFO: Planning depth: 1 -2024-02-20 17:13:42, INFO: Planning width: 10 -2024-02-20 17:13:42, INFO: Sparse search: None -2024-02-20 17:13:45, INFO: human number: 10 -2024-02-20 17:13:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:50, INFO: Using device: cpu -2024-02-20 17:13:50, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:50, INFO: Similarity_func: concatenation -2024-02-20 17:13:50, INFO: Layerwise_graph: False -2024-02-20 17:13:50, INFO: Skip_connection: True -2024-02-20 17:13:50, INFO: Number of layers: 1 -2024-02-20 17:13:50, INFO: Similarity_func: concatenation -2024-02-20 17:13:50, INFO: Layerwise_graph: False -2024-02-20 17:13:50, INFO: Skip_connection: True -2024-02-20 17:13:50, INFO: Number of layers: 1 -2024-02-20 17:13:50, INFO: Planning depth: 1 -2024-02-20 17:13:50, INFO: Planning width: 10 -2024-02-20 17:13:50, INFO: Sparse search: None -2024-02-20 17:13:53, INFO: human number: 10 -2024-02-20 17:13:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:13:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:13:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:13:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:13:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:13:59, INFO: Using device: cpu -2024-02-20 17:13:59, INFO: Loaded RL weights with best VAL -2024-02-20 17:13:59, INFO: Similarity_func: concatenation -2024-02-20 17:13:59, INFO: Layerwise_graph: False -2024-02-20 17:13:59, INFO: Skip_connection: True -2024-02-20 17:13:59, INFO: Number of layers: 1 -2024-02-20 17:13:59, INFO: Similarity_func: concatenation -2024-02-20 17:13:59, INFO: Layerwise_graph: False -2024-02-20 17:13:59, INFO: Skip_connection: True -2024-02-20 17:13:59, INFO: Number of layers: 1 -2024-02-20 17:13:59, INFO: Planning depth: 1 -2024-02-20 17:13:59, INFO: Planning width: 10 -2024-02-20 17:13:59, INFO: Sparse search: None -2024-02-20 17:14:01, INFO: human number: 10 -2024-02-20 17:14:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:14:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:14:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:14:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:14:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:14:06, INFO: Using device: cpu -2024-02-20 17:14:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:14:06, INFO: Similarity_func: concatenation -2024-02-20 17:14:06, INFO: Layerwise_graph: False -2024-02-20 17:14:06, INFO: Skip_connection: True -2024-02-20 17:14:06, INFO: Number of layers: 1 -2024-02-20 17:14:06, INFO: Similarity_func: concatenation -2024-02-20 17:14:06, INFO: Layerwise_graph: False -2024-02-20 17:14:06, INFO: Skip_connection: True -2024-02-20 17:14:06, INFO: Number of layers: 1 -2024-02-20 17:14:06, INFO: Planning depth: 1 -2024-02-20 17:14:06, INFO: Planning width: 10 -2024-02-20 17:14:06, INFO: Sparse search: None -2024-02-20 17:14:09, INFO: human number: 10 -2024-02-20 17:14:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:14:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:14:09, INFO: Square width: 10, circle width: 4 -2024-02-20 17:14:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:14:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:14:13, INFO: Using device: cpu -2024-02-20 17:14:13, INFO: Loaded RL weights with best VAL -2024-02-20 17:14:13, INFO: Similarity_func: concatenation -2024-02-20 17:14:13, INFO: Layerwise_graph: False -2024-02-20 17:14:13, INFO: Skip_connection: True -2024-02-20 17:14:13, INFO: Number of layers: 1 -2024-02-20 17:14:13, INFO: Similarity_func: concatenation -2024-02-20 17:14:13, INFO: Layerwise_graph: False -2024-02-20 17:14:13, INFO: Skip_connection: True -2024-02-20 17:14:13, INFO: Number of layers: 1 -2024-02-20 17:14:13, INFO: Planning depth: 1 -2024-02-20 17:14:13, INFO: Planning width: 10 -2024-02-20 17:14:13, INFO: Sparse search: None -2024-02-20 17:14:16, INFO: human number: 10 -2024-02-20 17:14:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:14:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:14:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:14:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:14:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:14:20, INFO: Using device: cpu -2024-02-20 17:14:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:14:20, INFO: Similarity_func: concatenation -2024-02-20 17:14:20, INFO: Layerwise_graph: False -2024-02-20 17:14:20, INFO: Skip_connection: True -2024-02-20 17:14:20, INFO: Number of layers: 1 -2024-02-20 17:14:20, INFO: Similarity_func: concatenation -2024-02-20 17:14:20, INFO: Layerwise_graph: False -2024-02-20 17:14:20, INFO: Skip_connection: True -2024-02-20 17:14:20, INFO: Number of layers: 1 -2024-02-20 17:14:20, INFO: Planning depth: 1 -2024-02-20 17:14:20, INFO: Planning width: 10 -2024-02-20 17:14:20, INFO: Sparse search: None -2024-02-20 17:14:23, INFO: human number: 10 -2024-02-20 17:14:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:14:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:14:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:14:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:14:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:14:29, INFO: Using device: cpu -2024-02-20 17:14:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:14:29, INFO: Similarity_func: concatenation -2024-02-20 17:14:29, INFO: Layerwise_graph: False -2024-02-20 17:14:29, INFO: Skip_connection: True -2024-02-20 17:14:29, INFO: Number of layers: 1 -2024-02-20 17:14:29, INFO: Similarity_func: concatenation -2024-02-20 17:14:29, INFO: Layerwise_graph: False -2024-02-20 17:14:29, INFO: Skip_connection: True -2024-02-20 17:14:29, INFO: Number of layers: 1 -2024-02-20 17:14:29, INFO: Planning depth: 1 -2024-02-20 17:14:29, INFO: Planning width: 10 -2024-02-20 17:14:29, INFO: Sparse search: None -2024-02-20 17:14:31, INFO: human number: 10 -2024-02-20 17:14:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:14:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:14:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:14:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:14:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:14:35, INFO: Animation.save using -2024-02-20 17:15:26, INFO: It takes 16.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.930133 -2024-02-20 17:15:29, INFO: Using device: cpu -2024-02-20 17:15:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:15:29, INFO: Similarity_func: concatenation -2024-02-20 17:15:29, INFO: Layerwise_graph: False -2024-02-20 17:15:29, INFO: Skip_connection: True -2024-02-20 17:15:29, INFO: Number of layers: 1 -2024-02-20 17:15:29, INFO: Similarity_func: concatenation -2024-02-20 17:15:29, INFO: Layerwise_graph: False -2024-02-20 17:15:29, INFO: Skip_connection: True -2024-02-20 17:15:29, INFO: Number of layers: 1 -2024-02-20 17:15:29, INFO: Planning depth: 1 -2024-02-20 17:15:29, INFO: Planning width: 10 -2024-02-20 17:15:29, INFO: Sparse search: None -2024-02-20 17:15:32, INFO: human number: 10 -2024-02-20 17:15:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:15:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:15:32, INFO: Square width: 10, circle width: 4 -2024-02-20 17:15:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:15:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:15:36, INFO: Using device: cpu -2024-02-20 17:15:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:15:36, INFO: Similarity_func: concatenation -2024-02-20 17:15:36, INFO: Layerwise_graph: False -2024-02-20 17:15:36, INFO: Skip_connection: True -2024-02-20 17:15:36, INFO: Number of layers: 1 -2024-02-20 17:15:36, INFO: Similarity_func: concatenation -2024-02-20 17:15:36, INFO: Layerwise_graph: False -2024-02-20 17:15:36, INFO: Skip_connection: True -2024-02-20 17:15:36, INFO: Number of layers: 1 -2024-02-20 17:15:36, INFO: Planning depth: 1 -2024-02-20 17:15:36, INFO: Planning width: 10 -2024-02-20 17:15:36, INFO: Sparse search: None -2024-02-20 17:15:39, INFO: human number: 10 -2024-02-20 17:15:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:15:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:15:39, INFO: Square width: 10, circle width: 4 -2024-02-20 17:15:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:15:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:15:44, INFO: Using device: cpu -2024-02-20 17:15:44, INFO: Loaded RL weights with best VAL -2024-02-20 17:15:44, INFO: Similarity_func: concatenation -2024-02-20 17:15:44, INFO: Layerwise_graph: False -2024-02-20 17:15:44, INFO: Skip_connection: True -2024-02-20 17:15:44, INFO: Number of layers: 1 -2024-02-20 17:15:44, INFO: Similarity_func: concatenation -2024-02-20 17:15:44, INFO: Layerwise_graph: False -2024-02-20 17:15:44, INFO: Skip_connection: True -2024-02-20 17:15:44, INFO: Number of layers: 1 -2024-02-20 17:15:44, INFO: Planning depth: 1 -2024-02-20 17:15:44, INFO: Planning width: 10 -2024-02-20 17:15:44, INFO: Sparse search: None -2024-02-20 17:15:47, INFO: human number: 10 -2024-02-20 17:15:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:15:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:15:47, INFO: Square width: 10, circle width: 4 -2024-02-20 17:15:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:15:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:15:54, INFO: Using device: cpu -2024-02-20 17:15:54, INFO: Loaded RL weights with best VAL -2024-02-20 17:15:54, INFO: Similarity_func: concatenation -2024-02-20 17:15:54, INFO: Layerwise_graph: False -2024-02-20 17:15:54, INFO: Skip_connection: True -2024-02-20 17:15:54, INFO: Number of layers: 1 -2024-02-20 17:15:54, INFO: Similarity_func: concatenation -2024-02-20 17:15:54, INFO: Layerwise_graph: False -2024-02-20 17:15:54, INFO: Skip_connection: True -2024-02-20 17:15:54, INFO: Number of layers: 1 -2024-02-20 17:15:54, INFO: Planning depth: 1 -2024-02-20 17:15:54, INFO: Planning width: 10 -2024-02-20 17:15:54, INFO: Sparse search: None -2024-02-20 17:15:57, INFO: human number: 10 -2024-02-20 17:15:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:15:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:15:57, INFO: Square width: 10, circle width: 4 -2024-02-20 17:15:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:15:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:15:59, INFO: Animation.save using -2024-02-20 17:16:23, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.081988 -2024-02-20 17:16:26, INFO: Using device: cpu -2024-02-20 17:16:26, INFO: Loaded RL weights with best VAL -2024-02-20 17:16:26, INFO: Similarity_func: concatenation -2024-02-20 17:16:26, INFO: Layerwise_graph: False -2024-02-20 17:16:26, INFO: Skip_connection: True -2024-02-20 17:16:26, INFO: Number of layers: 1 -2024-02-20 17:16:26, INFO: Similarity_func: concatenation -2024-02-20 17:16:26, INFO: Layerwise_graph: False -2024-02-20 17:16:26, INFO: Skip_connection: True -2024-02-20 17:16:26, INFO: Number of layers: 1 -2024-02-20 17:16:26, INFO: Planning depth: 1 -2024-02-20 17:16:26, INFO: Planning width: 10 -2024-02-20 17:16:26, INFO: Sparse search: None -2024-02-20 17:16:29, INFO: human number: 10 -2024-02-20 17:16:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:16:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:16:29, INFO: Square width: 10, circle width: 4 -2024-02-20 17:16:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:16:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:16:33, INFO: Using device: cpu -2024-02-20 17:16:33, INFO: Loaded RL weights with best VAL -2024-02-20 17:16:33, INFO: Similarity_func: concatenation -2024-02-20 17:16:33, INFO: Layerwise_graph: False -2024-02-20 17:16:33, INFO: Skip_connection: True -2024-02-20 17:16:33, INFO: Number of layers: 1 -2024-02-20 17:16:33, INFO: Similarity_func: concatenation -2024-02-20 17:16:33, INFO: Layerwise_graph: False -2024-02-20 17:16:33, INFO: Skip_connection: True -2024-02-20 17:16:33, INFO: Number of layers: 1 -2024-02-20 17:16:33, INFO: Planning depth: 1 -2024-02-20 17:16:33, INFO: Planning width: 10 -2024-02-20 17:16:33, INFO: Sparse search: None -2024-02-20 17:16:36, INFO: human number: 10 -2024-02-20 17:16:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:16:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:16:36, INFO: Square width: 10, circle width: 4 -2024-02-20 17:16:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:16:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:16:42, INFO: Using device: cpu -2024-02-20 17:16:42, INFO: Loaded RL weights with best VAL -2024-02-20 17:16:42, INFO: Similarity_func: concatenation -2024-02-20 17:16:42, INFO: Layerwise_graph: False -2024-02-20 17:16:42, INFO: Skip_connection: True -2024-02-20 17:16:42, INFO: Number of layers: 1 -2024-02-20 17:16:42, INFO: Similarity_func: concatenation -2024-02-20 17:16:42, INFO: Layerwise_graph: False -2024-02-20 17:16:42, INFO: Skip_connection: True -2024-02-20 17:16:42, INFO: Number of layers: 1 -2024-02-20 17:16:42, INFO: Planning depth: 1 -2024-02-20 17:16:42, INFO: Planning width: 10 -2024-02-20 17:16:42, INFO: Sparse search: None -2024-02-20 17:16:44, INFO: human number: 10 -2024-02-20 17:16:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:16:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:16:44, INFO: Square width: 10, circle width: 4 -2024-02-20 17:16:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:16:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:16:49, INFO: Using device: cpu -2024-02-20 17:16:49, INFO: Loaded RL weights with best VAL -2024-02-20 17:16:49, INFO: Similarity_func: concatenation -2024-02-20 17:16:49, INFO: Layerwise_graph: False -2024-02-20 17:16:49, INFO: Skip_connection: True -2024-02-20 17:16:49, INFO: Number of layers: 1 -2024-02-20 17:16:49, INFO: Similarity_func: concatenation -2024-02-20 17:16:49, INFO: Layerwise_graph: False -2024-02-20 17:16:49, INFO: Skip_connection: True -2024-02-20 17:16:49, INFO: Number of layers: 1 -2024-02-20 17:16:49, INFO: Planning depth: 1 -2024-02-20 17:16:49, INFO: Planning width: 10 -2024-02-20 17:16:49, INFO: Sparse search: None -2024-02-20 17:16:52, INFO: human number: 10 -2024-02-20 17:16:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:16:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:16:52, INFO: Square width: 10, circle width: 4 -2024-02-20 17:16:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:16:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:16:57, INFO: Using device: cpu -2024-02-20 17:16:57, INFO: Loaded RL weights with best VAL -2024-02-20 17:16:57, INFO: Similarity_func: concatenation -2024-02-20 17:16:57, INFO: Layerwise_graph: False -2024-02-20 17:16:57, INFO: Skip_connection: True -2024-02-20 17:16:57, INFO: Number of layers: 1 -2024-02-20 17:16:57, INFO: Similarity_func: concatenation -2024-02-20 17:16:57, INFO: Layerwise_graph: False -2024-02-20 17:16:57, INFO: Skip_connection: True -2024-02-20 17:16:57, INFO: Number of layers: 1 -2024-02-20 17:16:57, INFO: Planning depth: 1 -2024-02-20 17:16:57, INFO: Planning width: 10 -2024-02-20 17:16:57, INFO: Sparse search: None -2024-02-20 17:17:00, INFO: human number: 10 -2024-02-20 17:17:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:17:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:17:00, INFO: Square width: 10, circle width: 4 -2024-02-20 17:17:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:17:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:17:06, INFO: Using device: cpu -2024-02-20 17:17:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:17:06, INFO: Similarity_func: concatenation -2024-02-20 17:17:06, INFO: Layerwise_graph: False -2024-02-20 17:17:06, INFO: Skip_connection: True -2024-02-20 17:17:06, INFO: Number of layers: 1 -2024-02-20 17:17:06, INFO: Similarity_func: concatenation -2024-02-20 17:17:06, INFO: Layerwise_graph: False -2024-02-20 17:17:06, INFO: Skip_connection: True -2024-02-20 17:17:06, INFO: Number of layers: 1 -2024-02-20 17:17:06, INFO: Planning depth: 1 -2024-02-20 17:17:06, INFO: Planning width: 10 -2024-02-20 17:17:06, INFO: Sparse search: None -2024-02-20 17:17:09, INFO: human number: 10 -2024-02-20 17:17:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:17:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:17:09, INFO: Square width: 10, circle width: 4 -2024-02-20 17:17:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:17:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:17:14, INFO: Using device: cpu -2024-02-20 17:17:14, INFO: Loaded RL weights with best VAL -2024-02-20 17:17:14, INFO: Similarity_func: concatenation -2024-02-20 17:17:14, INFO: Layerwise_graph: False -2024-02-20 17:17:14, INFO: Skip_connection: True -2024-02-20 17:17:14, INFO: Number of layers: 1 -2024-02-20 17:17:14, INFO: Similarity_func: concatenation -2024-02-20 17:17:14, INFO: Layerwise_graph: False -2024-02-20 17:17:14, INFO: Skip_connection: True -2024-02-20 17:17:14, INFO: Number of layers: 1 -2024-02-20 17:17:14, INFO: Planning depth: 1 -2024-02-20 17:17:14, INFO: Planning width: 10 -2024-02-20 17:17:14, INFO: Sparse search: None -2024-02-20 17:17:17, INFO: human number: 10 -2024-02-20 17:17:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:17:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:17:17, INFO: Square width: 10, circle width: 4 -2024-02-20 17:17:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:17:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:17:19, INFO: Animation.save using -2024-02-20 17:17:45, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.973914 -2024-02-20 17:17:48, INFO: Using device: cpu -2024-02-20 17:17:48, INFO: Loaded RL weights with best VAL -2024-02-20 17:17:48, INFO: Similarity_func: concatenation -2024-02-20 17:17:48, INFO: Layerwise_graph: False -2024-02-20 17:17:48, INFO: Skip_connection: True -2024-02-20 17:17:48, INFO: Number of layers: 1 -2024-02-20 17:17:48, INFO: Similarity_func: concatenation -2024-02-20 17:17:48, INFO: Layerwise_graph: False -2024-02-20 17:17:48, INFO: Skip_connection: True -2024-02-20 17:17:48, INFO: Number of layers: 1 -2024-02-20 17:17:48, INFO: Planning depth: 1 -2024-02-20 17:17:48, INFO: Planning width: 10 -2024-02-20 17:17:48, INFO: Sparse search: None -2024-02-20 17:17:51, INFO: human number: 10 -2024-02-20 17:17:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:17:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:17:51, INFO: Square width: 10, circle width: 4 -2024-02-20 17:17:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:17:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:17:58, INFO: Using device: cpu -2024-02-20 17:17:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:17:58, INFO: Similarity_func: concatenation -2024-02-20 17:17:58, INFO: Layerwise_graph: False -2024-02-20 17:17:58, INFO: Skip_connection: True -2024-02-20 17:17:58, INFO: Number of layers: 1 -2024-02-20 17:17:58, INFO: Similarity_func: concatenation -2024-02-20 17:17:58, INFO: Layerwise_graph: False -2024-02-20 17:17:58, INFO: Skip_connection: True -2024-02-20 17:17:58, INFO: Number of layers: 1 -2024-02-20 17:17:58, INFO: Planning depth: 1 -2024-02-20 17:17:58, INFO: Planning width: 10 -2024-02-20 17:17:58, INFO: Sparse search: None -2024-02-20 17:18:01, INFO: human number: 10 -2024-02-20 17:18:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:18:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:18:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:18:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:18:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:18:08, INFO: Using device: cpu -2024-02-20 17:18:08, INFO: Loaded RL weights with best VAL -2024-02-20 17:18:08, INFO: Similarity_func: concatenation -2024-02-20 17:18:08, INFO: Layerwise_graph: False -2024-02-20 17:18:08, INFO: Skip_connection: True -2024-02-20 17:18:08, INFO: Number of layers: 1 -2024-02-20 17:18:08, INFO: Similarity_func: concatenation -2024-02-20 17:18:08, INFO: Layerwise_graph: False -2024-02-20 17:18:08, INFO: Skip_connection: True -2024-02-20 17:18:08, INFO: Number of layers: 1 -2024-02-20 17:18:08, INFO: Planning depth: 1 -2024-02-20 17:18:08, INFO: Planning width: 10 -2024-02-20 17:18:08, INFO: Sparse search: None -2024-02-20 17:18:11, INFO: human number: 10 -2024-02-20 17:18:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:18:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:18:11, INFO: Square width: 10, circle width: 4 -2024-02-20 17:18:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:18:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:18:12, INFO: Animation.save using -2024-02-20 17:18:35, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.057315 -2024-02-20 17:18:38, INFO: Using device: cpu -2024-02-20 17:18:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:18:38, INFO: Similarity_func: concatenation -2024-02-20 17:18:38, INFO: Layerwise_graph: False -2024-02-20 17:18:38, INFO: Skip_connection: True -2024-02-20 17:18:38, INFO: Number of layers: 1 -2024-02-20 17:18:38, INFO: Similarity_func: concatenation -2024-02-20 17:18:38, INFO: Layerwise_graph: False -2024-02-20 17:18:38, INFO: Skip_connection: True -2024-02-20 17:18:38, INFO: Number of layers: 1 -2024-02-20 17:18:38, INFO: Planning depth: 1 -2024-02-20 17:18:38, INFO: Planning width: 10 -2024-02-20 17:18:38, INFO: Sparse search: None -2024-02-20 17:18:41, INFO: human number: 10 -2024-02-20 17:18:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:18:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:18:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:18:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:18:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:18:46, INFO: Using device: cpu -2024-02-20 17:18:46, INFO: Loaded RL weights with best VAL -2024-02-20 17:18:46, INFO: Similarity_func: concatenation -2024-02-20 17:18:46, INFO: Layerwise_graph: False -2024-02-20 17:18:46, INFO: Skip_connection: True -2024-02-20 17:18:46, INFO: Number of layers: 1 -2024-02-20 17:18:46, INFO: Similarity_func: concatenation -2024-02-20 17:18:46, INFO: Layerwise_graph: False -2024-02-20 17:18:46, INFO: Skip_connection: True -2024-02-20 17:18:46, INFO: Number of layers: 1 -2024-02-20 17:18:46, INFO: Planning depth: 1 -2024-02-20 17:18:46, INFO: Planning width: 10 -2024-02-20 17:18:46, INFO: Sparse search: None -2024-02-20 17:18:48, INFO: human number: 10 -2024-02-20 17:18:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:18:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:18:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:18:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:18:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:18:54, INFO: Using device: cpu -2024-02-20 17:18:54, INFO: Loaded RL weights with best VAL -2024-02-20 17:18:54, INFO: Similarity_func: concatenation -2024-02-20 17:18:54, INFO: Layerwise_graph: False -2024-02-20 17:18:54, INFO: Skip_connection: True -2024-02-20 17:18:54, INFO: Number of layers: 1 -2024-02-20 17:18:54, INFO: Similarity_func: concatenation -2024-02-20 17:18:54, INFO: Layerwise_graph: False -2024-02-20 17:18:54, INFO: Skip_connection: True -2024-02-20 17:18:54, INFO: Number of layers: 1 -2024-02-20 17:18:54, INFO: Planning depth: 1 -2024-02-20 17:18:54, INFO: Planning width: 10 -2024-02-20 17:18:54, INFO: Sparse search: None -2024-02-20 17:18:57, INFO: human number: 10 -2024-02-20 17:18:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:18:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:18:57, INFO: Square width: 10, circle width: 4 -2024-02-20 17:18:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:18:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:01, INFO: Using device: cpu -2024-02-20 17:19:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:01, INFO: Similarity_func: concatenation -2024-02-20 17:19:01, INFO: Layerwise_graph: False -2024-02-20 17:19:01, INFO: Skip_connection: True -2024-02-20 17:19:01, INFO: Number of layers: 1 -2024-02-20 17:19:01, INFO: Similarity_func: concatenation -2024-02-20 17:19:01, INFO: Layerwise_graph: False -2024-02-20 17:19:01, INFO: Skip_connection: True -2024-02-20 17:19:01, INFO: Number of layers: 1 -2024-02-20 17:19:01, INFO: Planning depth: 1 -2024-02-20 17:19:01, INFO: Planning width: 10 -2024-02-20 17:19:01, INFO: Sparse search: None -2024-02-20 17:19:04, INFO: human number: 10 -2024-02-20 17:19:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:09, INFO: Using device: cpu -2024-02-20 17:19:09, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:09, INFO: Similarity_func: concatenation -2024-02-20 17:19:09, INFO: Layerwise_graph: False -2024-02-20 17:19:09, INFO: Skip_connection: True -2024-02-20 17:19:09, INFO: Number of layers: 1 -2024-02-20 17:19:09, INFO: Similarity_func: concatenation -2024-02-20 17:19:09, INFO: Layerwise_graph: False -2024-02-20 17:19:09, INFO: Skip_connection: True -2024-02-20 17:19:09, INFO: Number of layers: 1 -2024-02-20 17:19:09, INFO: Planning depth: 1 -2024-02-20 17:19:09, INFO: Planning width: 10 -2024-02-20 17:19:09, INFO: Sparse search: None -2024-02-20 17:19:11, INFO: human number: 10 -2024-02-20 17:19:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:11, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:16, INFO: Using device: cpu -2024-02-20 17:19:16, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:16, INFO: Similarity_func: concatenation -2024-02-20 17:19:16, INFO: Layerwise_graph: False -2024-02-20 17:19:16, INFO: Skip_connection: True -2024-02-20 17:19:16, INFO: Number of layers: 1 -2024-02-20 17:19:16, INFO: Similarity_func: concatenation -2024-02-20 17:19:16, INFO: Layerwise_graph: False -2024-02-20 17:19:16, INFO: Skip_connection: True -2024-02-20 17:19:16, INFO: Number of layers: 1 -2024-02-20 17:19:16, INFO: Planning depth: 1 -2024-02-20 17:19:16, INFO: Planning width: 10 -2024-02-20 17:19:16, INFO: Sparse search: None -2024-02-20 17:19:19, INFO: human number: 10 -2024-02-20 17:19:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:19, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:24, INFO: Using device: cpu -2024-02-20 17:19:24, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:24, INFO: Similarity_func: concatenation -2024-02-20 17:19:24, INFO: Layerwise_graph: False -2024-02-20 17:19:24, INFO: Skip_connection: True -2024-02-20 17:19:24, INFO: Number of layers: 1 -2024-02-20 17:19:24, INFO: Similarity_func: concatenation -2024-02-20 17:19:24, INFO: Layerwise_graph: False -2024-02-20 17:19:24, INFO: Skip_connection: True -2024-02-20 17:19:24, INFO: Number of layers: 1 -2024-02-20 17:19:24, INFO: Planning depth: 1 -2024-02-20 17:19:24, INFO: Planning width: 10 -2024-02-20 17:19:24, INFO: Sparse search: None -2024-02-20 17:19:27, INFO: human number: 10 -2024-02-20 17:19:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:27, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:32, INFO: Using device: cpu -2024-02-20 17:19:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:32, INFO: Similarity_func: concatenation -2024-02-20 17:19:32, INFO: Layerwise_graph: False -2024-02-20 17:19:32, INFO: Skip_connection: True -2024-02-20 17:19:32, INFO: Number of layers: 1 -2024-02-20 17:19:32, INFO: Similarity_func: concatenation -2024-02-20 17:19:32, INFO: Layerwise_graph: False -2024-02-20 17:19:32, INFO: Skip_connection: True -2024-02-20 17:19:32, INFO: Number of layers: 1 -2024-02-20 17:19:32, INFO: Planning depth: 1 -2024-02-20 17:19:32, INFO: Planning width: 10 -2024-02-20 17:19:32, INFO: Sparse search: None -2024-02-20 17:19:35, INFO: human number: 10 -2024-02-20 17:19:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:40, INFO: Using device: cpu -2024-02-20 17:19:40, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:40, INFO: Similarity_func: concatenation -2024-02-20 17:19:40, INFO: Layerwise_graph: False -2024-02-20 17:19:40, INFO: Skip_connection: True -2024-02-20 17:19:40, INFO: Number of layers: 1 -2024-02-20 17:19:40, INFO: Similarity_func: concatenation -2024-02-20 17:19:40, INFO: Layerwise_graph: False -2024-02-20 17:19:40, INFO: Skip_connection: True -2024-02-20 17:19:40, INFO: Number of layers: 1 -2024-02-20 17:19:40, INFO: Planning depth: 1 -2024-02-20 17:19:40, INFO: Planning width: 10 -2024-02-20 17:19:40, INFO: Sparse search: None -2024-02-20 17:19:43, INFO: human number: 10 -2024-02-20 17:19:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:43, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:48, INFO: Using device: cpu -2024-02-20 17:19:48, INFO: Loaded RL weights with best VAL -2024-02-20 17:19:48, INFO: Similarity_func: concatenation -2024-02-20 17:19:48, INFO: Layerwise_graph: False -2024-02-20 17:19:48, INFO: Skip_connection: True -2024-02-20 17:19:48, INFO: Number of layers: 1 -2024-02-20 17:19:48, INFO: Similarity_func: concatenation -2024-02-20 17:19:48, INFO: Layerwise_graph: False -2024-02-20 17:19:48, INFO: Skip_connection: True -2024-02-20 17:19:48, INFO: Number of layers: 1 -2024-02-20 17:19:48, INFO: Planning depth: 1 -2024-02-20 17:19:48, INFO: Planning width: 10 -2024-02-20 17:19:48, INFO: Sparse search: None -2024-02-20 17:19:51, INFO: human number: 10 -2024-02-20 17:19:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:19:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:19:51, INFO: Square width: 10, circle width: 4 -2024-02-20 17:19:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:19:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:19:52, INFO: Animation.save using -2024-02-20 17:20:28, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.971103 -2024-02-20 17:20:31, INFO: Using device: cpu -2024-02-20 17:20:31, INFO: Loaded RL weights with best VAL -2024-02-20 17:20:31, INFO: Similarity_func: concatenation -2024-02-20 17:20:31, INFO: Layerwise_graph: False -2024-02-20 17:20:31, INFO: Skip_connection: True -2024-02-20 17:20:31, INFO: Number of layers: 1 -2024-02-20 17:20:31, INFO: Similarity_func: concatenation -2024-02-20 17:20:31, INFO: Layerwise_graph: False -2024-02-20 17:20:31, INFO: Skip_connection: True -2024-02-20 17:20:31, INFO: Number of layers: 1 -2024-02-20 17:20:31, INFO: Planning depth: 1 -2024-02-20 17:20:31, INFO: Planning width: 10 -2024-02-20 17:20:31, INFO: Sparse search: None -2024-02-20 17:20:34, INFO: human number: 10 -2024-02-20 17:20:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:20:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:20:34, INFO: Square width: 10, circle width: 4 -2024-02-20 17:20:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:20:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:20:39, INFO: Using device: cpu -2024-02-20 17:20:39, INFO: Loaded RL weights with best VAL -2024-02-20 17:20:39, INFO: Similarity_func: concatenation -2024-02-20 17:20:39, INFO: Layerwise_graph: False -2024-02-20 17:20:39, INFO: Skip_connection: True -2024-02-20 17:20:39, INFO: Number of layers: 1 -2024-02-20 17:20:39, INFO: Similarity_func: concatenation -2024-02-20 17:20:39, INFO: Layerwise_graph: False -2024-02-20 17:20:39, INFO: Skip_connection: True -2024-02-20 17:20:39, INFO: Number of layers: 1 -2024-02-20 17:20:39, INFO: Planning depth: 1 -2024-02-20 17:20:39, INFO: Planning width: 10 -2024-02-20 17:20:39, INFO: Sparse search: None -2024-02-20 17:20:42, INFO: human number: 10 -2024-02-20 17:20:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:20:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:20:42, INFO: Square width: 10, circle width: 4 -2024-02-20 17:20:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:20:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:20:44, INFO: Animation.save using -2024-02-20 17:21:20, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.906785 -2024-02-20 17:21:23, INFO: Using device: cpu -2024-02-20 17:21:23, INFO: Loaded RL weights with best VAL -2024-02-20 17:21:23, INFO: Similarity_func: concatenation -2024-02-20 17:21:23, INFO: Layerwise_graph: False -2024-02-20 17:21:23, INFO: Skip_connection: True -2024-02-20 17:21:23, INFO: Number of layers: 1 -2024-02-20 17:21:23, INFO: Similarity_func: concatenation -2024-02-20 17:21:23, INFO: Layerwise_graph: False -2024-02-20 17:21:23, INFO: Skip_connection: True -2024-02-20 17:21:23, INFO: Number of layers: 1 -2024-02-20 17:21:23, INFO: Planning depth: 1 -2024-02-20 17:21:23, INFO: Planning width: 10 -2024-02-20 17:21:23, INFO: Sparse search: None -2024-02-20 17:21:26, INFO: human number: 10 -2024-02-20 17:21:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:21:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:21:26, INFO: Square width: 10, circle width: 4 -2024-02-20 17:21:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:21:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:21:31, INFO: Using device: cpu -2024-02-20 17:21:31, INFO: Loaded RL weights with best VAL -2024-02-20 17:21:31, INFO: Similarity_func: concatenation -2024-02-20 17:21:31, INFO: Layerwise_graph: False -2024-02-20 17:21:31, INFO: Skip_connection: True -2024-02-20 17:21:31, INFO: Number of layers: 1 -2024-02-20 17:21:31, INFO: Similarity_func: concatenation -2024-02-20 17:21:31, INFO: Layerwise_graph: False -2024-02-20 17:21:31, INFO: Skip_connection: True -2024-02-20 17:21:31, INFO: Number of layers: 1 -2024-02-20 17:21:31, INFO: Planning depth: 1 -2024-02-20 17:21:31, INFO: Planning width: 10 -2024-02-20 17:21:31, INFO: Sparse search: None -2024-02-20 17:21:34, INFO: human number: 10 -2024-02-20 17:21:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:21:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:21:34, INFO: Square width: 10, circle width: 4 -2024-02-20 17:21:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:21:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:21:39, INFO: Using device: cpu -2024-02-20 17:21:39, INFO: Loaded RL weights with best VAL -2024-02-20 17:21:39, INFO: Similarity_func: concatenation -2024-02-20 17:21:39, INFO: Layerwise_graph: False -2024-02-20 17:21:39, INFO: Skip_connection: True -2024-02-20 17:21:39, INFO: Number of layers: 1 -2024-02-20 17:21:39, INFO: Similarity_func: concatenation -2024-02-20 17:21:39, INFO: Layerwise_graph: False -2024-02-20 17:21:39, INFO: Skip_connection: True -2024-02-20 17:21:39, INFO: Number of layers: 1 -2024-02-20 17:21:39, INFO: Planning depth: 1 -2024-02-20 17:21:39, INFO: Planning width: 10 -2024-02-20 17:21:39, INFO: Sparse search: None -2024-02-20 17:21:42, INFO: human number: 10 -2024-02-20 17:21:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:21:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:21:42, INFO: Square width: 10, circle width: 4 -2024-02-20 17:21:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:21:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:21:48, INFO: Using device: cpu -2024-02-20 17:21:48, INFO: Loaded RL weights with best VAL -2024-02-20 17:21:48, INFO: Similarity_func: concatenation -2024-02-20 17:21:48, INFO: Layerwise_graph: False -2024-02-20 17:21:48, INFO: Skip_connection: True -2024-02-20 17:21:48, INFO: Number of layers: 1 -2024-02-20 17:21:48, INFO: Similarity_func: concatenation -2024-02-20 17:21:48, INFO: Layerwise_graph: False -2024-02-20 17:21:48, INFO: Skip_connection: True -2024-02-20 17:21:48, INFO: Number of layers: 1 -2024-02-20 17:21:48, INFO: Planning depth: 1 -2024-02-20 17:21:48, INFO: Planning width: 10 -2024-02-20 17:21:48, INFO: Sparse search: None -2024-02-20 17:21:50, INFO: human number: 10 -2024-02-20 17:21:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:21:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:21:50, INFO: Square width: 10, circle width: 4 -2024-02-20 17:21:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:21:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:21:55, INFO: Using device: cpu -2024-02-20 17:21:55, INFO: Loaded RL weights with best VAL -2024-02-20 17:21:55, INFO: Similarity_func: concatenation -2024-02-20 17:21:55, INFO: Layerwise_graph: False -2024-02-20 17:21:55, INFO: Skip_connection: True -2024-02-20 17:21:55, INFO: Number of layers: 1 -2024-02-20 17:21:55, INFO: Similarity_func: concatenation -2024-02-20 17:21:55, INFO: Layerwise_graph: False -2024-02-20 17:21:55, INFO: Skip_connection: True -2024-02-20 17:21:55, INFO: Number of layers: 1 -2024-02-20 17:21:55, INFO: Planning depth: 1 -2024-02-20 17:21:55, INFO: Planning width: 10 -2024-02-20 17:21:55, INFO: Sparse search: None -2024-02-20 17:21:58, INFO: human number: 10 -2024-02-20 17:21:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:21:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:21:58, INFO: Square width: 10, circle width: 4 -2024-02-20 17:21:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:21:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:02, INFO: Using device: cpu -2024-02-20 17:22:02, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:02, INFO: Similarity_func: concatenation -2024-02-20 17:22:02, INFO: Layerwise_graph: False -2024-02-20 17:22:02, INFO: Skip_connection: True -2024-02-20 17:22:02, INFO: Number of layers: 1 -2024-02-20 17:22:02, INFO: Similarity_func: concatenation -2024-02-20 17:22:02, INFO: Layerwise_graph: False -2024-02-20 17:22:02, INFO: Skip_connection: True -2024-02-20 17:22:02, INFO: Number of layers: 1 -2024-02-20 17:22:02, INFO: Planning depth: 1 -2024-02-20 17:22:02, INFO: Planning width: 10 -2024-02-20 17:22:02, INFO: Sparse search: None -2024-02-20 17:22:05, INFO: human number: 10 -2024-02-20 17:22:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:05, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:10, INFO: Using device: cpu -2024-02-20 17:22:10, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:10, INFO: Similarity_func: concatenation -2024-02-20 17:22:10, INFO: Layerwise_graph: False -2024-02-20 17:22:10, INFO: Skip_connection: True -2024-02-20 17:22:10, INFO: Number of layers: 1 -2024-02-20 17:22:10, INFO: Similarity_func: concatenation -2024-02-20 17:22:10, INFO: Layerwise_graph: False -2024-02-20 17:22:10, INFO: Skip_connection: True -2024-02-20 17:22:10, INFO: Number of layers: 1 -2024-02-20 17:22:10, INFO: Planning depth: 1 -2024-02-20 17:22:10, INFO: Planning width: 10 -2024-02-20 17:22:10, INFO: Sparse search: None -2024-02-20 17:22:12, INFO: human number: 10 -2024-02-20 17:22:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:12, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:17, INFO: Using device: cpu -2024-02-20 17:22:17, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:17, INFO: Similarity_func: concatenation -2024-02-20 17:22:17, INFO: Layerwise_graph: False -2024-02-20 17:22:17, INFO: Skip_connection: True -2024-02-20 17:22:17, INFO: Number of layers: 1 -2024-02-20 17:22:17, INFO: Similarity_func: concatenation -2024-02-20 17:22:17, INFO: Layerwise_graph: False -2024-02-20 17:22:17, INFO: Skip_connection: True -2024-02-20 17:22:17, INFO: Number of layers: 1 -2024-02-20 17:22:17, INFO: Planning depth: 1 -2024-02-20 17:22:17, INFO: Planning width: 10 -2024-02-20 17:22:17, INFO: Sparse search: None -2024-02-20 17:22:20, INFO: human number: 10 -2024-02-20 17:22:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:20, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:24, INFO: Using device: cpu -2024-02-20 17:22:24, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:24, INFO: Similarity_func: concatenation -2024-02-20 17:22:24, INFO: Layerwise_graph: False -2024-02-20 17:22:24, INFO: Skip_connection: True -2024-02-20 17:22:24, INFO: Number of layers: 1 -2024-02-20 17:22:24, INFO: Similarity_func: concatenation -2024-02-20 17:22:24, INFO: Layerwise_graph: False -2024-02-20 17:22:24, INFO: Skip_connection: True -2024-02-20 17:22:24, INFO: Number of layers: 1 -2024-02-20 17:22:24, INFO: Planning depth: 1 -2024-02-20 17:22:24, INFO: Planning width: 10 -2024-02-20 17:22:24, INFO: Sparse search: None -2024-02-20 17:22:27, INFO: human number: 10 -2024-02-20 17:22:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:27, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:32, INFO: Using device: cpu -2024-02-20 17:22:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:32, INFO: Similarity_func: concatenation -2024-02-20 17:22:32, INFO: Layerwise_graph: False -2024-02-20 17:22:32, INFO: Skip_connection: True -2024-02-20 17:22:32, INFO: Number of layers: 1 -2024-02-20 17:22:32, INFO: Similarity_func: concatenation -2024-02-20 17:22:32, INFO: Layerwise_graph: False -2024-02-20 17:22:32, INFO: Skip_connection: True -2024-02-20 17:22:32, INFO: Number of layers: 1 -2024-02-20 17:22:32, INFO: Planning depth: 1 -2024-02-20 17:22:32, INFO: Planning width: 10 -2024-02-20 17:22:32, INFO: Sparse search: None -2024-02-20 17:22:35, INFO: human number: 10 -2024-02-20 17:22:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:40, INFO: Using device: cpu -2024-02-20 17:22:40, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:40, INFO: Similarity_func: concatenation -2024-02-20 17:22:40, INFO: Layerwise_graph: False -2024-02-20 17:22:40, INFO: Skip_connection: True -2024-02-20 17:22:40, INFO: Number of layers: 1 -2024-02-20 17:22:40, INFO: Similarity_func: concatenation -2024-02-20 17:22:40, INFO: Layerwise_graph: False -2024-02-20 17:22:40, INFO: Skip_connection: True -2024-02-20 17:22:40, INFO: Number of layers: 1 -2024-02-20 17:22:40, INFO: Planning depth: 1 -2024-02-20 17:22:40, INFO: Planning width: 10 -2024-02-20 17:22:40, INFO: Sparse search: None -2024-02-20 17:22:43, INFO: human number: 10 -2024-02-20 17:22:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:43, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:48, INFO: Using device: cpu -2024-02-20 17:22:48, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:48, INFO: Similarity_func: concatenation -2024-02-20 17:22:48, INFO: Layerwise_graph: False -2024-02-20 17:22:48, INFO: Skip_connection: True -2024-02-20 17:22:48, INFO: Number of layers: 1 -2024-02-20 17:22:48, INFO: Similarity_func: concatenation -2024-02-20 17:22:48, INFO: Layerwise_graph: False -2024-02-20 17:22:48, INFO: Skip_connection: True -2024-02-20 17:22:48, INFO: Number of layers: 1 -2024-02-20 17:22:48, INFO: Planning depth: 1 -2024-02-20 17:22:48, INFO: Planning width: 10 -2024-02-20 17:22:48, INFO: Sparse search: None -2024-02-20 17:22:51, INFO: human number: 10 -2024-02-20 17:22:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:22:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:22:51, INFO: Square width: 10, circle width: 4 -2024-02-20 17:22:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:22:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:22:58, INFO: Using device: cpu -2024-02-20 17:22:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:22:58, INFO: Similarity_func: concatenation -2024-02-20 17:22:58, INFO: Layerwise_graph: False -2024-02-20 17:22:58, INFO: Skip_connection: True -2024-02-20 17:22:58, INFO: Number of layers: 1 -2024-02-20 17:22:58, INFO: Similarity_func: concatenation -2024-02-20 17:22:58, INFO: Layerwise_graph: False -2024-02-20 17:22:58, INFO: Skip_connection: True -2024-02-20 17:22:58, INFO: Number of layers: 1 -2024-02-20 17:22:58, INFO: Planning depth: 1 -2024-02-20 17:22:58, INFO: Planning width: 10 -2024-02-20 17:22:58, INFO: Sparse search: None -2024-02-20 17:23:01, INFO: human number: 10 -2024-02-20 17:23:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:23:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:23:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:23:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:23:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:23:06, INFO: Using device: cpu -2024-02-20 17:23:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:23:06, INFO: Similarity_func: concatenation -2024-02-20 17:23:06, INFO: Layerwise_graph: False -2024-02-20 17:23:06, INFO: Skip_connection: True -2024-02-20 17:23:06, INFO: Number of layers: 1 -2024-02-20 17:23:06, INFO: Similarity_func: concatenation -2024-02-20 17:23:06, INFO: Layerwise_graph: False -2024-02-20 17:23:06, INFO: Skip_connection: True -2024-02-20 17:23:06, INFO: Number of layers: 1 -2024-02-20 17:23:06, INFO: Planning depth: 1 -2024-02-20 17:23:06, INFO: Planning width: 10 -2024-02-20 17:23:06, INFO: Sparse search: None -2024-02-20 17:23:08, INFO: human number: 10 -2024-02-20 17:23:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:23:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:23:08, INFO: Square width: 10, circle width: 4 -2024-02-20 17:23:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:23:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:23:10, INFO: Animation.save using -2024-02-20 17:23:48, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.939316 -2024-02-20 17:23:52, INFO: Using device: cpu -2024-02-20 17:23:52, INFO: Loaded RL weights with best VAL -2024-02-20 17:23:52, INFO: Similarity_func: concatenation -2024-02-20 17:23:52, INFO: Layerwise_graph: False -2024-02-20 17:23:52, INFO: Skip_connection: True -2024-02-20 17:23:52, INFO: Number of layers: 1 -2024-02-20 17:23:52, INFO: Similarity_func: concatenation -2024-02-20 17:23:52, INFO: Layerwise_graph: False -2024-02-20 17:23:52, INFO: Skip_connection: True -2024-02-20 17:23:52, INFO: Number of layers: 1 -2024-02-20 17:23:52, INFO: Planning depth: 1 -2024-02-20 17:23:52, INFO: Planning width: 10 -2024-02-20 17:23:52, INFO: Sparse search: None -2024-02-20 17:23:54, INFO: human number: 10 -2024-02-20 17:23:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:23:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:23:54, INFO: Square width: 10, circle width: 4 -2024-02-20 17:23:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:23:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:23:59, INFO: Using device: cpu -2024-02-20 17:23:59, INFO: Loaded RL weights with best VAL -2024-02-20 17:23:59, INFO: Similarity_func: concatenation -2024-02-20 17:23:59, INFO: Layerwise_graph: False -2024-02-20 17:23:59, INFO: Skip_connection: True -2024-02-20 17:23:59, INFO: Number of layers: 1 -2024-02-20 17:23:59, INFO: Similarity_func: concatenation -2024-02-20 17:23:59, INFO: Layerwise_graph: False -2024-02-20 17:23:59, INFO: Skip_connection: True -2024-02-20 17:23:59, INFO: Number of layers: 1 -2024-02-20 17:23:59, INFO: Planning depth: 1 -2024-02-20 17:23:59, INFO: Planning width: 10 -2024-02-20 17:23:59, INFO: Sparse search: None -2024-02-20 17:24:02, INFO: human number: 10 -2024-02-20 17:24:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:24:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:24:02, INFO: Square width: 10, circle width: 4 -2024-02-20 17:24:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:24:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:24:03, INFO: Animation.save using -2024-02-20 17:24:27, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127311 -2024-02-20 17:24:30, INFO: Using device: cpu -2024-02-20 17:24:30, INFO: Loaded RL weights with best VAL -2024-02-20 17:24:30, INFO: Similarity_func: concatenation -2024-02-20 17:24:30, INFO: Layerwise_graph: False -2024-02-20 17:24:30, INFO: Skip_connection: True -2024-02-20 17:24:30, INFO: Number of layers: 1 -2024-02-20 17:24:30, INFO: Similarity_func: concatenation -2024-02-20 17:24:30, INFO: Layerwise_graph: False -2024-02-20 17:24:30, INFO: Skip_connection: True -2024-02-20 17:24:30, INFO: Number of layers: 1 -2024-02-20 17:24:30, INFO: Planning depth: 1 -2024-02-20 17:24:30, INFO: Planning width: 10 -2024-02-20 17:24:30, INFO: Sparse search: None -2024-02-20 17:24:33, INFO: human number: 10 -2024-02-20 17:24:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:24:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:24:33, INFO: Square width: 10, circle width: 4 -2024-02-20 17:24:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:24:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:24:38, INFO: Using device: cpu -2024-02-20 17:24:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:24:38, INFO: Similarity_func: concatenation -2024-02-20 17:24:38, INFO: Layerwise_graph: False -2024-02-20 17:24:38, INFO: Skip_connection: True -2024-02-20 17:24:38, INFO: Number of layers: 1 -2024-02-20 17:24:38, INFO: Similarity_func: concatenation -2024-02-20 17:24:38, INFO: Layerwise_graph: False -2024-02-20 17:24:38, INFO: Skip_connection: True -2024-02-20 17:24:38, INFO: Number of layers: 1 -2024-02-20 17:24:38, INFO: Planning depth: 1 -2024-02-20 17:24:38, INFO: Planning width: 10 -2024-02-20 17:24:38, INFO: Sparse search: None -2024-02-20 17:24:40, INFO: human number: 10 -2024-02-20 17:24:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:24:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:24:40, INFO: Square width: 10, circle width: 4 -2024-02-20 17:24:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:24:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:24:45, INFO: Using device: cpu -2024-02-20 17:24:45, INFO: Loaded RL weights with best VAL -2024-02-20 17:24:45, INFO: Similarity_func: concatenation -2024-02-20 17:24:45, INFO: Layerwise_graph: False -2024-02-20 17:24:45, INFO: Skip_connection: True -2024-02-20 17:24:45, INFO: Number of layers: 1 -2024-02-20 17:24:45, INFO: Similarity_func: concatenation -2024-02-20 17:24:45, INFO: Layerwise_graph: False -2024-02-20 17:24:45, INFO: Skip_connection: True -2024-02-20 17:24:45, INFO: Number of layers: 1 -2024-02-20 17:24:45, INFO: Planning depth: 1 -2024-02-20 17:24:45, INFO: Planning width: 10 -2024-02-20 17:24:45, INFO: Sparse search: None -2024-02-20 17:24:48, INFO: human number: 10 -2024-02-20 17:24:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:24:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:24:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:24:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:24:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:24:53, INFO: Using device: cpu -2024-02-20 17:24:53, INFO: Loaded RL weights with best VAL -2024-02-20 17:24:53, INFO: Similarity_func: concatenation -2024-02-20 17:24:53, INFO: Layerwise_graph: False -2024-02-20 17:24:53, INFO: Skip_connection: True -2024-02-20 17:24:53, INFO: Number of layers: 1 -2024-02-20 17:24:53, INFO: Similarity_func: concatenation -2024-02-20 17:24:53, INFO: Layerwise_graph: False -2024-02-20 17:24:53, INFO: Skip_connection: True -2024-02-20 17:24:53, INFO: Number of layers: 1 -2024-02-20 17:24:53, INFO: Planning depth: 1 -2024-02-20 17:24:53, INFO: Planning width: 10 -2024-02-20 17:24:53, INFO: Sparse search: None -2024-02-20 17:24:56, INFO: human number: 10 -2024-02-20 17:24:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:24:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:24:56, INFO: Square width: 10, circle width: 4 -2024-02-20 17:24:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:24:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:25:01, INFO: Using device: cpu -2024-02-20 17:25:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:25:01, INFO: Similarity_func: concatenation -2024-02-20 17:25:01, INFO: Layerwise_graph: False -2024-02-20 17:25:01, INFO: Skip_connection: True -2024-02-20 17:25:01, INFO: Number of layers: 1 -2024-02-20 17:25:01, INFO: Similarity_func: concatenation -2024-02-20 17:25:01, INFO: Layerwise_graph: False -2024-02-20 17:25:01, INFO: Skip_connection: True -2024-02-20 17:25:01, INFO: Number of layers: 1 -2024-02-20 17:25:01, INFO: Planning depth: 1 -2024-02-20 17:25:01, INFO: Planning width: 10 -2024-02-20 17:25:01, INFO: Sparse search: None -2024-02-20 17:25:04, INFO: human number: 10 -2024-02-20 17:25:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:25:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:25:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:25:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:25:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:25:08, INFO: Using device: cpu -2024-02-20 17:25:08, INFO: Loaded RL weights with best VAL -2024-02-20 17:25:08, INFO: Similarity_func: concatenation -2024-02-20 17:25:08, INFO: Layerwise_graph: False -2024-02-20 17:25:08, INFO: Skip_connection: True -2024-02-20 17:25:08, INFO: Number of layers: 1 -2024-02-20 17:25:08, INFO: Similarity_func: concatenation -2024-02-20 17:25:08, INFO: Layerwise_graph: False -2024-02-20 17:25:08, INFO: Skip_connection: True -2024-02-20 17:25:08, INFO: Number of layers: 1 -2024-02-20 17:25:08, INFO: Planning depth: 1 -2024-02-20 17:25:08, INFO: Planning width: 10 -2024-02-20 17:25:08, INFO: Sparse search: None -2024-02-20 17:25:11, INFO: human number: 10 -2024-02-20 17:25:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:25:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:25:11, INFO: Square width: 10, circle width: 4 -2024-02-20 17:25:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:25:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:25:16, INFO: Using device: cpu -2024-02-20 17:25:16, INFO: Loaded RL weights with best VAL -2024-02-20 17:25:16, INFO: Similarity_func: concatenation -2024-02-20 17:25:16, INFO: Layerwise_graph: False -2024-02-20 17:25:16, INFO: Skip_connection: True -2024-02-20 17:25:16, INFO: Number of layers: 1 -2024-02-20 17:25:16, INFO: Similarity_func: concatenation -2024-02-20 17:25:16, INFO: Layerwise_graph: False -2024-02-20 17:25:16, INFO: Skip_connection: True -2024-02-20 17:25:16, INFO: Number of layers: 1 -2024-02-20 17:25:16, INFO: Planning depth: 1 -2024-02-20 17:25:16, INFO: Planning width: 10 -2024-02-20 17:25:16, INFO: Sparse search: None -2024-02-20 17:25:19, INFO: human number: 10 -2024-02-20 17:25:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:25:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:25:19, INFO: Square width: 10, circle width: 4 -2024-02-20 17:25:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:25:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:25:23, INFO: Using device: cpu -2024-02-20 17:25:23, INFO: Loaded RL weights with best VAL -2024-02-20 17:25:23, INFO: Similarity_func: concatenation -2024-02-20 17:25:23, INFO: Layerwise_graph: False -2024-02-20 17:25:23, INFO: Skip_connection: True -2024-02-20 17:25:23, INFO: Number of layers: 1 -2024-02-20 17:25:23, INFO: Similarity_func: concatenation -2024-02-20 17:25:23, INFO: Layerwise_graph: False -2024-02-20 17:25:23, INFO: Skip_connection: True -2024-02-20 17:25:23, INFO: Number of layers: 1 -2024-02-20 17:25:23, INFO: Planning depth: 1 -2024-02-20 17:25:23, INFO: Planning width: 10 -2024-02-20 17:25:23, INFO: Sparse search: None -2024-02-20 17:25:26, INFO: human number: 10 -2024-02-20 17:25:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:25:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:25:26, INFO: Square width: 10, circle width: 4 -2024-02-20 17:25:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:25:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:25:28, INFO: Animation.save using -2024-02-20 17:26:02, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.982179 -2024-02-20 17:26:05, INFO: Using device: cpu -2024-02-20 17:26:05, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:05, INFO: Similarity_func: concatenation -2024-02-20 17:26:05, INFO: Layerwise_graph: False -2024-02-20 17:26:05, INFO: Skip_connection: True -2024-02-20 17:26:05, INFO: Number of layers: 1 -2024-02-20 17:26:05, INFO: Similarity_func: concatenation -2024-02-20 17:26:05, INFO: Layerwise_graph: False -2024-02-20 17:26:05, INFO: Skip_connection: True -2024-02-20 17:26:05, INFO: Number of layers: 1 -2024-02-20 17:26:05, INFO: Planning depth: 1 -2024-02-20 17:26:05, INFO: Planning width: 10 -2024-02-20 17:26:05, INFO: Sparse search: None -2024-02-20 17:26:08, INFO: human number: 10 -2024-02-20 17:26:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:08, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:13, INFO: Using device: cpu -2024-02-20 17:26:13, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:13, INFO: Similarity_func: concatenation -2024-02-20 17:26:13, INFO: Layerwise_graph: False -2024-02-20 17:26:13, INFO: Skip_connection: True -2024-02-20 17:26:13, INFO: Number of layers: 1 -2024-02-20 17:26:13, INFO: Similarity_func: concatenation -2024-02-20 17:26:13, INFO: Layerwise_graph: False -2024-02-20 17:26:13, INFO: Skip_connection: True -2024-02-20 17:26:13, INFO: Number of layers: 1 -2024-02-20 17:26:13, INFO: Planning depth: 1 -2024-02-20 17:26:13, INFO: Planning width: 10 -2024-02-20 17:26:13, INFO: Sparse search: None -2024-02-20 17:26:16, INFO: human number: 10 -2024-02-20 17:26:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:20, INFO: Using device: cpu -2024-02-20 17:26:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:20, INFO: Similarity_func: concatenation -2024-02-20 17:26:20, INFO: Layerwise_graph: False -2024-02-20 17:26:20, INFO: Skip_connection: True -2024-02-20 17:26:20, INFO: Number of layers: 1 -2024-02-20 17:26:20, INFO: Similarity_func: concatenation -2024-02-20 17:26:20, INFO: Layerwise_graph: False -2024-02-20 17:26:20, INFO: Skip_connection: True -2024-02-20 17:26:20, INFO: Number of layers: 1 -2024-02-20 17:26:20, INFO: Planning depth: 1 -2024-02-20 17:26:20, INFO: Planning width: 10 -2024-02-20 17:26:20, INFO: Sparse search: None -2024-02-20 17:26:23, INFO: human number: 10 -2024-02-20 17:26:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:28, INFO: Using device: cpu -2024-02-20 17:26:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:28, INFO: Similarity_func: concatenation -2024-02-20 17:26:28, INFO: Layerwise_graph: False -2024-02-20 17:26:28, INFO: Skip_connection: True -2024-02-20 17:26:28, INFO: Number of layers: 1 -2024-02-20 17:26:28, INFO: Similarity_func: concatenation -2024-02-20 17:26:28, INFO: Layerwise_graph: False -2024-02-20 17:26:28, INFO: Skip_connection: True -2024-02-20 17:26:28, INFO: Number of layers: 1 -2024-02-20 17:26:28, INFO: Planning depth: 1 -2024-02-20 17:26:28, INFO: Planning width: 10 -2024-02-20 17:26:28, INFO: Sparse search: None -2024-02-20 17:26:31, INFO: human number: 10 -2024-02-20 17:26:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:36, INFO: Using device: cpu -2024-02-20 17:26:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:36, INFO: Similarity_func: concatenation -2024-02-20 17:26:36, INFO: Layerwise_graph: False -2024-02-20 17:26:36, INFO: Skip_connection: True -2024-02-20 17:26:36, INFO: Number of layers: 1 -2024-02-20 17:26:36, INFO: Similarity_func: concatenation -2024-02-20 17:26:36, INFO: Layerwise_graph: False -2024-02-20 17:26:36, INFO: Skip_connection: True -2024-02-20 17:26:36, INFO: Number of layers: 1 -2024-02-20 17:26:36, INFO: Planning depth: 1 -2024-02-20 17:26:36, INFO: Planning width: 10 -2024-02-20 17:26:36, INFO: Sparse search: None -2024-02-20 17:26:38, INFO: human number: 10 -2024-02-20 17:26:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:43, INFO: Using device: cpu -2024-02-20 17:26:43, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:43, INFO: Similarity_func: concatenation -2024-02-20 17:26:43, INFO: Layerwise_graph: False -2024-02-20 17:26:43, INFO: Skip_connection: True -2024-02-20 17:26:43, INFO: Number of layers: 1 -2024-02-20 17:26:43, INFO: Similarity_func: concatenation -2024-02-20 17:26:43, INFO: Layerwise_graph: False -2024-02-20 17:26:43, INFO: Skip_connection: True -2024-02-20 17:26:43, INFO: Number of layers: 1 -2024-02-20 17:26:43, INFO: Planning depth: 1 -2024-02-20 17:26:43, INFO: Planning width: 10 -2024-02-20 17:26:43, INFO: Sparse search: None -2024-02-20 17:26:46, INFO: human number: 10 -2024-02-20 17:26:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:46, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:50, INFO: Using device: cpu -2024-02-20 17:26:50, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:50, INFO: Similarity_func: concatenation -2024-02-20 17:26:50, INFO: Layerwise_graph: False -2024-02-20 17:26:50, INFO: Skip_connection: True -2024-02-20 17:26:50, INFO: Number of layers: 1 -2024-02-20 17:26:50, INFO: Similarity_func: concatenation -2024-02-20 17:26:50, INFO: Layerwise_graph: False -2024-02-20 17:26:50, INFO: Skip_connection: True -2024-02-20 17:26:50, INFO: Number of layers: 1 -2024-02-20 17:26:50, INFO: Planning depth: 1 -2024-02-20 17:26:50, INFO: Planning width: 10 -2024-02-20 17:26:50, INFO: Sparse search: None -2024-02-20 17:26:53, INFO: human number: 10 -2024-02-20 17:26:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:26:57, INFO: Using device: cpu -2024-02-20 17:26:57, INFO: Loaded RL weights with best VAL -2024-02-20 17:26:57, INFO: Similarity_func: concatenation -2024-02-20 17:26:57, INFO: Layerwise_graph: False -2024-02-20 17:26:57, INFO: Skip_connection: True -2024-02-20 17:26:57, INFO: Number of layers: 1 -2024-02-20 17:26:57, INFO: Similarity_func: concatenation -2024-02-20 17:26:57, INFO: Layerwise_graph: False -2024-02-20 17:26:57, INFO: Skip_connection: True -2024-02-20 17:26:57, INFO: Number of layers: 1 -2024-02-20 17:26:57, INFO: Planning depth: 1 -2024-02-20 17:26:57, INFO: Planning width: 10 -2024-02-20 17:26:57, INFO: Sparse search: None -2024-02-20 17:26:59, INFO: human number: 10 -2024-02-20 17:26:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:26:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:26:59, INFO: Square width: 10, circle width: 4 -2024-02-20 17:26:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:26:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:27:02, INFO: Animation.save using -2024-02-20 17:27:35, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.885821 -2024-02-20 17:27:38, INFO: Using device: cpu -2024-02-20 17:27:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:27:38, INFO: Similarity_func: concatenation -2024-02-20 17:27:38, INFO: Layerwise_graph: False -2024-02-20 17:27:38, INFO: Skip_connection: True -2024-02-20 17:27:38, INFO: Number of layers: 1 -2024-02-20 17:27:38, INFO: Similarity_func: concatenation -2024-02-20 17:27:38, INFO: Layerwise_graph: False -2024-02-20 17:27:38, INFO: Skip_connection: True -2024-02-20 17:27:38, INFO: Number of layers: 1 -2024-02-20 17:27:38, INFO: Planning depth: 1 -2024-02-20 17:27:38, INFO: Planning width: 10 -2024-02-20 17:27:38, INFO: Sparse search: None -2024-02-20 17:27:41, INFO: human number: 10 -2024-02-20 17:27:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:27:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:27:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:27:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:27:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:27:47, INFO: Using device: cpu -2024-02-20 17:27:47, INFO: Loaded RL weights with best VAL -2024-02-20 17:27:47, INFO: Similarity_func: concatenation -2024-02-20 17:27:47, INFO: Layerwise_graph: False -2024-02-20 17:27:47, INFO: Skip_connection: True -2024-02-20 17:27:47, INFO: Number of layers: 1 -2024-02-20 17:27:47, INFO: Similarity_func: concatenation -2024-02-20 17:27:47, INFO: Layerwise_graph: False -2024-02-20 17:27:47, INFO: Skip_connection: True -2024-02-20 17:27:47, INFO: Number of layers: 1 -2024-02-20 17:27:47, INFO: Planning depth: 1 -2024-02-20 17:27:47, INFO: Planning width: 10 -2024-02-20 17:27:47, INFO: Sparse search: None -2024-02-20 17:27:50, INFO: human number: 10 -2024-02-20 17:27:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:27:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:27:50, INFO: Square width: 10, circle width: 4 -2024-02-20 17:27:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:27:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:27:53, INFO: Using device: cpu -2024-02-20 17:27:53, INFO: Loaded RL weights with best VAL -2024-02-20 17:27:53, INFO: Similarity_func: concatenation -2024-02-20 17:27:53, INFO: Layerwise_graph: False -2024-02-20 17:27:53, INFO: Skip_connection: True -2024-02-20 17:27:53, INFO: Number of layers: 1 -2024-02-20 17:27:53, INFO: Similarity_func: concatenation -2024-02-20 17:27:53, INFO: Layerwise_graph: False -2024-02-20 17:27:53, INFO: Skip_connection: True -2024-02-20 17:27:53, INFO: Number of layers: 1 -2024-02-20 17:27:53, INFO: Planning depth: 1 -2024-02-20 17:27:53, INFO: Planning width: 10 -2024-02-20 17:27:53, INFO: Sparse search: None -2024-02-20 17:27:56, INFO: human number: 10 -2024-02-20 17:27:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:27:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:27:56, INFO: Square width: 10, circle width: 4 -2024-02-20 17:27:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:27:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:01, INFO: Using device: cpu -2024-02-20 17:28:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:28:01, INFO: Similarity_func: concatenation -2024-02-20 17:28:01, INFO: Layerwise_graph: False -2024-02-20 17:28:01, INFO: Skip_connection: True -2024-02-20 17:28:01, INFO: Number of layers: 1 -2024-02-20 17:28:01, INFO: Similarity_func: concatenation -2024-02-20 17:28:01, INFO: Layerwise_graph: False -2024-02-20 17:28:01, INFO: Skip_connection: True -2024-02-20 17:28:01, INFO: Number of layers: 1 -2024-02-20 17:28:01, INFO: Planning depth: 1 -2024-02-20 17:28:01, INFO: Planning width: 10 -2024-02-20 17:28:01, INFO: Sparse search: None -2024-02-20 17:28:04, INFO: human number: 10 -2024-02-20 17:28:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:28:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:28:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:28:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:28:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:08, INFO: Using device: cpu -2024-02-20 17:28:08, INFO: Loaded RL weights with best VAL -2024-02-20 17:28:08, INFO: Similarity_func: concatenation -2024-02-20 17:28:08, INFO: Layerwise_graph: False -2024-02-20 17:28:08, INFO: Skip_connection: True -2024-02-20 17:28:08, INFO: Number of layers: 1 -2024-02-20 17:28:08, INFO: Similarity_func: concatenation -2024-02-20 17:28:08, INFO: Layerwise_graph: False -2024-02-20 17:28:08, INFO: Skip_connection: True -2024-02-20 17:28:08, INFO: Number of layers: 1 -2024-02-20 17:28:08, INFO: Planning depth: 1 -2024-02-20 17:28:08, INFO: Planning width: 10 -2024-02-20 17:28:08, INFO: Sparse search: None -2024-02-20 17:28:11, INFO: human number: 10 -2024-02-20 17:28:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:28:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:28:11, INFO: Square width: 10, circle width: 4 -2024-02-20 17:28:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:28:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:16, INFO: Using device: cpu -2024-02-20 17:28:16, INFO: Loaded RL weights with best VAL -2024-02-20 17:28:16, INFO: Similarity_func: concatenation -2024-02-20 17:28:16, INFO: Layerwise_graph: False -2024-02-20 17:28:16, INFO: Skip_connection: True -2024-02-20 17:28:16, INFO: Number of layers: 1 -2024-02-20 17:28:16, INFO: Similarity_func: concatenation -2024-02-20 17:28:16, INFO: Layerwise_graph: False -2024-02-20 17:28:16, INFO: Skip_connection: True -2024-02-20 17:28:16, INFO: Number of layers: 1 -2024-02-20 17:28:16, INFO: Planning depth: 1 -2024-02-20 17:28:16, INFO: Planning width: 10 -2024-02-20 17:28:16, INFO: Sparse search: None -2024-02-20 17:28:19, INFO: human number: 10 -2024-02-20 17:28:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:28:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:28:19, INFO: Square width: 10, circle width: 4 -2024-02-20 17:28:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:28:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:24, INFO: Using device: cpu -2024-02-20 17:28:24, INFO: Loaded RL weights with best VAL -2024-02-20 17:28:24, INFO: Similarity_func: concatenation -2024-02-20 17:28:24, INFO: Layerwise_graph: False -2024-02-20 17:28:24, INFO: Skip_connection: True -2024-02-20 17:28:24, INFO: Number of layers: 1 -2024-02-20 17:28:24, INFO: Similarity_func: concatenation -2024-02-20 17:28:24, INFO: Layerwise_graph: False -2024-02-20 17:28:24, INFO: Skip_connection: True -2024-02-20 17:28:24, INFO: Number of layers: 1 -2024-02-20 17:28:24, INFO: Planning depth: 1 -2024-02-20 17:28:24, INFO: Planning width: 10 -2024-02-20 17:28:24, INFO: Sparse search: None -2024-02-20 17:28:27, INFO: human number: 10 -2024-02-20 17:28:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:28:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:28:27, INFO: Square width: 10, circle width: 4 -2024-02-20 17:28:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:28:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:32, INFO: Using device: cpu -2024-02-20 17:28:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:28:32, INFO: Similarity_func: concatenation -2024-02-20 17:28:32, INFO: Layerwise_graph: False -2024-02-20 17:28:32, INFO: Skip_connection: True -2024-02-20 17:28:32, INFO: Number of layers: 1 -2024-02-20 17:28:32, INFO: Similarity_func: concatenation -2024-02-20 17:28:32, INFO: Layerwise_graph: False -2024-02-20 17:28:32, INFO: Skip_connection: True -2024-02-20 17:28:32, INFO: Number of layers: 1 -2024-02-20 17:28:32, INFO: Planning depth: 1 -2024-02-20 17:28:32, INFO: Planning width: 10 -2024-02-20 17:28:32, INFO: Sparse search: None -2024-02-20 17:28:34, INFO: human number: 10 -2024-02-20 17:28:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:28:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:28:34, INFO: Square width: 10, circle width: 4 -2024-02-20 17:28:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:28:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:28:37, INFO: Animation.save using -2024-02-20 17:29:18, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.925647 -2024-02-20 17:29:21, INFO: Using device: cpu -2024-02-20 17:29:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:21, INFO: Similarity_func: concatenation -2024-02-20 17:29:21, INFO: Layerwise_graph: False -2024-02-20 17:29:21, INFO: Skip_connection: True -2024-02-20 17:29:21, INFO: Number of layers: 1 -2024-02-20 17:29:21, INFO: Similarity_func: concatenation -2024-02-20 17:29:21, INFO: Layerwise_graph: False -2024-02-20 17:29:21, INFO: Skip_connection: True -2024-02-20 17:29:21, INFO: Number of layers: 1 -2024-02-20 17:29:21, INFO: Planning depth: 1 -2024-02-20 17:29:21, INFO: Planning width: 10 -2024-02-20 17:29:21, INFO: Sparse search: None -2024-02-20 17:29:23, INFO: human number: 10 -2024-02-20 17:29:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:29:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:29:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:29:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:29:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:29:28, INFO: Using device: cpu -2024-02-20 17:29:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:28, INFO: Similarity_func: concatenation -2024-02-20 17:29:28, INFO: Layerwise_graph: False -2024-02-20 17:29:28, INFO: Skip_connection: True -2024-02-20 17:29:28, INFO: Number of layers: 1 -2024-02-20 17:29:28, INFO: Similarity_func: concatenation -2024-02-20 17:29:28, INFO: Layerwise_graph: False -2024-02-20 17:29:28, INFO: Skip_connection: True -2024-02-20 17:29:28, INFO: Number of layers: 1 -2024-02-20 17:29:28, INFO: Planning depth: 1 -2024-02-20 17:29:28, INFO: Planning width: 10 -2024-02-20 17:29:28, INFO: Sparse search: None -2024-02-20 17:29:31, INFO: human number: 10 -2024-02-20 17:29:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:29:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:29:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:29:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:29:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:29:36, INFO: Using device: cpu -2024-02-20 17:29:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:36, INFO: Similarity_func: concatenation -2024-02-20 17:29:36, INFO: Layerwise_graph: False -2024-02-20 17:29:36, INFO: Skip_connection: True -2024-02-20 17:29:36, INFO: Number of layers: 1 -2024-02-20 17:29:36, INFO: Similarity_func: concatenation -2024-02-20 17:29:36, INFO: Layerwise_graph: False -2024-02-20 17:29:36, INFO: Skip_connection: True -2024-02-20 17:29:36, INFO: Number of layers: 1 -2024-02-20 17:29:36, INFO: Planning depth: 1 -2024-02-20 17:29:36, INFO: Planning width: 10 -2024-02-20 17:29:36, INFO: Sparse search: None -2024-02-20 17:29:39, INFO: human number: 10 -2024-02-20 17:29:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:29:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:29:39, INFO: Square width: 10, circle width: 4 -2024-02-20 17:29:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:29:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:29:44, INFO: Using device: cpu -2024-02-20 17:29:44, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:44, INFO: Similarity_func: concatenation -2024-02-20 17:29:44, INFO: Layerwise_graph: False -2024-02-20 17:29:44, INFO: Skip_connection: True -2024-02-20 17:29:44, INFO: Number of layers: 1 -2024-02-20 17:29:44, INFO: Similarity_func: concatenation -2024-02-20 17:29:44, INFO: Layerwise_graph: False -2024-02-20 17:29:44, INFO: Skip_connection: True -2024-02-20 17:29:44, INFO: Number of layers: 1 -2024-02-20 17:29:44, INFO: Planning depth: 1 -2024-02-20 17:29:44, INFO: Planning width: 10 -2024-02-20 17:29:44, INFO: Sparse search: None -2024-02-20 17:29:46, INFO: human number: 10 -2024-02-20 17:29:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:29:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:29:46, INFO: Square width: 10, circle width: 4 -2024-02-20 17:29:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:29:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:29:51, INFO: Using device: cpu -2024-02-20 17:29:51, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:51, INFO: Similarity_func: concatenation -2024-02-20 17:29:51, INFO: Layerwise_graph: False -2024-02-20 17:29:51, INFO: Skip_connection: True -2024-02-20 17:29:51, INFO: Number of layers: 1 -2024-02-20 17:29:51, INFO: Similarity_func: concatenation -2024-02-20 17:29:51, INFO: Layerwise_graph: False -2024-02-20 17:29:51, INFO: Skip_connection: True -2024-02-20 17:29:51, INFO: Number of layers: 1 -2024-02-20 17:29:51, INFO: Planning depth: 1 -2024-02-20 17:29:51, INFO: Planning width: 10 -2024-02-20 17:29:51, INFO: Sparse search: None -2024-02-20 17:29:53, INFO: human number: 10 -2024-02-20 17:29:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:29:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:29:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:29:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:29:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:29:59, INFO: Using device: cpu -2024-02-20 17:29:59, INFO: Loaded RL weights with best VAL -2024-02-20 17:29:59, INFO: Similarity_func: concatenation -2024-02-20 17:29:59, INFO: Layerwise_graph: False -2024-02-20 17:29:59, INFO: Skip_connection: True -2024-02-20 17:29:59, INFO: Number of layers: 1 -2024-02-20 17:29:59, INFO: Similarity_func: concatenation -2024-02-20 17:29:59, INFO: Layerwise_graph: False -2024-02-20 17:29:59, INFO: Skip_connection: True -2024-02-20 17:29:59, INFO: Number of layers: 1 -2024-02-20 17:29:59, INFO: Planning depth: 1 -2024-02-20 17:29:59, INFO: Planning width: 10 -2024-02-20 17:29:59, INFO: Sparse search: None -2024-02-20 17:30:02, INFO: human number: 10 -2024-02-20 17:30:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:30:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:30:02, INFO: Square width: 10, circle width: 4 -2024-02-20 17:30:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:30:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:30:07, INFO: Using device: cpu -2024-02-20 17:30:07, INFO: Loaded RL weights with best VAL -2024-02-20 17:30:07, INFO: Similarity_func: concatenation -2024-02-20 17:30:07, INFO: Layerwise_graph: False -2024-02-20 17:30:07, INFO: Skip_connection: True -2024-02-20 17:30:07, INFO: Number of layers: 1 -2024-02-20 17:30:07, INFO: Similarity_func: concatenation -2024-02-20 17:30:07, INFO: Layerwise_graph: False -2024-02-20 17:30:07, INFO: Skip_connection: True -2024-02-20 17:30:07, INFO: Number of layers: 1 -2024-02-20 17:30:07, INFO: Planning depth: 1 -2024-02-20 17:30:07, INFO: Planning width: 10 -2024-02-20 17:30:07, INFO: Sparse search: None -2024-02-20 17:30:09, INFO: human number: 10 -2024-02-20 17:30:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:30:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:30:09, INFO: Square width: 10, circle width: 4 -2024-02-20 17:30:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:30:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:30:15, INFO: Using device: cpu -2024-02-20 17:30:15, INFO: Loaded RL weights with best VAL -2024-02-20 17:30:15, INFO: Similarity_func: concatenation -2024-02-20 17:30:15, INFO: Layerwise_graph: False -2024-02-20 17:30:15, INFO: Skip_connection: True -2024-02-20 17:30:15, INFO: Number of layers: 1 -2024-02-20 17:30:15, INFO: Similarity_func: concatenation -2024-02-20 17:30:15, INFO: Layerwise_graph: False -2024-02-20 17:30:15, INFO: Skip_connection: True -2024-02-20 17:30:15, INFO: Number of layers: 1 -2024-02-20 17:30:15, INFO: Planning depth: 1 -2024-02-20 17:30:15, INFO: Planning width: 10 -2024-02-20 17:30:15, INFO: Sparse search: None -2024-02-20 17:30:18, INFO: human number: 10 -2024-02-20 17:30:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:30:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:30:18, INFO: Square width: 10, circle width: 4 -2024-02-20 17:30:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:30:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:30:20, INFO: Animation.save using -2024-02-20 17:30:48, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.006503 -2024-02-20 17:30:51, INFO: Using device: cpu -2024-02-20 17:30:51, INFO: Loaded RL weights with best VAL -2024-02-20 17:30:51, INFO: Similarity_func: concatenation -2024-02-20 17:30:51, INFO: Layerwise_graph: False -2024-02-20 17:30:51, INFO: Skip_connection: True -2024-02-20 17:30:51, INFO: Number of layers: 1 -2024-02-20 17:30:51, INFO: Similarity_func: concatenation -2024-02-20 17:30:51, INFO: Layerwise_graph: False -2024-02-20 17:30:51, INFO: Skip_connection: True -2024-02-20 17:30:51, INFO: Number of layers: 1 -2024-02-20 17:30:51, INFO: Planning depth: 1 -2024-02-20 17:30:51, INFO: Planning width: 10 -2024-02-20 17:30:51, INFO: Sparse search: None -2024-02-20 17:30:53, INFO: human number: 10 -2024-02-20 17:30:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:30:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:30:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:30:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:30:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:30:58, INFO: Using device: cpu -2024-02-20 17:30:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:30:58, INFO: Similarity_func: concatenation -2024-02-20 17:30:58, INFO: Layerwise_graph: False -2024-02-20 17:30:58, INFO: Skip_connection: True -2024-02-20 17:30:58, INFO: Number of layers: 1 -2024-02-20 17:30:58, INFO: Similarity_func: concatenation -2024-02-20 17:30:58, INFO: Layerwise_graph: False -2024-02-20 17:30:58, INFO: Skip_connection: True -2024-02-20 17:30:58, INFO: Number of layers: 1 -2024-02-20 17:30:58, INFO: Planning depth: 1 -2024-02-20 17:30:58, INFO: Planning width: 10 -2024-02-20 17:30:58, INFO: Sparse search: None -2024-02-20 17:31:01, INFO: human number: 10 -2024-02-20 17:31:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:31:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:31:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:31:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:31:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:31:02, INFO: Animation.save using -2024-02-20 17:31:27, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.026682 -2024-02-20 17:31:30, INFO: Using device: cpu -2024-02-20 17:31:30, INFO: Loaded RL weights with best VAL -2024-02-20 17:31:30, INFO: Similarity_func: concatenation -2024-02-20 17:31:30, INFO: Layerwise_graph: False -2024-02-20 17:31:30, INFO: Skip_connection: True -2024-02-20 17:31:30, INFO: Number of layers: 1 -2024-02-20 17:31:30, INFO: Similarity_func: concatenation -2024-02-20 17:31:30, INFO: Layerwise_graph: False -2024-02-20 17:31:30, INFO: Skip_connection: True -2024-02-20 17:31:30, INFO: Number of layers: 1 -2024-02-20 17:31:30, INFO: Planning depth: 1 -2024-02-20 17:31:30, INFO: Planning width: 10 -2024-02-20 17:31:30, INFO: Sparse search: None -2024-02-20 17:31:33, INFO: human number: 10 -2024-02-20 17:31:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:31:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:31:33, INFO: Square width: 10, circle width: 4 -2024-02-20 17:31:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:31:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:31:34, INFO: Animation.save using -2024-02-20 17:31:56, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.122900 -2024-02-20 17:31:59, INFO: Using device: cpu -2024-02-20 17:31:59, INFO: Loaded RL weights with best VAL -2024-02-20 17:31:59, INFO: Similarity_func: concatenation -2024-02-20 17:31:59, INFO: Layerwise_graph: False -2024-02-20 17:31:59, INFO: Skip_connection: True -2024-02-20 17:31:59, INFO: Number of layers: 1 -2024-02-20 17:31:59, INFO: Similarity_func: concatenation -2024-02-20 17:31:59, INFO: Layerwise_graph: False -2024-02-20 17:31:59, INFO: Skip_connection: True -2024-02-20 17:31:59, INFO: Number of layers: 1 -2024-02-20 17:31:59, INFO: Planning depth: 1 -2024-02-20 17:31:59, INFO: Planning width: 10 -2024-02-20 17:31:59, INFO: Sparse search: None -2024-02-20 17:32:02, INFO: human number: 10 -2024-02-20 17:32:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:32:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:32:02, INFO: Square width: 10, circle width: 4 -2024-02-20 17:32:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:32:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:32:07, INFO: Using device: cpu -2024-02-20 17:32:07, INFO: Loaded RL weights with best VAL -2024-02-20 17:32:07, INFO: Similarity_func: concatenation -2024-02-20 17:32:07, INFO: Layerwise_graph: False -2024-02-20 17:32:07, INFO: Skip_connection: True -2024-02-20 17:32:07, INFO: Number of layers: 1 -2024-02-20 17:32:07, INFO: Similarity_func: concatenation -2024-02-20 17:32:07, INFO: Layerwise_graph: False -2024-02-20 17:32:07, INFO: Skip_connection: True -2024-02-20 17:32:07, INFO: Number of layers: 1 -2024-02-20 17:32:07, INFO: Planning depth: 1 -2024-02-20 17:32:07, INFO: Planning width: 10 -2024-02-20 17:32:07, INFO: Sparse search: None -2024-02-20 17:32:10, INFO: human number: 10 -2024-02-20 17:32:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:32:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:32:10, INFO: Square width: 10, circle width: 4 -2024-02-20 17:32:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:32:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:32:15, INFO: Using device: cpu -2024-02-20 17:32:15, INFO: Loaded RL weights with best VAL -2024-02-20 17:32:15, INFO: Similarity_func: concatenation -2024-02-20 17:32:15, INFO: Layerwise_graph: False -2024-02-20 17:32:15, INFO: Skip_connection: True -2024-02-20 17:32:15, INFO: Number of layers: 1 -2024-02-20 17:32:15, INFO: Similarity_func: concatenation -2024-02-20 17:32:15, INFO: Layerwise_graph: False -2024-02-20 17:32:15, INFO: Skip_connection: True -2024-02-20 17:32:15, INFO: Number of layers: 1 -2024-02-20 17:32:15, INFO: Planning depth: 1 -2024-02-20 17:32:15, INFO: Planning width: 10 -2024-02-20 17:32:15, INFO: Sparse search: None -2024-02-20 17:32:17, INFO: human number: 10 -2024-02-20 17:32:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:32:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:32:17, INFO: Square width: 10, circle width: 4 -2024-02-20 17:32:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:32:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:32:19, INFO: Animation.save using -2024-02-20 17:32:42, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.072953 -2024-02-20 17:32:45, INFO: Using device: cpu -2024-02-20 17:32:45, INFO: Loaded RL weights with best VAL -2024-02-20 17:32:45, INFO: Similarity_func: concatenation -2024-02-20 17:32:45, INFO: Layerwise_graph: False -2024-02-20 17:32:45, INFO: Skip_connection: True -2024-02-20 17:32:45, INFO: Number of layers: 1 -2024-02-20 17:32:45, INFO: Similarity_func: concatenation -2024-02-20 17:32:45, INFO: Layerwise_graph: False -2024-02-20 17:32:45, INFO: Skip_connection: True -2024-02-20 17:32:45, INFO: Number of layers: 1 -2024-02-20 17:32:45, INFO: Planning depth: 1 -2024-02-20 17:32:45, INFO: Planning width: 10 -2024-02-20 17:32:45, INFO: Sparse search: None -2024-02-20 17:32:48, INFO: human number: 10 -2024-02-20 17:32:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:32:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:32:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:32:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:32:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:32:53, INFO: Using device: cpu -2024-02-20 17:32:53, INFO: Loaded RL weights with best VAL -2024-02-20 17:32:53, INFO: Similarity_func: concatenation -2024-02-20 17:32:53, INFO: Layerwise_graph: False -2024-02-20 17:32:53, INFO: Skip_connection: True -2024-02-20 17:32:53, INFO: Number of layers: 1 -2024-02-20 17:32:53, INFO: Similarity_func: concatenation -2024-02-20 17:32:53, INFO: Layerwise_graph: False -2024-02-20 17:32:53, INFO: Skip_connection: True -2024-02-20 17:32:53, INFO: Number of layers: 1 -2024-02-20 17:32:53, INFO: Planning depth: 1 -2024-02-20 17:32:53, INFO: Planning width: 10 -2024-02-20 17:32:53, INFO: Sparse search: None -2024-02-20 17:32:55, INFO: human number: 10 -2024-02-20 17:32:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:32:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:32:55, INFO: Square width: 10, circle width: 4 -2024-02-20 17:32:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:32:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:32:57, INFO: Animation.save using -2024-02-20 17:33:26, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.011286 -2024-02-20 17:33:29, INFO: Using device: cpu -2024-02-20 17:33:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:33:29, INFO: Similarity_func: concatenation -2024-02-20 17:33:29, INFO: Layerwise_graph: False -2024-02-20 17:33:29, INFO: Skip_connection: True -2024-02-20 17:33:29, INFO: Number of layers: 1 -2024-02-20 17:33:29, INFO: Similarity_func: concatenation -2024-02-20 17:33:29, INFO: Layerwise_graph: False -2024-02-20 17:33:29, INFO: Skip_connection: True -2024-02-20 17:33:29, INFO: Number of layers: 1 -2024-02-20 17:33:29, INFO: Planning depth: 1 -2024-02-20 17:33:29, INFO: Planning width: 10 -2024-02-20 17:33:29, INFO: Sparse search: None -2024-02-20 17:33:31, INFO: human number: 10 -2024-02-20 17:33:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:33:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:33:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:33:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:33:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:33:38, INFO: Using device: cpu -2024-02-20 17:33:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:33:38, INFO: Similarity_func: concatenation -2024-02-20 17:33:38, INFO: Layerwise_graph: False -2024-02-20 17:33:38, INFO: Skip_connection: True -2024-02-20 17:33:38, INFO: Number of layers: 1 -2024-02-20 17:33:38, INFO: Similarity_func: concatenation -2024-02-20 17:33:38, INFO: Layerwise_graph: False -2024-02-20 17:33:38, INFO: Skip_connection: True -2024-02-20 17:33:38, INFO: Number of layers: 1 -2024-02-20 17:33:38, INFO: Planning depth: 1 -2024-02-20 17:33:38, INFO: Planning width: 10 -2024-02-20 17:33:38, INFO: Sparse search: None -2024-02-20 17:33:41, INFO: human number: 10 -2024-02-20 17:33:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:33:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:33:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:33:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:33:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:33:43, INFO: Animation.save using -2024-02-20 17:34:30, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.819599 -2024-02-20 17:34:33, INFO: Using device: cpu -2024-02-20 17:34:33, INFO: Loaded RL weights with best VAL -2024-02-20 17:34:33, INFO: Similarity_func: concatenation -2024-02-20 17:34:33, INFO: Layerwise_graph: False -2024-02-20 17:34:33, INFO: Skip_connection: True -2024-02-20 17:34:33, INFO: Number of layers: 1 -2024-02-20 17:34:33, INFO: Similarity_func: concatenation -2024-02-20 17:34:33, INFO: Layerwise_graph: False -2024-02-20 17:34:33, INFO: Skip_connection: True -2024-02-20 17:34:33, INFO: Number of layers: 1 -2024-02-20 17:34:33, INFO: Planning depth: 1 -2024-02-20 17:34:33, INFO: Planning width: 10 -2024-02-20 17:34:33, INFO: Sparse search: None -2024-02-20 17:34:35, INFO: human number: 10 -2024-02-20 17:34:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:34:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:34:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:34:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:34:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:34:42, INFO: Using device: cpu -2024-02-20 17:34:42, INFO: Loaded RL weights with best VAL -2024-02-20 17:34:42, INFO: Similarity_func: concatenation -2024-02-20 17:34:42, INFO: Layerwise_graph: False -2024-02-20 17:34:42, INFO: Skip_connection: True -2024-02-20 17:34:42, INFO: Number of layers: 1 -2024-02-20 17:34:42, INFO: Similarity_func: concatenation -2024-02-20 17:34:42, INFO: Layerwise_graph: False -2024-02-20 17:34:42, INFO: Skip_connection: True -2024-02-20 17:34:42, INFO: Number of layers: 1 -2024-02-20 17:34:42, INFO: Planning depth: 1 -2024-02-20 17:34:42, INFO: Planning width: 10 -2024-02-20 17:34:42, INFO: Sparse search: None -2024-02-20 17:34:44, INFO: human number: 10 -2024-02-20 17:34:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:34:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:34:44, INFO: Square width: 10, circle width: 4 -2024-02-20 17:34:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:34:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:34:49, INFO: Using device: cpu -2024-02-20 17:34:49, INFO: Loaded RL weights with best VAL -2024-02-20 17:34:49, INFO: Similarity_func: concatenation -2024-02-20 17:34:49, INFO: Layerwise_graph: False -2024-02-20 17:34:49, INFO: Skip_connection: True -2024-02-20 17:34:49, INFO: Number of layers: 1 -2024-02-20 17:34:49, INFO: Similarity_func: concatenation -2024-02-20 17:34:49, INFO: Layerwise_graph: False -2024-02-20 17:34:49, INFO: Skip_connection: True -2024-02-20 17:34:49, INFO: Number of layers: 1 -2024-02-20 17:34:49, INFO: Planning depth: 1 -2024-02-20 17:34:49, INFO: Planning width: 10 -2024-02-20 17:34:49, INFO: Sparse search: None -2024-02-20 17:34:51, INFO: human number: 10 -2024-02-20 17:34:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:34:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:34:51, INFO: Square width: 10, circle width: 4 -2024-02-20 17:34:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:34:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:34:56, INFO: Using device: cpu -2024-02-20 17:34:56, INFO: Loaded RL weights with best VAL -2024-02-20 17:34:56, INFO: Similarity_func: concatenation -2024-02-20 17:34:56, INFO: Layerwise_graph: False -2024-02-20 17:34:56, INFO: Skip_connection: True -2024-02-20 17:34:56, INFO: Number of layers: 1 -2024-02-20 17:34:56, INFO: Similarity_func: concatenation -2024-02-20 17:34:56, INFO: Layerwise_graph: False -2024-02-20 17:34:56, INFO: Skip_connection: True -2024-02-20 17:34:56, INFO: Number of layers: 1 -2024-02-20 17:34:56, INFO: Planning depth: 1 -2024-02-20 17:34:56, INFO: Planning width: 10 -2024-02-20 17:34:56, INFO: Sparse search: None -2024-02-20 17:34:58, INFO: human number: 10 -2024-02-20 17:34:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:34:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:34:58, INFO: Square width: 10, circle width: 4 -2024-02-20 17:34:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:34:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:03, INFO: Using device: cpu -2024-02-20 17:35:03, INFO: Loaded RL weights with best VAL -2024-02-20 17:35:03, INFO: Similarity_func: concatenation -2024-02-20 17:35:03, INFO: Layerwise_graph: False -2024-02-20 17:35:03, INFO: Skip_connection: True -2024-02-20 17:35:03, INFO: Number of layers: 1 -2024-02-20 17:35:03, INFO: Similarity_func: concatenation -2024-02-20 17:35:03, INFO: Layerwise_graph: False -2024-02-20 17:35:03, INFO: Skip_connection: True -2024-02-20 17:35:03, INFO: Number of layers: 1 -2024-02-20 17:35:03, INFO: Planning depth: 1 -2024-02-20 17:35:03, INFO: Planning width: 10 -2024-02-20 17:35:03, INFO: Sparse search: None -2024-02-20 17:35:06, INFO: human number: 10 -2024-02-20 17:35:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:35:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:35:06, INFO: Square width: 10, circle width: 4 -2024-02-20 17:35:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:35:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:10, INFO: Using device: cpu -2024-02-20 17:35:10, INFO: Loaded RL weights with best VAL -2024-02-20 17:35:10, INFO: Similarity_func: concatenation -2024-02-20 17:35:10, INFO: Layerwise_graph: False -2024-02-20 17:35:10, INFO: Skip_connection: True -2024-02-20 17:35:10, INFO: Number of layers: 1 -2024-02-20 17:35:10, INFO: Similarity_func: concatenation -2024-02-20 17:35:10, INFO: Layerwise_graph: False -2024-02-20 17:35:10, INFO: Skip_connection: True -2024-02-20 17:35:10, INFO: Number of layers: 1 -2024-02-20 17:35:10, INFO: Planning depth: 1 -2024-02-20 17:35:10, INFO: Planning width: 10 -2024-02-20 17:35:10, INFO: Sparse search: None -2024-02-20 17:35:13, INFO: human number: 10 -2024-02-20 17:35:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:35:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:35:13, INFO: Square width: 10, circle width: 4 -2024-02-20 17:35:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:35:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:18, INFO: Using device: cpu -2024-02-20 17:35:18, INFO: Loaded RL weights with best VAL -2024-02-20 17:35:18, INFO: Similarity_func: concatenation -2024-02-20 17:35:18, INFO: Layerwise_graph: False -2024-02-20 17:35:18, INFO: Skip_connection: True -2024-02-20 17:35:18, INFO: Number of layers: 1 -2024-02-20 17:35:18, INFO: Similarity_func: concatenation -2024-02-20 17:35:18, INFO: Layerwise_graph: False -2024-02-20 17:35:18, INFO: Skip_connection: True -2024-02-20 17:35:18, INFO: Number of layers: 1 -2024-02-20 17:35:18, INFO: Planning depth: 1 -2024-02-20 17:35:18, INFO: Planning width: 10 -2024-02-20 17:35:18, INFO: Sparse search: None -2024-02-20 17:35:21, INFO: human number: 10 -2024-02-20 17:35:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:35:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:35:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:35:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:35:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:25, INFO: Using device: cpu -2024-02-20 17:35:25, INFO: Loaded RL weights with best VAL -2024-02-20 17:35:25, INFO: Similarity_func: concatenation -2024-02-20 17:35:25, INFO: Layerwise_graph: False -2024-02-20 17:35:25, INFO: Skip_connection: True -2024-02-20 17:35:25, INFO: Number of layers: 1 -2024-02-20 17:35:25, INFO: Similarity_func: concatenation -2024-02-20 17:35:25, INFO: Layerwise_graph: False -2024-02-20 17:35:25, INFO: Skip_connection: True -2024-02-20 17:35:25, INFO: Number of layers: 1 -2024-02-20 17:35:25, INFO: Planning depth: 1 -2024-02-20 17:35:25, INFO: Planning width: 10 -2024-02-20 17:35:25, INFO: Sparse search: None -2024-02-20 17:35:28, INFO: human number: 10 -2024-02-20 17:35:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:35:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:35:28, INFO: Square width: 10, circle width: 4 -2024-02-20 17:35:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:35:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:34, INFO: Using device: cpu -2024-02-20 17:35:34, INFO: Loaded RL weights with best VAL -2024-02-20 17:35:34, INFO: Similarity_func: concatenation -2024-02-20 17:35:34, INFO: Layerwise_graph: False -2024-02-20 17:35:34, INFO: Skip_connection: True -2024-02-20 17:35:34, INFO: Number of layers: 1 -2024-02-20 17:35:34, INFO: Similarity_func: concatenation -2024-02-20 17:35:34, INFO: Layerwise_graph: False -2024-02-20 17:35:34, INFO: Skip_connection: True -2024-02-20 17:35:34, INFO: Number of layers: 1 -2024-02-20 17:35:34, INFO: Planning depth: 1 -2024-02-20 17:35:34, INFO: Planning width: 10 -2024-02-20 17:35:34, INFO: Sparse search: None -2024-02-20 17:35:36, INFO: human number: 10 -2024-02-20 17:35:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:35:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:35:36, INFO: Square width: 10, circle width: 4 -2024-02-20 17:35:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:35:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:35:38, INFO: Animation.save using -2024-02-20 17:36:08, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.970337 -2024-02-20 17:36:11, INFO: Using device: cpu -2024-02-20 17:36:11, INFO: Loaded RL weights with best VAL -2024-02-20 17:36:11, INFO: Similarity_func: concatenation -2024-02-20 17:36:11, INFO: Layerwise_graph: False -2024-02-20 17:36:11, INFO: Skip_connection: True -2024-02-20 17:36:11, INFO: Number of layers: 1 -2024-02-20 17:36:11, INFO: Similarity_func: concatenation -2024-02-20 17:36:11, INFO: Layerwise_graph: False -2024-02-20 17:36:11, INFO: Skip_connection: True -2024-02-20 17:36:11, INFO: Number of layers: 1 -2024-02-20 17:36:11, INFO: Planning depth: 1 -2024-02-20 17:36:11, INFO: Planning width: 10 -2024-02-20 17:36:11, INFO: Sparse search: None -2024-02-20 17:36:14, INFO: human number: 10 -2024-02-20 17:36:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:36:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:36:14, INFO: Square width: 10, circle width: 4 -2024-02-20 17:36:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:36:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:36:18, INFO: Using device: cpu -2024-02-20 17:36:18, INFO: Loaded RL weights with best VAL -2024-02-20 17:36:18, INFO: Similarity_func: concatenation -2024-02-20 17:36:18, INFO: Layerwise_graph: False -2024-02-20 17:36:18, INFO: Skip_connection: True -2024-02-20 17:36:18, INFO: Number of layers: 1 -2024-02-20 17:36:18, INFO: Similarity_func: concatenation -2024-02-20 17:36:18, INFO: Layerwise_graph: False -2024-02-20 17:36:18, INFO: Skip_connection: True -2024-02-20 17:36:18, INFO: Number of layers: 1 -2024-02-20 17:36:18, INFO: Planning depth: 1 -2024-02-20 17:36:18, INFO: Planning width: 10 -2024-02-20 17:36:18, INFO: Sparse search: None -2024-02-20 17:36:21, INFO: human number: 10 -2024-02-20 17:36:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:36:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:36:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:36:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:36:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:36:26, INFO: Using device: cpu -2024-02-20 17:36:26, INFO: Loaded RL weights with best VAL -2024-02-20 17:36:26, INFO: Similarity_func: concatenation -2024-02-20 17:36:26, INFO: Layerwise_graph: False -2024-02-20 17:36:26, INFO: Skip_connection: True -2024-02-20 17:36:26, INFO: Number of layers: 1 -2024-02-20 17:36:26, INFO: Similarity_func: concatenation -2024-02-20 17:36:26, INFO: Layerwise_graph: False -2024-02-20 17:36:26, INFO: Skip_connection: True -2024-02-20 17:36:26, INFO: Number of layers: 1 -2024-02-20 17:36:26, INFO: Planning depth: 1 -2024-02-20 17:36:26, INFO: Planning width: 10 -2024-02-20 17:36:26, INFO: Sparse search: None -2024-02-20 17:36:28, INFO: human number: 10 -2024-02-20 17:36:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:36:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:36:28, INFO: Square width: 10, circle width: 4 -2024-02-20 17:36:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:36:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:36:35, INFO: Using device: cpu -2024-02-20 17:36:35, INFO: Loaded RL weights with best VAL -2024-02-20 17:36:35, INFO: Similarity_func: concatenation -2024-02-20 17:36:35, INFO: Layerwise_graph: False -2024-02-20 17:36:35, INFO: Skip_connection: True -2024-02-20 17:36:35, INFO: Number of layers: 1 -2024-02-20 17:36:35, INFO: Similarity_func: concatenation -2024-02-20 17:36:35, INFO: Layerwise_graph: False -2024-02-20 17:36:35, INFO: Skip_connection: True -2024-02-20 17:36:35, INFO: Number of layers: 1 -2024-02-20 17:36:35, INFO: Planning depth: 1 -2024-02-20 17:36:35, INFO: Planning width: 10 -2024-02-20 17:36:35, INFO: Sparse search: None -2024-02-20 17:36:38, INFO: human number: 10 -2024-02-20 17:36:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:36:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:36:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:36:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:36:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:36:39, INFO: Animation.save using -2024-02-20 17:37:12, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.864078 -2024-02-20 17:37:15, INFO: Using device: cpu -2024-02-20 17:37:15, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:15, INFO: Similarity_func: concatenation -2024-02-20 17:37:15, INFO: Layerwise_graph: False -2024-02-20 17:37:15, INFO: Skip_connection: True -2024-02-20 17:37:15, INFO: Number of layers: 1 -2024-02-20 17:37:15, INFO: Similarity_func: concatenation -2024-02-20 17:37:15, INFO: Layerwise_graph: False -2024-02-20 17:37:15, INFO: Skip_connection: True -2024-02-20 17:37:15, INFO: Number of layers: 1 -2024-02-20 17:37:15, INFO: Planning depth: 1 -2024-02-20 17:37:15, INFO: Planning width: 10 -2024-02-20 17:37:15, INFO: Sparse search: None -2024-02-20 17:37:18, INFO: human number: 10 -2024-02-20 17:37:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:18, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:37:23, INFO: Using device: cpu -2024-02-20 17:37:23, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:23, INFO: Similarity_func: concatenation -2024-02-20 17:37:23, INFO: Layerwise_graph: False -2024-02-20 17:37:23, INFO: Skip_connection: True -2024-02-20 17:37:23, INFO: Number of layers: 1 -2024-02-20 17:37:23, INFO: Similarity_func: concatenation -2024-02-20 17:37:23, INFO: Layerwise_graph: False -2024-02-20 17:37:23, INFO: Skip_connection: True -2024-02-20 17:37:23, INFO: Number of layers: 1 -2024-02-20 17:37:23, INFO: Planning depth: 1 -2024-02-20 17:37:23, INFO: Planning width: 10 -2024-02-20 17:37:23, INFO: Sparse search: None -2024-02-20 17:37:26, INFO: human number: 10 -2024-02-20 17:37:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:26, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:37:32, INFO: Using device: cpu -2024-02-20 17:37:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:32, INFO: Similarity_func: concatenation -2024-02-20 17:37:32, INFO: Layerwise_graph: False -2024-02-20 17:37:32, INFO: Skip_connection: True -2024-02-20 17:37:32, INFO: Number of layers: 1 -2024-02-20 17:37:32, INFO: Similarity_func: concatenation -2024-02-20 17:37:32, INFO: Layerwise_graph: False -2024-02-20 17:37:32, INFO: Skip_connection: True -2024-02-20 17:37:32, INFO: Number of layers: 1 -2024-02-20 17:37:32, INFO: Planning depth: 1 -2024-02-20 17:37:32, INFO: Planning width: 10 -2024-02-20 17:37:32, INFO: Sparse search: None -2024-02-20 17:37:35, INFO: human number: 10 -2024-02-20 17:37:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:37:39, INFO: Using device: cpu -2024-02-20 17:37:39, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:39, INFO: Similarity_func: concatenation -2024-02-20 17:37:39, INFO: Layerwise_graph: False -2024-02-20 17:37:39, INFO: Skip_connection: True -2024-02-20 17:37:39, INFO: Number of layers: 1 -2024-02-20 17:37:40, INFO: Similarity_func: concatenation -2024-02-20 17:37:40, INFO: Layerwise_graph: False -2024-02-20 17:37:40, INFO: Skip_connection: True -2024-02-20 17:37:40, INFO: Number of layers: 1 -2024-02-20 17:37:40, INFO: Planning depth: 1 -2024-02-20 17:37:40, INFO: Planning width: 10 -2024-02-20 17:37:40, INFO: Sparse search: None -2024-02-20 17:37:42, INFO: human number: 10 -2024-02-20 17:37:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:42, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:37:49, INFO: Using device: cpu -2024-02-20 17:37:49, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:49, INFO: Similarity_func: concatenation -2024-02-20 17:37:49, INFO: Layerwise_graph: False -2024-02-20 17:37:49, INFO: Skip_connection: True -2024-02-20 17:37:49, INFO: Number of layers: 1 -2024-02-20 17:37:49, INFO: Similarity_func: concatenation -2024-02-20 17:37:49, INFO: Layerwise_graph: False -2024-02-20 17:37:49, INFO: Skip_connection: True -2024-02-20 17:37:49, INFO: Number of layers: 1 -2024-02-20 17:37:49, INFO: Planning depth: 1 -2024-02-20 17:37:49, INFO: Planning width: 10 -2024-02-20 17:37:49, INFO: Sparse search: None -2024-02-20 17:37:52, INFO: human number: 10 -2024-02-20 17:37:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:52, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:37:56, INFO: Using device: cpu -2024-02-20 17:37:56, INFO: Loaded RL weights with best VAL -2024-02-20 17:37:56, INFO: Similarity_func: concatenation -2024-02-20 17:37:56, INFO: Layerwise_graph: False -2024-02-20 17:37:56, INFO: Skip_connection: True -2024-02-20 17:37:56, INFO: Number of layers: 1 -2024-02-20 17:37:56, INFO: Similarity_func: concatenation -2024-02-20 17:37:56, INFO: Layerwise_graph: False -2024-02-20 17:37:56, INFO: Skip_connection: True -2024-02-20 17:37:56, INFO: Number of layers: 1 -2024-02-20 17:37:56, INFO: Planning depth: 1 -2024-02-20 17:37:56, INFO: Planning width: 10 -2024-02-20 17:37:56, INFO: Sparse search: None -2024-02-20 17:37:59, INFO: human number: 10 -2024-02-20 17:37:59, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:37:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:37:59, INFO: Square width: 10, circle width: 4 -2024-02-20 17:37:59, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:37:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:05, INFO: Using device: cpu -2024-02-20 17:38:05, INFO: Loaded RL weights with best VAL -2024-02-20 17:38:05, INFO: Similarity_func: concatenation -2024-02-20 17:38:05, INFO: Layerwise_graph: False -2024-02-20 17:38:05, INFO: Skip_connection: True -2024-02-20 17:38:05, INFO: Number of layers: 1 -2024-02-20 17:38:05, INFO: Similarity_func: concatenation -2024-02-20 17:38:05, INFO: Layerwise_graph: False -2024-02-20 17:38:05, INFO: Skip_connection: True -2024-02-20 17:38:05, INFO: Number of layers: 1 -2024-02-20 17:38:05, INFO: Planning depth: 1 -2024-02-20 17:38:05, INFO: Planning width: 10 -2024-02-20 17:38:05, INFO: Sparse search: None -2024-02-20 17:38:08, INFO: human number: 10 -2024-02-20 17:38:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:38:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:38:08, INFO: Square width: 10, circle width: 4 -2024-02-20 17:38:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:38:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:13, INFO: Using device: cpu -2024-02-20 17:38:13, INFO: Loaded RL weights with best VAL -2024-02-20 17:38:13, INFO: Similarity_func: concatenation -2024-02-20 17:38:13, INFO: Layerwise_graph: False -2024-02-20 17:38:13, INFO: Skip_connection: True -2024-02-20 17:38:13, INFO: Number of layers: 1 -2024-02-20 17:38:13, INFO: Similarity_func: concatenation -2024-02-20 17:38:13, INFO: Layerwise_graph: False -2024-02-20 17:38:13, INFO: Skip_connection: True -2024-02-20 17:38:13, INFO: Number of layers: 1 -2024-02-20 17:38:13, INFO: Planning depth: 1 -2024-02-20 17:38:13, INFO: Planning width: 10 -2024-02-20 17:38:13, INFO: Sparse search: None -2024-02-20 17:38:16, INFO: human number: 10 -2024-02-20 17:38:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:38:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:38:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:38:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:38:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:21, INFO: Using device: cpu -2024-02-20 17:38:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:38:21, INFO: Similarity_func: concatenation -2024-02-20 17:38:21, INFO: Layerwise_graph: False -2024-02-20 17:38:21, INFO: Skip_connection: True -2024-02-20 17:38:21, INFO: Number of layers: 1 -2024-02-20 17:38:21, INFO: Similarity_func: concatenation -2024-02-20 17:38:21, INFO: Layerwise_graph: False -2024-02-20 17:38:21, INFO: Skip_connection: True -2024-02-20 17:38:21, INFO: Number of layers: 1 -2024-02-20 17:38:21, INFO: Planning depth: 1 -2024-02-20 17:38:21, INFO: Planning width: 10 -2024-02-20 17:38:21, INFO: Sparse search: None -2024-02-20 17:38:23, INFO: human number: 10 -2024-02-20 17:38:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:38:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:38:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:38:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:38:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:28, INFO: Using device: cpu -2024-02-20 17:38:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:38:28, INFO: Similarity_func: concatenation -2024-02-20 17:38:28, INFO: Layerwise_graph: False -2024-02-20 17:38:28, INFO: Skip_connection: True -2024-02-20 17:38:28, INFO: Number of layers: 1 -2024-02-20 17:38:28, INFO: Similarity_func: concatenation -2024-02-20 17:38:28, INFO: Layerwise_graph: False -2024-02-20 17:38:28, INFO: Skip_connection: True -2024-02-20 17:38:28, INFO: Number of layers: 1 -2024-02-20 17:38:28, INFO: Planning depth: 1 -2024-02-20 17:38:28, INFO: Planning width: 10 -2024-02-20 17:38:28, INFO: Sparse search: None -2024-02-20 17:38:31, INFO: human number: 10 -2024-02-20 17:38:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:38:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:38:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:38:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:38:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:36, INFO: Using device: cpu -2024-02-20 17:38:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:38:36, INFO: Similarity_func: concatenation -2024-02-20 17:38:36, INFO: Layerwise_graph: False -2024-02-20 17:38:36, INFO: Skip_connection: True -2024-02-20 17:38:36, INFO: Number of layers: 1 -2024-02-20 17:38:36, INFO: Similarity_func: concatenation -2024-02-20 17:38:36, INFO: Layerwise_graph: False -2024-02-20 17:38:36, INFO: Skip_connection: True -2024-02-20 17:38:36, INFO: Number of layers: 1 -2024-02-20 17:38:36, INFO: Planning depth: 1 -2024-02-20 17:38:36, INFO: Planning width: 10 -2024-02-20 17:38:36, INFO: Sparse search: None -2024-02-20 17:38:38, INFO: human number: 10 -2024-02-20 17:38:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:38:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:38:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:38:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:38:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:38:41, INFO: Animation.save using -2024-02-20 17:39:11, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.970177 -2024-02-20 17:39:14, INFO: Using device: cpu -2024-02-20 17:39:14, INFO: Loaded RL weights with best VAL -2024-02-20 17:39:14, INFO: Similarity_func: concatenation -2024-02-20 17:39:14, INFO: Layerwise_graph: False -2024-02-20 17:39:14, INFO: Skip_connection: True -2024-02-20 17:39:14, INFO: Number of layers: 1 -2024-02-20 17:39:14, INFO: Similarity_func: concatenation -2024-02-20 17:39:14, INFO: Layerwise_graph: False -2024-02-20 17:39:14, INFO: Skip_connection: True -2024-02-20 17:39:14, INFO: Number of layers: 1 -2024-02-20 17:39:14, INFO: Planning depth: 1 -2024-02-20 17:39:14, INFO: Planning width: 10 -2024-02-20 17:39:14, INFO: Sparse search: None -2024-02-20 17:39:17, INFO: human number: 10 -2024-02-20 17:39:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:39:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:39:17, INFO: Square width: 10, circle width: 4 -2024-02-20 17:39:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:39:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:39:22, INFO: Using device: cpu -2024-02-20 17:39:22, INFO: Loaded RL weights with best VAL -2024-02-20 17:39:22, INFO: Similarity_func: concatenation -2024-02-20 17:39:22, INFO: Layerwise_graph: False -2024-02-20 17:39:22, INFO: Skip_connection: True -2024-02-20 17:39:22, INFO: Number of layers: 1 -2024-02-20 17:39:22, INFO: Similarity_func: concatenation -2024-02-20 17:39:22, INFO: Layerwise_graph: False -2024-02-20 17:39:22, INFO: Skip_connection: True -2024-02-20 17:39:22, INFO: Number of layers: 1 -2024-02-20 17:39:22, INFO: Planning depth: 1 -2024-02-20 17:39:22, INFO: Planning width: 10 -2024-02-20 17:39:22, INFO: Sparse search: None -2024-02-20 17:39:25, INFO: human number: 10 -2024-02-20 17:39:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:39:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:39:25, INFO: Square width: 10, circle width: 4 -2024-02-20 17:39:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:39:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:39:26, INFO: Animation.save using -2024-02-20 17:39:51, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.089592 -2024-02-20 17:39:54, INFO: Using device: cpu -2024-02-20 17:39:54, INFO: Loaded RL weights with best VAL -2024-02-20 17:39:54, INFO: Similarity_func: concatenation -2024-02-20 17:39:54, INFO: Layerwise_graph: False -2024-02-20 17:39:54, INFO: Skip_connection: True -2024-02-20 17:39:54, INFO: Number of layers: 1 -2024-02-20 17:39:54, INFO: Similarity_func: concatenation -2024-02-20 17:39:54, INFO: Layerwise_graph: False -2024-02-20 17:39:54, INFO: Skip_connection: True -2024-02-20 17:39:54, INFO: Number of layers: 1 -2024-02-20 17:39:54, INFO: Planning depth: 1 -2024-02-20 17:39:54, INFO: Planning width: 10 -2024-02-20 17:39:54, INFO: Sparse search: None -2024-02-20 17:39:56, INFO: human number: 10 -2024-02-20 17:39:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:39:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:39:56, INFO: Square width: 10, circle width: 4 -2024-02-20 17:39:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:39:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:40:01, INFO: Using device: cpu -2024-02-20 17:40:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:40:01, INFO: Similarity_func: concatenation -2024-02-20 17:40:01, INFO: Layerwise_graph: False -2024-02-20 17:40:01, INFO: Skip_connection: True -2024-02-20 17:40:01, INFO: Number of layers: 1 -2024-02-20 17:40:01, INFO: Similarity_func: concatenation -2024-02-20 17:40:01, INFO: Layerwise_graph: False -2024-02-20 17:40:01, INFO: Skip_connection: True -2024-02-20 17:40:01, INFO: Number of layers: 1 -2024-02-20 17:40:01, INFO: Planning depth: 1 -2024-02-20 17:40:01, INFO: Planning width: 10 -2024-02-20 17:40:01, INFO: Sparse search: None -2024-02-20 17:40:04, INFO: human number: 10 -2024-02-20 17:40:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:40:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:40:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:40:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:40:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:40:06, INFO: Animation.save using -2024-02-20 17:40:31, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.056429 -2024-02-20 17:40:34, INFO: Using device: cpu -2024-02-20 17:40:34, INFO: Loaded RL weights with best VAL -2024-02-20 17:40:34, INFO: Similarity_func: concatenation -2024-02-20 17:40:34, INFO: Layerwise_graph: False -2024-02-20 17:40:34, INFO: Skip_connection: True -2024-02-20 17:40:34, INFO: Number of layers: 1 -2024-02-20 17:40:34, INFO: Similarity_func: concatenation -2024-02-20 17:40:34, INFO: Layerwise_graph: False -2024-02-20 17:40:34, INFO: Skip_connection: True -2024-02-20 17:40:34, INFO: Number of layers: 1 -2024-02-20 17:40:34, INFO: Planning depth: 1 -2024-02-20 17:40:34, INFO: Planning width: 10 -2024-02-20 17:40:34, INFO: Sparse search: None -2024-02-20 17:40:37, INFO: human number: 10 -2024-02-20 17:40:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:40:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:40:37, INFO: Square width: 10, circle width: 4 -2024-02-20 17:40:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:40:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:40:42, INFO: Using device: cpu -2024-02-20 17:40:42, INFO: Loaded RL weights with best VAL -2024-02-20 17:40:42, INFO: Similarity_func: concatenation -2024-02-20 17:40:42, INFO: Layerwise_graph: False -2024-02-20 17:40:42, INFO: Skip_connection: True -2024-02-20 17:40:42, INFO: Number of layers: 1 -2024-02-20 17:40:42, INFO: Similarity_func: concatenation -2024-02-20 17:40:42, INFO: Layerwise_graph: False -2024-02-20 17:40:42, INFO: Skip_connection: True -2024-02-20 17:40:42, INFO: Number of layers: 1 -2024-02-20 17:40:42, INFO: Planning depth: 1 -2024-02-20 17:40:42, INFO: Planning width: 10 -2024-02-20 17:40:42, INFO: Sparse search: None -2024-02-20 17:40:45, INFO: human number: 10 -2024-02-20 17:40:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:40:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:40:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:40:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:40:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:40:50, INFO: Using device: cpu -2024-02-20 17:40:50, INFO: Loaded RL weights with best VAL -2024-02-20 17:40:50, INFO: Similarity_func: concatenation -2024-02-20 17:40:50, INFO: Layerwise_graph: False -2024-02-20 17:40:50, INFO: Skip_connection: True -2024-02-20 17:40:50, INFO: Number of layers: 1 -2024-02-20 17:40:50, INFO: Similarity_func: concatenation -2024-02-20 17:40:50, INFO: Layerwise_graph: False -2024-02-20 17:40:50, INFO: Skip_connection: True -2024-02-20 17:40:50, INFO: Number of layers: 1 -2024-02-20 17:40:50, INFO: Planning depth: 1 -2024-02-20 17:40:50, INFO: Planning width: 10 -2024-02-20 17:40:50, INFO: Sparse search: None -2024-02-20 17:40:53, INFO: human number: 10 -2024-02-20 17:40:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:40:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:40:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:40:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:40:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:40:58, INFO: Using device: cpu -2024-02-20 17:40:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:40:58, INFO: Similarity_func: concatenation -2024-02-20 17:40:58, INFO: Layerwise_graph: False -2024-02-20 17:40:58, INFO: Skip_connection: True -2024-02-20 17:40:58, INFO: Number of layers: 1 -2024-02-20 17:40:58, INFO: Similarity_func: concatenation -2024-02-20 17:40:58, INFO: Layerwise_graph: False -2024-02-20 17:40:58, INFO: Skip_connection: True -2024-02-20 17:40:58, INFO: Number of layers: 1 -2024-02-20 17:40:58, INFO: Planning depth: 1 -2024-02-20 17:40:58, INFO: Planning width: 10 -2024-02-20 17:40:58, INFO: Sparse search: None -2024-02-20 17:41:01, INFO: human number: 10 -2024-02-20 17:41:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:06, INFO: Using device: cpu -2024-02-20 17:41:06, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:06, INFO: Similarity_func: concatenation -2024-02-20 17:41:06, INFO: Layerwise_graph: False -2024-02-20 17:41:06, INFO: Skip_connection: True -2024-02-20 17:41:06, INFO: Number of layers: 1 -2024-02-20 17:41:06, INFO: Similarity_func: concatenation -2024-02-20 17:41:06, INFO: Layerwise_graph: False -2024-02-20 17:41:06, INFO: Skip_connection: True -2024-02-20 17:41:06, INFO: Number of layers: 1 -2024-02-20 17:41:06, INFO: Planning depth: 1 -2024-02-20 17:41:06, INFO: Planning width: 10 -2024-02-20 17:41:06, INFO: Sparse search: None -2024-02-20 17:41:08, INFO: human number: 10 -2024-02-20 17:41:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:08, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:13, INFO: Using device: cpu -2024-02-20 17:41:13, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:13, INFO: Similarity_func: concatenation -2024-02-20 17:41:13, INFO: Layerwise_graph: False -2024-02-20 17:41:13, INFO: Skip_connection: True -2024-02-20 17:41:13, INFO: Number of layers: 1 -2024-02-20 17:41:13, INFO: Similarity_func: concatenation -2024-02-20 17:41:13, INFO: Layerwise_graph: False -2024-02-20 17:41:13, INFO: Skip_connection: True -2024-02-20 17:41:13, INFO: Number of layers: 1 -2024-02-20 17:41:13, INFO: Planning depth: 1 -2024-02-20 17:41:13, INFO: Planning width: 10 -2024-02-20 17:41:13, INFO: Sparse search: None -2024-02-20 17:41:16, INFO: human number: 10 -2024-02-20 17:41:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:20, INFO: Using device: cpu -2024-02-20 17:41:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:20, INFO: Similarity_func: concatenation -2024-02-20 17:41:20, INFO: Layerwise_graph: False -2024-02-20 17:41:20, INFO: Skip_connection: True -2024-02-20 17:41:20, INFO: Number of layers: 1 -2024-02-20 17:41:20, INFO: Similarity_func: concatenation -2024-02-20 17:41:20, INFO: Layerwise_graph: False -2024-02-20 17:41:20, INFO: Skip_connection: True -2024-02-20 17:41:20, INFO: Number of layers: 1 -2024-02-20 17:41:20, INFO: Planning depth: 1 -2024-02-20 17:41:20, INFO: Planning width: 10 -2024-02-20 17:41:20, INFO: Sparse search: None -2024-02-20 17:41:23, INFO: human number: 10 -2024-02-20 17:41:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:28, INFO: Using device: cpu -2024-02-20 17:41:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:28, INFO: Similarity_func: concatenation -2024-02-20 17:41:28, INFO: Layerwise_graph: False -2024-02-20 17:41:28, INFO: Skip_connection: True -2024-02-20 17:41:28, INFO: Number of layers: 1 -2024-02-20 17:41:28, INFO: Similarity_func: concatenation -2024-02-20 17:41:28, INFO: Layerwise_graph: False -2024-02-20 17:41:28, INFO: Skip_connection: True -2024-02-20 17:41:28, INFO: Number of layers: 1 -2024-02-20 17:41:28, INFO: Planning depth: 1 -2024-02-20 17:41:28, INFO: Planning width: 10 -2024-02-20 17:41:28, INFO: Sparse search: None -2024-02-20 17:41:31, INFO: human number: 10 -2024-02-20 17:41:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:36, INFO: Using device: cpu -2024-02-20 17:41:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:36, INFO: Similarity_func: concatenation -2024-02-20 17:41:36, INFO: Layerwise_graph: False -2024-02-20 17:41:36, INFO: Skip_connection: True -2024-02-20 17:41:36, INFO: Number of layers: 1 -2024-02-20 17:41:36, INFO: Similarity_func: concatenation -2024-02-20 17:41:36, INFO: Layerwise_graph: False -2024-02-20 17:41:36, INFO: Skip_connection: True -2024-02-20 17:41:36, INFO: Number of layers: 1 -2024-02-20 17:41:36, INFO: Planning depth: 1 -2024-02-20 17:41:36, INFO: Planning width: 10 -2024-02-20 17:41:36, INFO: Sparse search: None -2024-02-20 17:41:38, INFO: human number: 10 -2024-02-20 17:41:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:43, INFO: Using device: cpu -2024-02-20 17:41:43, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:43, INFO: Similarity_func: concatenation -2024-02-20 17:41:43, INFO: Layerwise_graph: False -2024-02-20 17:41:43, INFO: Skip_connection: True -2024-02-20 17:41:43, INFO: Number of layers: 1 -2024-02-20 17:41:43, INFO: Similarity_func: concatenation -2024-02-20 17:41:43, INFO: Layerwise_graph: False -2024-02-20 17:41:43, INFO: Skip_connection: True -2024-02-20 17:41:43, INFO: Number of layers: 1 -2024-02-20 17:41:43, INFO: Planning depth: 1 -2024-02-20 17:41:43, INFO: Planning width: 10 -2024-02-20 17:41:43, INFO: Sparse search: None -2024-02-20 17:41:45, INFO: human number: 10 -2024-02-20 17:41:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:50, INFO: Using device: cpu -2024-02-20 17:41:50, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:50, INFO: Similarity_func: concatenation -2024-02-20 17:41:50, INFO: Layerwise_graph: False -2024-02-20 17:41:50, INFO: Skip_connection: True -2024-02-20 17:41:50, INFO: Number of layers: 1 -2024-02-20 17:41:50, INFO: Similarity_func: concatenation -2024-02-20 17:41:50, INFO: Layerwise_graph: False -2024-02-20 17:41:50, INFO: Skip_connection: True -2024-02-20 17:41:50, INFO: Number of layers: 1 -2024-02-20 17:41:50, INFO: Planning depth: 1 -2024-02-20 17:41:50, INFO: Planning width: 10 -2024-02-20 17:41:50, INFO: Sparse search: None -2024-02-20 17:41:53, INFO: human number: 10 -2024-02-20 17:41:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:41:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:41:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:41:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:41:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:41:58, INFO: Using device: cpu -2024-02-20 17:41:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:41:58, INFO: Similarity_func: concatenation -2024-02-20 17:41:58, INFO: Layerwise_graph: False -2024-02-20 17:41:58, INFO: Skip_connection: True -2024-02-20 17:41:58, INFO: Number of layers: 1 -2024-02-20 17:41:58, INFO: Similarity_func: concatenation -2024-02-20 17:41:58, INFO: Layerwise_graph: False -2024-02-20 17:41:58, INFO: Skip_connection: True -2024-02-20 17:41:58, INFO: Number of layers: 1 -2024-02-20 17:41:58, INFO: Planning depth: 1 -2024-02-20 17:41:58, INFO: Planning width: 10 -2024-02-20 17:41:58, INFO: Sparse search: None -2024-02-20 17:42:01, INFO: human number: 10 -2024-02-20 17:42:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:42:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:42:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:42:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:42:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:42:03, INFO: Animation.save using -2024-02-20 17:42:35, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.978808 -2024-02-20 17:42:38, INFO: Using device: cpu -2024-02-20 17:42:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:42:38, INFO: Similarity_func: concatenation -2024-02-20 17:42:38, INFO: Layerwise_graph: False -2024-02-20 17:42:38, INFO: Skip_connection: True -2024-02-20 17:42:38, INFO: Number of layers: 1 -2024-02-20 17:42:38, INFO: Similarity_func: concatenation -2024-02-20 17:42:38, INFO: Layerwise_graph: False -2024-02-20 17:42:38, INFO: Skip_connection: True -2024-02-20 17:42:38, INFO: Number of layers: 1 -2024-02-20 17:42:38, INFO: Planning depth: 1 -2024-02-20 17:42:38, INFO: Planning width: 10 -2024-02-20 17:42:38, INFO: Sparse search: None -2024-02-20 17:42:41, INFO: human number: 10 -2024-02-20 17:42:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:42:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:42:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:42:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:42:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:42:46, INFO: Using device: cpu -2024-02-20 17:42:46, INFO: Loaded RL weights with best VAL -2024-02-20 17:42:46, INFO: Similarity_func: concatenation -2024-02-20 17:42:46, INFO: Layerwise_graph: False -2024-02-20 17:42:46, INFO: Skip_connection: True -2024-02-20 17:42:46, INFO: Number of layers: 1 -2024-02-20 17:42:46, INFO: Similarity_func: concatenation -2024-02-20 17:42:46, INFO: Layerwise_graph: False -2024-02-20 17:42:46, INFO: Skip_connection: True -2024-02-20 17:42:46, INFO: Number of layers: 1 -2024-02-20 17:42:46, INFO: Planning depth: 1 -2024-02-20 17:42:46, INFO: Planning width: 10 -2024-02-20 17:42:46, INFO: Sparse search: None -2024-02-20 17:42:48, INFO: human number: 10 -2024-02-20 17:42:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:42:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:42:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:42:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:42:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:42:53, INFO: Using device: cpu -2024-02-20 17:42:53, INFO: Loaded RL weights with best VAL -2024-02-20 17:42:53, INFO: Similarity_func: concatenation -2024-02-20 17:42:53, INFO: Layerwise_graph: False -2024-02-20 17:42:53, INFO: Skip_connection: True -2024-02-20 17:42:53, INFO: Number of layers: 1 -2024-02-20 17:42:53, INFO: Similarity_func: concatenation -2024-02-20 17:42:53, INFO: Layerwise_graph: False -2024-02-20 17:42:53, INFO: Skip_connection: True -2024-02-20 17:42:53, INFO: Number of layers: 1 -2024-02-20 17:42:53, INFO: Planning depth: 1 -2024-02-20 17:42:53, INFO: Planning width: 10 -2024-02-20 17:42:53, INFO: Sparse search: None -2024-02-20 17:42:55, INFO: human number: 10 -2024-02-20 17:42:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:42:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:42:55, INFO: Square width: 10, circle width: 4 -2024-02-20 17:42:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:42:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:43:00, INFO: Using device: cpu -2024-02-20 17:43:00, INFO: Loaded RL weights with best VAL -2024-02-20 17:43:00, INFO: Similarity_func: concatenation -2024-02-20 17:43:00, INFO: Layerwise_graph: False -2024-02-20 17:43:00, INFO: Skip_connection: True -2024-02-20 17:43:00, INFO: Number of layers: 1 -2024-02-20 17:43:00, INFO: Similarity_func: concatenation -2024-02-20 17:43:00, INFO: Layerwise_graph: False -2024-02-20 17:43:00, INFO: Skip_connection: True -2024-02-20 17:43:00, INFO: Number of layers: 1 -2024-02-20 17:43:00, INFO: Planning depth: 1 -2024-02-20 17:43:00, INFO: Planning width: 10 -2024-02-20 17:43:00, INFO: Sparse search: None -2024-02-20 17:43:03, INFO: human number: 10 -2024-02-20 17:43:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:43:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:43:03, INFO: Square width: 10, circle width: 4 -2024-02-20 17:43:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:43:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:43:06, INFO: Animation.save using -2024-02-20 17:43:36, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959577 -2024-02-20 17:43:39, INFO: Using device: cpu -2024-02-20 17:43:39, INFO: Loaded RL weights with best VAL -2024-02-20 17:43:39, INFO: Similarity_func: concatenation -2024-02-20 17:43:39, INFO: Layerwise_graph: False -2024-02-20 17:43:39, INFO: Skip_connection: True -2024-02-20 17:43:39, INFO: Number of layers: 1 -2024-02-20 17:43:39, INFO: Similarity_func: concatenation -2024-02-20 17:43:39, INFO: Layerwise_graph: False -2024-02-20 17:43:39, INFO: Skip_connection: True -2024-02-20 17:43:39, INFO: Number of layers: 1 -2024-02-20 17:43:39, INFO: Planning depth: 1 -2024-02-20 17:43:39, INFO: Planning width: 10 -2024-02-20 17:43:39, INFO: Sparse search: None -2024-02-20 17:43:42, INFO: human number: 10 -2024-02-20 17:43:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:43:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:43:42, INFO: Square width: 10, circle width: 4 -2024-02-20 17:43:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:43:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:43:44, INFO: Animation.save using -2024-02-20 17:44:24, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.998667 -2024-02-20 17:44:27, INFO: Using device: cpu -2024-02-20 17:44:27, INFO: Loaded RL weights with best VAL -2024-02-20 17:44:27, INFO: Similarity_func: concatenation -2024-02-20 17:44:27, INFO: Layerwise_graph: False -2024-02-20 17:44:27, INFO: Skip_connection: True -2024-02-20 17:44:27, INFO: Number of layers: 1 -2024-02-20 17:44:27, INFO: Similarity_func: concatenation -2024-02-20 17:44:27, INFO: Layerwise_graph: False -2024-02-20 17:44:27, INFO: Skip_connection: True -2024-02-20 17:44:27, INFO: Number of layers: 1 -2024-02-20 17:44:27, INFO: Planning depth: 1 -2024-02-20 17:44:27, INFO: Planning width: 10 -2024-02-20 17:44:27, INFO: Sparse search: None -2024-02-20 17:44:30, INFO: human number: 10 -2024-02-20 17:44:30, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:44:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:44:30, INFO: Square width: 10, circle width: 4 -2024-02-20 17:44:30, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:44:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:44:35, INFO: Using device: cpu -2024-02-20 17:44:35, INFO: Loaded RL weights with best VAL -2024-02-20 17:44:35, INFO: Similarity_func: concatenation -2024-02-20 17:44:35, INFO: Layerwise_graph: False -2024-02-20 17:44:35, INFO: Skip_connection: True -2024-02-20 17:44:35, INFO: Number of layers: 1 -2024-02-20 17:44:35, INFO: Similarity_func: concatenation -2024-02-20 17:44:35, INFO: Layerwise_graph: False -2024-02-20 17:44:35, INFO: Skip_connection: True -2024-02-20 17:44:35, INFO: Number of layers: 1 -2024-02-20 17:44:35, INFO: Planning depth: 1 -2024-02-20 17:44:35, INFO: Planning width: 10 -2024-02-20 17:44:35, INFO: Sparse search: None -2024-02-20 17:44:38, INFO: human number: 10 -2024-02-20 17:44:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:44:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:44:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:44:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:44:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:44:43, INFO: Using device: cpu -2024-02-20 17:44:43, INFO: Loaded RL weights with best VAL -2024-02-20 17:44:43, INFO: Similarity_func: concatenation -2024-02-20 17:44:43, INFO: Layerwise_graph: False -2024-02-20 17:44:43, INFO: Skip_connection: True -2024-02-20 17:44:43, INFO: Number of layers: 1 -2024-02-20 17:44:43, INFO: Similarity_func: concatenation -2024-02-20 17:44:43, INFO: Layerwise_graph: False -2024-02-20 17:44:43, INFO: Skip_connection: True -2024-02-20 17:44:43, INFO: Number of layers: 1 -2024-02-20 17:44:43, INFO: Planning depth: 1 -2024-02-20 17:44:43, INFO: Planning width: 10 -2024-02-20 17:44:43, INFO: Sparse search: None -2024-02-20 17:44:45, INFO: human number: 10 -2024-02-20 17:44:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:44:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:44:45, INFO: Square width: 10, circle width: 4 -2024-02-20 17:44:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:44:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:44:51, INFO: Using device: cpu -2024-02-20 17:44:51, INFO: Loaded RL weights with best VAL -2024-02-20 17:44:51, INFO: Similarity_func: concatenation -2024-02-20 17:44:51, INFO: Layerwise_graph: False -2024-02-20 17:44:51, INFO: Skip_connection: True -2024-02-20 17:44:51, INFO: Number of layers: 1 -2024-02-20 17:44:51, INFO: Similarity_func: concatenation -2024-02-20 17:44:51, INFO: Layerwise_graph: False -2024-02-20 17:44:51, INFO: Skip_connection: True -2024-02-20 17:44:51, INFO: Number of layers: 1 -2024-02-20 17:44:51, INFO: Planning depth: 1 -2024-02-20 17:44:51, INFO: Planning width: 10 -2024-02-20 17:44:51, INFO: Sparse search: None -2024-02-20 17:44:53, INFO: human number: 10 -2024-02-20 17:44:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:44:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:44:53, INFO: Square width: 10, circle width: 4 -2024-02-20 17:44:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:44:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:44:55, INFO: Animation.save using -2024-02-20 17:45:19, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.073879 -2024-02-20 17:45:22, INFO: Using device: cpu -2024-02-20 17:45:22, INFO: Loaded RL weights with best VAL -2024-02-20 17:45:22, INFO: Similarity_func: concatenation -2024-02-20 17:45:22, INFO: Layerwise_graph: False -2024-02-20 17:45:22, INFO: Skip_connection: True -2024-02-20 17:45:22, INFO: Number of layers: 1 -2024-02-20 17:45:22, INFO: Similarity_func: concatenation -2024-02-20 17:45:22, INFO: Layerwise_graph: False -2024-02-20 17:45:22, INFO: Skip_connection: True -2024-02-20 17:45:22, INFO: Number of layers: 1 -2024-02-20 17:45:22, INFO: Planning depth: 1 -2024-02-20 17:45:22, INFO: Planning width: 10 -2024-02-20 17:45:22, INFO: Sparse search: None -2024-02-20 17:45:25, INFO: human number: 10 -2024-02-20 17:45:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:45:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:45:25, INFO: Square width: 10, circle width: 4 -2024-02-20 17:45:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:45:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:45:27, INFO: Animation.save using -2024-02-20 17:45:54, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.007391 -2024-02-20 17:45:57, INFO: Using device: cpu -2024-02-20 17:45:57, INFO: Loaded RL weights with best VAL -2024-02-20 17:45:57, INFO: Similarity_func: concatenation -2024-02-20 17:45:57, INFO: Layerwise_graph: False -2024-02-20 17:45:57, INFO: Skip_connection: True -2024-02-20 17:45:57, INFO: Number of layers: 1 -2024-02-20 17:45:57, INFO: Similarity_func: concatenation -2024-02-20 17:45:57, INFO: Layerwise_graph: False -2024-02-20 17:45:57, INFO: Skip_connection: True -2024-02-20 17:45:57, INFO: Number of layers: 1 -2024-02-20 17:45:57, INFO: Planning depth: 1 -2024-02-20 17:45:57, INFO: Planning width: 10 -2024-02-20 17:45:57, INFO: Sparse search: None -2024-02-20 17:46:00, INFO: human number: 10 -2024-02-20 17:46:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:00, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:05, INFO: Using device: cpu -2024-02-20 17:46:05, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:05, INFO: Similarity_func: concatenation -2024-02-20 17:46:05, INFO: Layerwise_graph: False -2024-02-20 17:46:05, INFO: Skip_connection: True -2024-02-20 17:46:05, INFO: Number of layers: 1 -2024-02-20 17:46:05, INFO: Similarity_func: concatenation -2024-02-20 17:46:05, INFO: Layerwise_graph: False -2024-02-20 17:46:05, INFO: Skip_connection: True -2024-02-20 17:46:05, INFO: Number of layers: 1 -2024-02-20 17:46:05, INFO: Planning depth: 1 -2024-02-20 17:46:05, INFO: Planning width: 10 -2024-02-20 17:46:05, INFO: Sparse search: None -2024-02-20 17:46:07, INFO: human number: 10 -2024-02-20 17:46:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:07, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:12, INFO: Using device: cpu -2024-02-20 17:46:12, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:12, INFO: Similarity_func: concatenation -2024-02-20 17:46:12, INFO: Layerwise_graph: False -2024-02-20 17:46:12, INFO: Skip_connection: True -2024-02-20 17:46:12, INFO: Number of layers: 1 -2024-02-20 17:46:12, INFO: Similarity_func: concatenation -2024-02-20 17:46:12, INFO: Layerwise_graph: False -2024-02-20 17:46:12, INFO: Skip_connection: True -2024-02-20 17:46:12, INFO: Number of layers: 1 -2024-02-20 17:46:12, INFO: Planning depth: 1 -2024-02-20 17:46:12, INFO: Planning width: 10 -2024-02-20 17:46:12, INFO: Sparse search: None -2024-02-20 17:46:15, INFO: human number: 10 -2024-02-20 17:46:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:15, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:20, INFO: Using device: cpu -2024-02-20 17:46:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:20, INFO: Similarity_func: concatenation -2024-02-20 17:46:20, INFO: Layerwise_graph: False -2024-02-20 17:46:20, INFO: Skip_connection: True -2024-02-20 17:46:20, INFO: Number of layers: 1 -2024-02-20 17:46:20, INFO: Similarity_func: concatenation -2024-02-20 17:46:20, INFO: Layerwise_graph: False -2024-02-20 17:46:20, INFO: Skip_connection: True -2024-02-20 17:46:20, INFO: Number of layers: 1 -2024-02-20 17:46:20, INFO: Planning depth: 1 -2024-02-20 17:46:20, INFO: Planning width: 10 -2024-02-20 17:46:20, INFO: Sparse search: None -2024-02-20 17:46:23, INFO: human number: 10 -2024-02-20 17:46:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:28, INFO: Using device: cpu -2024-02-20 17:46:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:28, INFO: Similarity_func: concatenation -2024-02-20 17:46:28, INFO: Layerwise_graph: False -2024-02-20 17:46:28, INFO: Skip_connection: True -2024-02-20 17:46:28, INFO: Number of layers: 1 -2024-02-20 17:46:28, INFO: Similarity_func: concatenation -2024-02-20 17:46:28, INFO: Layerwise_graph: False -2024-02-20 17:46:28, INFO: Skip_connection: True -2024-02-20 17:46:28, INFO: Number of layers: 1 -2024-02-20 17:46:28, INFO: Planning depth: 1 -2024-02-20 17:46:28, INFO: Planning width: 10 -2024-02-20 17:46:28, INFO: Sparse search: None -2024-02-20 17:46:31, INFO: human number: 10 -2024-02-20 17:46:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:36, INFO: Using device: cpu -2024-02-20 17:46:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:36, INFO: Similarity_func: concatenation -2024-02-20 17:46:36, INFO: Layerwise_graph: False -2024-02-20 17:46:36, INFO: Skip_connection: True -2024-02-20 17:46:36, INFO: Number of layers: 1 -2024-02-20 17:46:36, INFO: Similarity_func: concatenation -2024-02-20 17:46:36, INFO: Layerwise_graph: False -2024-02-20 17:46:36, INFO: Skip_connection: True -2024-02-20 17:46:36, INFO: Number of layers: 1 -2024-02-20 17:46:36, INFO: Planning depth: 1 -2024-02-20 17:46:36, INFO: Planning width: 10 -2024-02-20 17:46:36, INFO: Sparse search: None -2024-02-20 17:46:39, INFO: human number: 10 -2024-02-20 17:46:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:39, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:43, INFO: Using device: cpu -2024-02-20 17:46:43, INFO: Loaded RL weights with best VAL -2024-02-20 17:46:43, INFO: Similarity_func: concatenation -2024-02-20 17:46:43, INFO: Layerwise_graph: False -2024-02-20 17:46:43, INFO: Skip_connection: True -2024-02-20 17:46:43, INFO: Number of layers: 1 -2024-02-20 17:46:43, INFO: Similarity_func: concatenation -2024-02-20 17:46:43, INFO: Layerwise_graph: False -2024-02-20 17:46:43, INFO: Skip_connection: True -2024-02-20 17:46:43, INFO: Number of layers: 1 -2024-02-20 17:46:43, INFO: Planning depth: 1 -2024-02-20 17:46:43, INFO: Planning width: 10 -2024-02-20 17:46:43, INFO: Sparse search: None -2024-02-20 17:46:46, INFO: human number: 10 -2024-02-20 17:46:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:46:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:46:46, INFO: Square width: 10, circle width: 4 -2024-02-20 17:46:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:46:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:46:48, INFO: Animation.save using -2024-02-20 17:47:17, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.956548 -2024-02-20 17:47:21, INFO: Using device: cpu -2024-02-20 17:47:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:47:21, INFO: Similarity_func: concatenation -2024-02-20 17:47:21, INFO: Layerwise_graph: False -2024-02-20 17:47:21, INFO: Skip_connection: True -2024-02-20 17:47:21, INFO: Number of layers: 1 -2024-02-20 17:47:21, INFO: Similarity_func: concatenation -2024-02-20 17:47:21, INFO: Layerwise_graph: False -2024-02-20 17:47:21, INFO: Skip_connection: True -2024-02-20 17:47:21, INFO: Number of layers: 1 -2024-02-20 17:47:21, INFO: Planning depth: 1 -2024-02-20 17:47:21, INFO: Planning width: 10 -2024-02-20 17:47:21, INFO: Sparse search: None -2024-02-20 17:47:23, INFO: human number: 10 -2024-02-20 17:47:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:47:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:47:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:47:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:47:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:47:28, INFO: Using device: cpu -2024-02-20 17:47:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:47:28, INFO: Similarity_func: concatenation -2024-02-20 17:47:28, INFO: Layerwise_graph: False -2024-02-20 17:47:28, INFO: Skip_connection: True -2024-02-20 17:47:28, INFO: Number of layers: 1 -2024-02-20 17:47:28, INFO: Similarity_func: concatenation -2024-02-20 17:47:28, INFO: Layerwise_graph: False -2024-02-20 17:47:28, INFO: Skip_connection: True -2024-02-20 17:47:28, INFO: Number of layers: 1 -2024-02-20 17:47:28, INFO: Planning depth: 1 -2024-02-20 17:47:28, INFO: Planning width: 10 -2024-02-20 17:47:28, INFO: Sparse search: None -2024-02-20 17:47:31, INFO: human number: 10 -2024-02-20 17:47:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:47:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:47:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:47:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:47:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:47:33, INFO: Animation.save using -2024-02-20 17:48:06, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.961021 -2024-02-20 17:48:09, INFO: Using device: cpu -2024-02-20 17:48:09, INFO: Loaded RL weights with best VAL -2024-02-20 17:48:09, INFO: Similarity_func: concatenation -2024-02-20 17:48:09, INFO: Layerwise_graph: False -2024-02-20 17:48:09, INFO: Skip_connection: True -2024-02-20 17:48:09, INFO: Number of layers: 1 -2024-02-20 17:48:09, INFO: Similarity_func: concatenation -2024-02-20 17:48:09, INFO: Layerwise_graph: False -2024-02-20 17:48:09, INFO: Skip_connection: True -2024-02-20 17:48:09, INFO: Number of layers: 1 -2024-02-20 17:48:09, INFO: Planning depth: 1 -2024-02-20 17:48:09, INFO: Planning width: 10 -2024-02-20 17:48:09, INFO: Sparse search: None -2024-02-20 17:48:12, INFO: human number: 10 -2024-02-20 17:48:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:48:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:48:12, INFO: Square width: 10, circle width: 4 -2024-02-20 17:48:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:48:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:48:17, INFO: Using device: cpu -2024-02-20 17:48:17, INFO: Loaded RL weights with best VAL -2024-02-20 17:48:17, INFO: Similarity_func: concatenation -2024-02-20 17:48:17, INFO: Layerwise_graph: False -2024-02-20 17:48:17, INFO: Skip_connection: True -2024-02-20 17:48:17, INFO: Number of layers: 1 -2024-02-20 17:48:17, INFO: Similarity_func: concatenation -2024-02-20 17:48:17, INFO: Layerwise_graph: False -2024-02-20 17:48:17, INFO: Skip_connection: True -2024-02-20 17:48:17, INFO: Number of layers: 1 -2024-02-20 17:48:17, INFO: Planning depth: 1 -2024-02-20 17:48:17, INFO: Planning width: 10 -2024-02-20 17:48:17, INFO: Sparse search: None -2024-02-20 17:48:20, INFO: human number: 10 -2024-02-20 17:48:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:48:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:48:20, INFO: Square width: 10, circle width: 4 -2024-02-20 17:48:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:48:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:48:25, INFO: Using device: cpu -2024-02-20 17:48:25, INFO: Loaded RL weights with best VAL -2024-02-20 17:48:25, INFO: Similarity_func: concatenation -2024-02-20 17:48:25, INFO: Layerwise_graph: False -2024-02-20 17:48:25, INFO: Skip_connection: True -2024-02-20 17:48:25, INFO: Number of layers: 1 -2024-02-20 17:48:25, INFO: Similarity_func: concatenation -2024-02-20 17:48:25, INFO: Layerwise_graph: False -2024-02-20 17:48:25, INFO: Skip_connection: True -2024-02-20 17:48:25, INFO: Number of layers: 1 -2024-02-20 17:48:25, INFO: Planning depth: 1 -2024-02-20 17:48:25, INFO: Planning width: 10 -2024-02-20 17:48:25, INFO: Sparse search: None -2024-02-20 17:48:28, INFO: human number: 10 -2024-02-20 17:48:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:48:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:48:28, INFO: Square width: 10, circle width: 4 -2024-02-20 17:48:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:48:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:48:32, INFO: Using device: cpu -2024-02-20 17:48:32, INFO: Loaded RL weights with best VAL -2024-02-20 17:48:32, INFO: Similarity_func: concatenation -2024-02-20 17:48:32, INFO: Layerwise_graph: False -2024-02-20 17:48:32, INFO: Skip_connection: True -2024-02-20 17:48:32, INFO: Number of layers: 1 -2024-02-20 17:48:32, INFO: Similarity_func: concatenation -2024-02-20 17:48:32, INFO: Layerwise_graph: False -2024-02-20 17:48:32, INFO: Skip_connection: True -2024-02-20 17:48:32, INFO: Number of layers: 1 -2024-02-20 17:48:32, INFO: Planning depth: 1 -2024-02-20 17:48:32, INFO: Planning width: 10 -2024-02-20 17:48:32, INFO: Sparse search: None -2024-02-20 17:48:35, INFO: human number: 10 -2024-02-20 17:48:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:48:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:48:35, INFO: Square width: 10, circle width: 4 -2024-02-20 17:48:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:48:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:48:41, INFO: Using device: cpu -2024-02-20 17:48:41, INFO: Loaded RL weights with best VAL -2024-02-20 17:48:41, INFO: Similarity_func: concatenation -2024-02-20 17:48:41, INFO: Layerwise_graph: False -2024-02-20 17:48:41, INFO: Skip_connection: True -2024-02-20 17:48:41, INFO: Number of layers: 1 -2024-02-20 17:48:41, INFO: Similarity_func: concatenation -2024-02-20 17:48:41, INFO: Layerwise_graph: False -2024-02-20 17:48:41, INFO: Skip_connection: True -2024-02-20 17:48:41, INFO: Number of layers: 1 -2024-02-20 17:48:41, INFO: Planning depth: 1 -2024-02-20 17:48:41, INFO: Planning width: 10 -2024-02-20 17:48:41, INFO: Sparse search: None -2024-02-20 17:48:43, INFO: human number: 10 -2024-02-20 17:48:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:48:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:48:43, INFO: Square width: 10, circle width: 4 -2024-02-20 17:48:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:48:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:48:45, INFO: Animation.save using -2024-02-20 17:49:15, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.898261 -2024-02-20 17:49:18, INFO: Using device: cpu -2024-02-20 17:49:18, INFO: Loaded RL weights with best VAL -2024-02-20 17:49:18, INFO: Similarity_func: concatenation -2024-02-20 17:49:18, INFO: Layerwise_graph: False -2024-02-20 17:49:18, INFO: Skip_connection: True -2024-02-20 17:49:18, INFO: Number of layers: 1 -2024-02-20 17:49:18, INFO: Similarity_func: concatenation -2024-02-20 17:49:18, INFO: Layerwise_graph: False -2024-02-20 17:49:18, INFO: Skip_connection: True -2024-02-20 17:49:18, INFO: Number of layers: 1 -2024-02-20 17:49:18, INFO: Planning depth: 1 -2024-02-20 17:49:18, INFO: Planning width: 10 -2024-02-20 17:49:18, INFO: Sparse search: None -2024-02-20 17:49:21, INFO: human number: 10 -2024-02-20 17:49:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:49:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:49:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:49:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:49:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:49:26, INFO: Using device: cpu -2024-02-20 17:49:26, INFO: Loaded RL weights with best VAL -2024-02-20 17:49:26, INFO: Similarity_func: concatenation -2024-02-20 17:49:26, INFO: Layerwise_graph: False -2024-02-20 17:49:26, INFO: Skip_connection: True -2024-02-20 17:49:26, INFO: Number of layers: 1 -2024-02-20 17:49:26, INFO: Similarity_func: concatenation -2024-02-20 17:49:26, INFO: Layerwise_graph: False -2024-02-20 17:49:26, INFO: Skip_connection: True -2024-02-20 17:49:26, INFO: Number of layers: 1 -2024-02-20 17:49:26, INFO: Planning depth: 1 -2024-02-20 17:49:26, INFO: Planning width: 10 -2024-02-20 17:49:26, INFO: Sparse search: None -2024-02-20 17:49:29, INFO: human number: 10 -2024-02-20 17:49:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:49:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:49:29, INFO: Square width: 10, circle width: 4 -2024-02-20 17:49:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:49:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:49:31, INFO: Animation.save using -2024-02-20 17:50:19, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.731487 -2024-02-20 17:50:22, INFO: Using device: cpu -2024-02-20 17:50:22, INFO: Loaded RL weights with best VAL -2024-02-20 17:50:22, INFO: Similarity_func: concatenation -2024-02-20 17:50:22, INFO: Layerwise_graph: False -2024-02-20 17:50:22, INFO: Skip_connection: True -2024-02-20 17:50:22, INFO: Number of layers: 1 -2024-02-20 17:50:22, INFO: Similarity_func: concatenation -2024-02-20 17:50:22, INFO: Layerwise_graph: False -2024-02-20 17:50:22, INFO: Skip_connection: True -2024-02-20 17:50:22, INFO: Number of layers: 1 -2024-02-20 17:50:22, INFO: Planning depth: 1 -2024-02-20 17:50:22, INFO: Planning width: 10 -2024-02-20 17:50:22, INFO: Sparse search: None -2024-02-20 17:50:25, INFO: human number: 10 -2024-02-20 17:50:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:50:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:50:25, INFO: Square width: 10, circle width: 4 -2024-02-20 17:50:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:50:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:50:30, INFO: Using device: cpu -2024-02-20 17:50:30, INFO: Loaded RL weights with best VAL -2024-02-20 17:50:30, INFO: Similarity_func: concatenation -2024-02-20 17:50:30, INFO: Layerwise_graph: False -2024-02-20 17:50:30, INFO: Skip_connection: True -2024-02-20 17:50:30, INFO: Number of layers: 1 -2024-02-20 17:50:30, INFO: Similarity_func: concatenation -2024-02-20 17:50:30, INFO: Layerwise_graph: False -2024-02-20 17:50:30, INFO: Skip_connection: True -2024-02-20 17:50:30, INFO: Number of layers: 1 -2024-02-20 17:50:30, INFO: Planning depth: 1 -2024-02-20 17:50:30, INFO: Planning width: 10 -2024-02-20 17:50:30, INFO: Sparse search: None -2024-02-20 17:50:33, INFO: human number: 10 -2024-02-20 17:50:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:50:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:50:33, INFO: Square width: 10, circle width: 4 -2024-02-20 17:50:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:50:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:50:37, INFO: Using device: cpu -2024-02-20 17:50:37, INFO: Loaded RL weights with best VAL -2024-02-20 17:50:37, INFO: Similarity_func: concatenation -2024-02-20 17:50:37, INFO: Layerwise_graph: False -2024-02-20 17:50:37, INFO: Skip_connection: True -2024-02-20 17:50:37, INFO: Number of layers: 1 -2024-02-20 17:50:37, INFO: Similarity_func: concatenation -2024-02-20 17:50:37, INFO: Layerwise_graph: False -2024-02-20 17:50:37, INFO: Skip_connection: True -2024-02-20 17:50:37, INFO: Number of layers: 1 -2024-02-20 17:50:37, INFO: Planning depth: 1 -2024-02-20 17:50:37, INFO: Planning width: 10 -2024-02-20 17:50:37, INFO: Sparse search: None -2024-02-20 17:50:40, INFO: human number: 10 -2024-02-20 17:50:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:50:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:50:40, INFO: Square width: 10, circle width: 4 -2024-02-20 17:50:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:50:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:50:45, INFO: Animation.save using -2024-02-20 17:51:15, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.040931 -2024-02-20 17:51:18, INFO: Using device: cpu -2024-02-20 17:51:18, INFO: Loaded RL weights with best VAL -2024-02-20 17:51:18, INFO: Similarity_func: concatenation -2024-02-20 17:51:18, INFO: Layerwise_graph: False -2024-02-20 17:51:18, INFO: Skip_connection: True -2024-02-20 17:51:18, INFO: Number of layers: 1 -2024-02-20 17:51:18, INFO: Similarity_func: concatenation -2024-02-20 17:51:18, INFO: Layerwise_graph: False -2024-02-20 17:51:18, INFO: Skip_connection: True -2024-02-20 17:51:18, INFO: Number of layers: 1 -2024-02-20 17:51:18, INFO: Planning depth: 1 -2024-02-20 17:51:18, INFO: Planning width: 10 -2024-02-20 17:51:18, INFO: Sparse search: None -2024-02-20 17:51:21, INFO: human number: 10 -2024-02-20 17:51:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:51:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:51:21, INFO: Square width: 10, circle width: 4 -2024-02-20 17:51:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:51:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:51:25, INFO: Using device: cpu -2024-02-20 17:51:25, INFO: Loaded RL weights with best VAL -2024-02-20 17:51:25, INFO: Similarity_func: concatenation -2024-02-20 17:51:25, INFO: Layerwise_graph: False -2024-02-20 17:51:25, INFO: Skip_connection: True -2024-02-20 17:51:25, INFO: Number of layers: 1 -2024-02-20 17:51:25, INFO: Similarity_func: concatenation -2024-02-20 17:51:25, INFO: Layerwise_graph: False -2024-02-20 17:51:25, INFO: Skip_connection: True -2024-02-20 17:51:25, INFO: Number of layers: 1 -2024-02-20 17:51:25, INFO: Planning depth: 1 -2024-02-20 17:51:25, INFO: Planning width: 10 -2024-02-20 17:51:25, INFO: Sparse search: None -2024-02-20 17:51:28, INFO: human number: 10 -2024-02-20 17:51:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:51:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:51:28, INFO: Square width: 10, circle width: 4 -2024-02-20 17:51:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:51:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:51:30, INFO: Animation.save using -2024-02-20 17:52:18, INFO: It takes 15.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.916959 -2024-02-20 17:52:21, INFO: Using device: cpu -2024-02-20 17:52:21, INFO: Loaded RL weights with best VAL -2024-02-20 17:52:21, INFO: Similarity_func: concatenation -2024-02-20 17:52:21, INFO: Layerwise_graph: False -2024-02-20 17:52:21, INFO: Skip_connection: True -2024-02-20 17:52:21, INFO: Number of layers: 1 -2024-02-20 17:52:21, INFO: Similarity_func: concatenation -2024-02-20 17:52:21, INFO: Layerwise_graph: False -2024-02-20 17:52:21, INFO: Skip_connection: True -2024-02-20 17:52:21, INFO: Number of layers: 1 -2024-02-20 17:52:21, INFO: Planning depth: 1 -2024-02-20 17:52:21, INFO: Planning width: 10 -2024-02-20 17:52:21, INFO: Sparse search: None -2024-02-20 17:52:24, INFO: human number: 10 -2024-02-20 17:52:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:52:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:52:24, INFO: Square width: 10, circle width: 4 -2024-02-20 17:52:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:52:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:52:28, INFO: Using device: cpu -2024-02-20 17:52:28, INFO: Loaded RL weights with best VAL -2024-02-20 17:52:28, INFO: Similarity_func: concatenation -2024-02-20 17:52:28, INFO: Layerwise_graph: False -2024-02-20 17:52:28, INFO: Skip_connection: True -2024-02-20 17:52:28, INFO: Number of layers: 1 -2024-02-20 17:52:28, INFO: Similarity_func: concatenation -2024-02-20 17:52:28, INFO: Layerwise_graph: False -2024-02-20 17:52:28, INFO: Skip_connection: True -2024-02-20 17:52:28, INFO: Number of layers: 1 -2024-02-20 17:52:28, INFO: Planning depth: 1 -2024-02-20 17:52:28, INFO: Planning width: 10 -2024-02-20 17:52:28, INFO: Sparse search: None -2024-02-20 17:52:31, INFO: human number: 10 -2024-02-20 17:52:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:52:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:52:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:52:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:52:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:52:36, INFO: Using device: cpu -2024-02-20 17:52:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:52:36, INFO: Similarity_func: concatenation -2024-02-20 17:52:36, INFO: Layerwise_graph: False -2024-02-20 17:52:36, INFO: Skip_connection: True -2024-02-20 17:52:36, INFO: Number of layers: 1 -2024-02-20 17:52:36, INFO: Similarity_func: concatenation -2024-02-20 17:52:36, INFO: Layerwise_graph: False -2024-02-20 17:52:36, INFO: Skip_connection: True -2024-02-20 17:52:36, INFO: Number of layers: 1 -2024-02-20 17:52:36, INFO: Planning depth: 1 -2024-02-20 17:52:36, INFO: Planning width: 10 -2024-02-20 17:52:36, INFO: Sparse search: None -2024-02-20 17:52:38, INFO: human number: 10 -2024-02-20 17:52:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:52:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:52:38, INFO: Square width: 10, circle width: 4 -2024-02-20 17:52:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:52:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:52:40, INFO: Animation.save using -2024-02-20 17:53:10, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.058448 -2024-02-20 17:53:13, INFO: Using device: cpu -2024-02-20 17:53:13, INFO: Loaded RL weights with best VAL -2024-02-20 17:53:13, INFO: Similarity_func: concatenation -2024-02-20 17:53:13, INFO: Layerwise_graph: False -2024-02-20 17:53:13, INFO: Skip_connection: True -2024-02-20 17:53:13, INFO: Number of layers: 1 -2024-02-20 17:53:13, INFO: Similarity_func: concatenation -2024-02-20 17:53:13, INFO: Layerwise_graph: False -2024-02-20 17:53:13, INFO: Skip_connection: True -2024-02-20 17:53:13, INFO: Number of layers: 1 -2024-02-20 17:53:13, INFO: Planning depth: 1 -2024-02-20 17:53:13, INFO: Planning width: 10 -2024-02-20 17:53:13, INFO: Sparse search: None -2024-02-20 17:53:16, INFO: human number: 10 -2024-02-20 17:53:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:53:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:53:16, INFO: Square width: 10, circle width: 4 -2024-02-20 17:53:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:53:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:53:18, INFO: Animation.save using -2024-02-20 17:53:42, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-20 17:53:45, INFO: Using device: cpu -2024-02-20 17:53:45, INFO: Loaded RL weights with best VAL -2024-02-20 17:53:45, INFO: Similarity_func: concatenation -2024-02-20 17:53:45, INFO: Layerwise_graph: False -2024-02-20 17:53:45, INFO: Skip_connection: True -2024-02-20 17:53:45, INFO: Number of layers: 1 -2024-02-20 17:53:45, INFO: Similarity_func: concatenation -2024-02-20 17:53:45, INFO: Layerwise_graph: False -2024-02-20 17:53:45, INFO: Skip_connection: True -2024-02-20 17:53:45, INFO: Number of layers: 1 -2024-02-20 17:53:45, INFO: Planning depth: 1 -2024-02-20 17:53:45, INFO: Planning width: 10 -2024-02-20 17:53:45, INFO: Sparse search: None -2024-02-20 17:53:48, INFO: human number: 10 -2024-02-20 17:53:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:53:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:53:48, INFO: Square width: 10, circle width: 4 -2024-02-20 17:53:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:53:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:53:53, INFO: Using device: cpu -2024-02-20 17:53:53, INFO: Loaded RL weights with best VAL -2024-02-20 17:53:53, INFO: Similarity_func: concatenation -2024-02-20 17:53:53, INFO: Layerwise_graph: False -2024-02-20 17:53:53, INFO: Skip_connection: True -2024-02-20 17:53:53, INFO: Number of layers: 1 -2024-02-20 17:53:53, INFO: Similarity_func: concatenation -2024-02-20 17:53:53, INFO: Layerwise_graph: False -2024-02-20 17:53:53, INFO: Skip_connection: True -2024-02-20 17:53:53, INFO: Number of layers: 1 -2024-02-20 17:53:53, INFO: Planning depth: 1 -2024-02-20 17:53:53, INFO: Planning width: 10 -2024-02-20 17:53:53, INFO: Sparse search: None -2024-02-20 17:53:56, INFO: human number: 10 -2024-02-20 17:53:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:53:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:53:56, INFO: Square width: 10, circle width: 4 -2024-02-20 17:53:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:53:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:54:01, INFO: Using device: cpu -2024-02-20 17:54:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:54:01, INFO: Similarity_func: concatenation -2024-02-20 17:54:01, INFO: Layerwise_graph: False -2024-02-20 17:54:01, INFO: Skip_connection: True -2024-02-20 17:54:01, INFO: Number of layers: 1 -2024-02-20 17:54:01, INFO: Similarity_func: concatenation -2024-02-20 17:54:01, INFO: Layerwise_graph: False -2024-02-20 17:54:01, INFO: Skip_connection: True -2024-02-20 17:54:01, INFO: Number of layers: 1 -2024-02-20 17:54:01, INFO: Planning depth: 1 -2024-02-20 17:54:01, INFO: Planning width: 10 -2024-02-20 17:54:01, INFO: Sparse search: None -2024-02-20 17:54:03, INFO: human number: 10 -2024-02-20 17:54:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:54:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:54:03, INFO: Square width: 10, circle width: 4 -2024-02-20 17:54:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:54:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:54:05, INFO: Animation.save using -2024-02-20 17:54:35, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.948870 -2024-02-20 17:54:38, INFO: Using device: cpu -2024-02-20 17:54:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:54:38, INFO: Similarity_func: concatenation -2024-02-20 17:54:38, INFO: Layerwise_graph: False -2024-02-20 17:54:38, INFO: Skip_connection: True -2024-02-20 17:54:38, INFO: Number of layers: 1 -2024-02-20 17:54:38, INFO: Similarity_func: concatenation -2024-02-20 17:54:38, INFO: Layerwise_graph: False -2024-02-20 17:54:38, INFO: Skip_connection: True -2024-02-20 17:54:38, INFO: Number of layers: 1 -2024-02-20 17:54:38, INFO: Planning depth: 1 -2024-02-20 17:54:38, INFO: Planning width: 10 -2024-02-20 17:54:38, INFO: Sparse search: None -2024-02-20 17:54:41, INFO: human number: 10 -2024-02-20 17:54:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:54:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:54:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:54:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:54:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:54:46, INFO: Animation.save using -2024-02-20 17:55:26, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868869 -2024-02-20 17:55:29, INFO: Using device: cpu -2024-02-20 17:55:29, INFO: Loaded RL weights with best VAL -2024-02-20 17:55:29, INFO: Similarity_func: concatenation -2024-02-20 17:55:29, INFO: Layerwise_graph: False -2024-02-20 17:55:29, INFO: Skip_connection: True -2024-02-20 17:55:29, INFO: Number of layers: 1 -2024-02-20 17:55:29, INFO: Similarity_func: concatenation -2024-02-20 17:55:29, INFO: Layerwise_graph: False -2024-02-20 17:55:29, INFO: Skip_connection: True -2024-02-20 17:55:29, INFO: Number of layers: 1 -2024-02-20 17:55:29, INFO: Planning depth: 1 -2024-02-20 17:55:29, INFO: Planning width: 10 -2024-02-20 17:55:29, INFO: Sparse search: None -2024-02-20 17:55:31, INFO: human number: 10 -2024-02-20 17:55:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:55:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:55:31, INFO: Square width: 10, circle width: 4 -2024-02-20 17:55:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:55:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:55:36, INFO: Using device: cpu -2024-02-20 17:55:36, INFO: Loaded RL weights with best VAL -2024-02-20 17:55:36, INFO: Similarity_func: concatenation -2024-02-20 17:55:36, INFO: Layerwise_graph: False -2024-02-20 17:55:36, INFO: Skip_connection: True -2024-02-20 17:55:36, INFO: Number of layers: 1 -2024-02-20 17:55:36, INFO: Similarity_func: concatenation -2024-02-20 17:55:36, INFO: Layerwise_graph: False -2024-02-20 17:55:36, INFO: Skip_connection: True -2024-02-20 17:55:36, INFO: Number of layers: 1 -2024-02-20 17:55:36, INFO: Planning depth: 1 -2024-02-20 17:55:36, INFO: Planning width: 10 -2024-02-20 17:55:36, INFO: Sparse search: None -2024-02-20 17:55:39, INFO: human number: 10 -2024-02-20 17:55:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:55:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:55:39, INFO: Square width: 10, circle width: 4 -2024-02-20 17:55:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:55:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:55:44, INFO: Using device: cpu -2024-02-20 17:55:44, INFO: Loaded RL weights with best VAL -2024-02-20 17:55:44, INFO: Similarity_func: concatenation -2024-02-20 17:55:44, INFO: Layerwise_graph: False -2024-02-20 17:55:44, INFO: Skip_connection: True -2024-02-20 17:55:44, INFO: Number of layers: 1 -2024-02-20 17:55:44, INFO: Similarity_func: concatenation -2024-02-20 17:55:44, INFO: Layerwise_graph: False -2024-02-20 17:55:44, INFO: Skip_connection: True -2024-02-20 17:55:44, INFO: Number of layers: 1 -2024-02-20 17:55:44, INFO: Planning depth: 1 -2024-02-20 17:55:44, INFO: Planning width: 10 -2024-02-20 17:55:44, INFO: Sparse search: None -2024-02-20 17:55:47, INFO: human number: 10 -2024-02-20 17:55:47, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:55:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:55:47, INFO: Square width: 10, circle width: 4 -2024-02-20 17:55:47, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:55:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:55:50, INFO: Animation.save using -2024-02-20 17:56:17, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.010601 -2024-02-20 17:56:20, INFO: Using device: cpu -2024-02-20 17:56:20, INFO: Loaded RL weights with best VAL -2024-02-20 17:56:20, INFO: Similarity_func: concatenation -2024-02-20 17:56:20, INFO: Layerwise_graph: False -2024-02-20 17:56:20, INFO: Skip_connection: True -2024-02-20 17:56:20, INFO: Number of layers: 1 -2024-02-20 17:56:20, INFO: Similarity_func: concatenation -2024-02-20 17:56:20, INFO: Layerwise_graph: False -2024-02-20 17:56:20, INFO: Skip_connection: True -2024-02-20 17:56:20, INFO: Number of layers: 1 -2024-02-20 17:56:20, INFO: Planning depth: 1 -2024-02-20 17:56:20, INFO: Planning width: 10 -2024-02-20 17:56:20, INFO: Sparse search: None -2024-02-20 17:56:23, INFO: human number: 10 -2024-02-20 17:56:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:56:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:56:23, INFO: Square width: 10, circle width: 4 -2024-02-20 17:56:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:56:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:56:33, INFO: Using device: cpu -2024-02-20 17:56:33, INFO: Loaded RL weights with best VAL -2024-02-20 17:56:33, INFO: Similarity_func: concatenation -2024-02-20 17:56:33, INFO: Layerwise_graph: False -2024-02-20 17:56:33, INFO: Skip_connection: True -2024-02-20 17:56:33, INFO: Number of layers: 1 -2024-02-20 17:56:33, INFO: Similarity_func: concatenation -2024-02-20 17:56:33, INFO: Layerwise_graph: False -2024-02-20 17:56:33, INFO: Skip_connection: True -2024-02-20 17:56:33, INFO: Number of layers: 1 -2024-02-20 17:56:33, INFO: Planning depth: 1 -2024-02-20 17:56:33, INFO: Planning width: 10 -2024-02-20 17:56:33, INFO: Sparse search: None -2024-02-20 17:56:36, INFO: human number: 10 -2024-02-20 17:56:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:56:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:56:36, INFO: Square width: 10, circle width: 4 -2024-02-20 17:56:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:56:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:56:37, INFO: Animation.save using -2024-02-20 17:57:11, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.971926 -2024-02-20 17:57:14, INFO: Using device: cpu -2024-02-20 17:57:14, INFO: Loaded RL weights with best VAL -2024-02-20 17:57:14, INFO: Similarity_func: concatenation -2024-02-20 17:57:14, INFO: Layerwise_graph: False -2024-02-20 17:57:14, INFO: Skip_connection: True -2024-02-20 17:57:14, INFO: Number of layers: 1 -2024-02-20 17:57:14, INFO: Similarity_func: concatenation -2024-02-20 17:57:14, INFO: Layerwise_graph: False -2024-02-20 17:57:14, INFO: Skip_connection: True -2024-02-20 17:57:14, INFO: Number of layers: 1 -2024-02-20 17:57:14, INFO: Planning depth: 1 -2024-02-20 17:57:14, INFO: Planning width: 10 -2024-02-20 17:57:14, INFO: Sparse search: None -2024-02-20 17:57:17, INFO: human number: 10 -2024-02-20 17:57:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:57:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:57:17, INFO: Square width: 10, circle width: 4 -2024-02-20 17:57:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:57:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:57:23, INFO: Using device: cpu -2024-02-20 17:57:23, INFO: Loaded RL weights with best VAL -2024-02-20 17:57:23, INFO: Similarity_func: concatenation -2024-02-20 17:57:23, INFO: Layerwise_graph: False -2024-02-20 17:57:23, INFO: Skip_connection: True -2024-02-20 17:57:23, INFO: Number of layers: 1 -2024-02-20 17:57:23, INFO: Similarity_func: concatenation -2024-02-20 17:57:23, INFO: Layerwise_graph: False -2024-02-20 17:57:23, INFO: Skip_connection: True -2024-02-20 17:57:23, INFO: Number of layers: 1 -2024-02-20 17:57:23, INFO: Planning depth: 1 -2024-02-20 17:57:23, INFO: Planning width: 10 -2024-02-20 17:57:23, INFO: Sparse search: None -2024-02-20 17:57:26, INFO: human number: 10 -2024-02-20 17:57:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:57:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:57:26, INFO: Square width: 10, circle width: 4 -2024-02-20 17:57:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:57:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:57:28, INFO: Animation.save using -2024-02-20 17:57:58, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954559 -2024-02-20 17:58:01, INFO: Using device: cpu -2024-02-20 17:58:01, INFO: Loaded RL weights with best VAL -2024-02-20 17:58:01, INFO: Similarity_func: concatenation -2024-02-20 17:58:01, INFO: Layerwise_graph: False -2024-02-20 17:58:01, INFO: Skip_connection: True -2024-02-20 17:58:01, INFO: Number of layers: 1 -2024-02-20 17:58:01, INFO: Similarity_func: concatenation -2024-02-20 17:58:01, INFO: Layerwise_graph: False -2024-02-20 17:58:01, INFO: Skip_connection: True -2024-02-20 17:58:01, INFO: Number of layers: 1 -2024-02-20 17:58:01, INFO: Planning depth: 1 -2024-02-20 17:58:01, INFO: Planning width: 10 -2024-02-20 17:58:01, INFO: Sparse search: None -2024-02-20 17:58:04, INFO: human number: 10 -2024-02-20 17:58:04, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:58:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:58:04, INFO: Square width: 10, circle width: 4 -2024-02-20 17:58:04, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:58:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:58:06, INFO: Animation.save using -2024-02-20 17:58:48, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.839247 -2024-02-20 17:58:51, INFO: Using device: cpu -2024-02-20 17:58:51, INFO: Loaded RL weights with best VAL -2024-02-20 17:58:51, INFO: Similarity_func: concatenation -2024-02-20 17:58:51, INFO: Layerwise_graph: False -2024-02-20 17:58:51, INFO: Skip_connection: True -2024-02-20 17:58:51, INFO: Number of layers: 1 -2024-02-20 17:58:51, INFO: Similarity_func: concatenation -2024-02-20 17:58:51, INFO: Layerwise_graph: False -2024-02-20 17:58:51, INFO: Skip_connection: True -2024-02-20 17:58:51, INFO: Number of layers: 1 -2024-02-20 17:58:51, INFO: Planning depth: 1 -2024-02-20 17:58:51, INFO: Planning width: 10 -2024-02-20 17:58:51, INFO: Sparse search: None -2024-02-20 17:58:54, INFO: human number: 10 -2024-02-20 17:58:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:58:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:58:54, INFO: Square width: 10, circle width: 4 -2024-02-20 17:58:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:58:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:58:58, INFO: Using device: cpu -2024-02-20 17:58:58, INFO: Loaded RL weights with best VAL -2024-02-20 17:58:58, INFO: Similarity_func: concatenation -2024-02-20 17:58:58, INFO: Layerwise_graph: False -2024-02-20 17:58:58, INFO: Skip_connection: True -2024-02-20 17:58:58, INFO: Number of layers: 1 -2024-02-20 17:58:58, INFO: Similarity_func: concatenation -2024-02-20 17:58:58, INFO: Layerwise_graph: False -2024-02-20 17:58:58, INFO: Skip_connection: True -2024-02-20 17:58:58, INFO: Number of layers: 1 -2024-02-20 17:58:58, INFO: Planning depth: 1 -2024-02-20 17:58:58, INFO: Planning width: 10 -2024-02-20 17:58:58, INFO: Sparse search: None -2024-02-20 17:59:01, INFO: human number: 10 -2024-02-20 17:59:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:59:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:59:01, INFO: Square width: 10, circle width: 4 -2024-02-20 17:59:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:59:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:59:04, INFO: Animation.save using -2024-02-20 17:59:35, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.881626 -2024-02-20 17:59:38, INFO: Using device: cpu -2024-02-20 17:59:38, INFO: Loaded RL weights with best VAL -2024-02-20 17:59:38, INFO: Similarity_func: concatenation -2024-02-20 17:59:38, INFO: Layerwise_graph: False -2024-02-20 17:59:38, INFO: Skip_connection: True -2024-02-20 17:59:38, INFO: Number of layers: 1 -2024-02-20 17:59:38, INFO: Similarity_func: concatenation -2024-02-20 17:59:38, INFO: Layerwise_graph: False -2024-02-20 17:59:38, INFO: Skip_connection: True -2024-02-20 17:59:38, INFO: Number of layers: 1 -2024-02-20 17:59:38, INFO: Planning depth: 1 -2024-02-20 17:59:38, INFO: Planning width: 10 -2024-02-20 17:59:38, INFO: Sparse search: None -2024-02-20 17:59:41, INFO: human number: 10 -2024-02-20 17:59:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:59:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:59:41, INFO: Square width: 10, circle width: 4 -2024-02-20 17:59:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:59:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:59:48, INFO: Using device: cpu -2024-02-20 17:59:48, INFO: Loaded RL weights with best VAL -2024-02-20 17:59:48, INFO: Similarity_func: concatenation -2024-02-20 17:59:48, INFO: Layerwise_graph: False -2024-02-20 17:59:48, INFO: Skip_connection: True -2024-02-20 17:59:48, INFO: Number of layers: 1 -2024-02-20 17:59:48, INFO: Similarity_func: concatenation -2024-02-20 17:59:48, INFO: Layerwise_graph: False -2024-02-20 17:59:48, INFO: Skip_connection: True -2024-02-20 17:59:48, INFO: Number of layers: 1 -2024-02-20 17:59:48, INFO: Planning depth: 1 -2024-02-20 17:59:48, INFO: Planning width: 10 -2024-02-20 17:59:48, INFO: Sparse search: None -2024-02-20 17:59:51, INFO: human number: 10 -2024-02-20 17:59:51, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:59:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:59:51, INFO: Square width: 10, circle width: 4 -2024-02-20 17:59:51, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:59:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 17:59:56, INFO: Using device: cpu -2024-02-20 17:59:56, INFO: Loaded RL weights with best VAL -2024-02-20 17:59:56, INFO: Similarity_func: concatenation -2024-02-20 17:59:56, INFO: Layerwise_graph: False -2024-02-20 17:59:56, INFO: Skip_connection: True -2024-02-20 17:59:56, INFO: Number of layers: 1 -2024-02-20 17:59:56, INFO: Similarity_func: concatenation -2024-02-20 17:59:56, INFO: Layerwise_graph: False -2024-02-20 17:59:56, INFO: Skip_connection: True -2024-02-20 17:59:56, INFO: Number of layers: 1 -2024-02-20 17:59:56, INFO: Planning depth: 1 -2024-02-20 17:59:56, INFO: Planning width: 10 -2024-02-20 17:59:56, INFO: Sparse search: None -2024-02-20 17:59:58, INFO: human number: 10 -2024-02-20 17:59:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 17:59:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 17:59:58, INFO: Square width: 10, circle width: 4 -2024-02-20 17:59:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 17:59:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:03, INFO: Using device: cpu -2024-02-20 18:00:03, INFO: Loaded RL weights with best VAL -2024-02-20 18:00:03, INFO: Similarity_func: concatenation -2024-02-20 18:00:03, INFO: Layerwise_graph: False -2024-02-20 18:00:03, INFO: Skip_connection: True -2024-02-20 18:00:03, INFO: Number of layers: 1 -2024-02-20 18:00:03, INFO: Similarity_func: concatenation -2024-02-20 18:00:03, INFO: Layerwise_graph: False -2024-02-20 18:00:03, INFO: Skip_connection: True -2024-02-20 18:00:03, INFO: Number of layers: 1 -2024-02-20 18:00:03, INFO: Planning depth: 1 -2024-02-20 18:00:03, INFO: Planning width: 10 -2024-02-20 18:00:03, INFO: Sparse search: None -2024-02-20 18:00:06, INFO: human number: 10 -2024-02-20 18:00:06, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:00:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:00:06, INFO: Square width: 10, circle width: 4 -2024-02-20 18:00:06, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:00:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:11, INFO: Using device: cpu -2024-02-20 18:00:11, INFO: Loaded RL weights with best VAL -2024-02-20 18:00:11, INFO: Similarity_func: concatenation -2024-02-20 18:00:11, INFO: Layerwise_graph: False -2024-02-20 18:00:11, INFO: Skip_connection: True -2024-02-20 18:00:11, INFO: Number of layers: 1 -2024-02-20 18:00:11, INFO: Similarity_func: concatenation -2024-02-20 18:00:11, INFO: Layerwise_graph: False -2024-02-20 18:00:11, INFO: Skip_connection: True -2024-02-20 18:00:11, INFO: Number of layers: 1 -2024-02-20 18:00:11, INFO: Planning depth: 1 -2024-02-20 18:00:11, INFO: Planning width: 10 -2024-02-20 18:00:11, INFO: Sparse search: None -2024-02-20 18:00:13, INFO: human number: 10 -2024-02-20 18:00:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:00:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:00:13, INFO: Square width: 10, circle width: 4 -2024-02-20 18:00:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:00:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:19, INFO: Using device: cpu -2024-02-20 18:00:19, INFO: Loaded RL weights with best VAL -2024-02-20 18:00:19, INFO: Similarity_func: concatenation -2024-02-20 18:00:19, INFO: Layerwise_graph: False -2024-02-20 18:00:19, INFO: Skip_connection: True -2024-02-20 18:00:19, INFO: Number of layers: 1 -2024-02-20 18:00:19, INFO: Similarity_func: concatenation -2024-02-20 18:00:19, INFO: Layerwise_graph: False -2024-02-20 18:00:19, INFO: Skip_connection: True -2024-02-20 18:00:19, INFO: Number of layers: 1 -2024-02-20 18:00:19, INFO: Planning depth: 1 -2024-02-20 18:00:19, INFO: Planning width: 10 -2024-02-20 18:00:19, INFO: Sparse search: None -2024-02-20 18:00:22, INFO: human number: 10 -2024-02-20 18:00:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:00:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:00:22, INFO: Square width: 10, circle width: 4 -2024-02-20 18:00:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:00:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:27, INFO: Using device: cpu -2024-02-20 18:00:27, INFO: Loaded RL weights with best VAL -2024-02-20 18:00:27, INFO: Similarity_func: concatenation -2024-02-20 18:00:27, INFO: Layerwise_graph: False -2024-02-20 18:00:27, INFO: Skip_connection: True -2024-02-20 18:00:27, INFO: Number of layers: 1 -2024-02-20 18:00:27, INFO: Similarity_func: concatenation -2024-02-20 18:00:27, INFO: Layerwise_graph: False -2024-02-20 18:00:27, INFO: Skip_connection: True -2024-02-20 18:00:27, INFO: Number of layers: 1 -2024-02-20 18:00:27, INFO: Planning depth: 1 -2024-02-20 18:00:27, INFO: Planning width: 10 -2024-02-20 18:00:27, INFO: Sparse search: None -2024-02-20 18:00:29, INFO: human number: 10 -2024-02-20 18:00:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:00:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:00:29, INFO: Square width: 10, circle width: 4 -2024-02-20 18:00:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:00:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:34, INFO: Using device: cpu -2024-02-20 18:00:34, INFO: Loaded RL weights with best VAL -2024-02-20 18:00:34, INFO: Similarity_func: concatenation -2024-02-20 18:00:34, INFO: Layerwise_graph: False -2024-02-20 18:00:34, INFO: Skip_connection: True -2024-02-20 18:00:34, INFO: Number of layers: 1 -2024-02-20 18:00:34, INFO: Similarity_func: concatenation -2024-02-20 18:00:34, INFO: Layerwise_graph: False -2024-02-20 18:00:34, INFO: Skip_connection: True -2024-02-20 18:00:34, INFO: Number of layers: 1 -2024-02-20 18:00:34, INFO: Planning depth: 1 -2024-02-20 18:00:34, INFO: Planning width: 10 -2024-02-20 18:00:34, INFO: Sparse search: None -2024-02-20 18:00:36, INFO: human number: 10 -2024-02-20 18:00:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:00:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:00:36, INFO: Square width: 10, circle width: 4 -2024-02-20 18:00:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:00:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:00:38, INFO: Animation.save using -2024-02-20 18:01:12, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.933300 -2024-02-20 18:01:16, INFO: Using device: cpu -2024-02-20 18:01:16, INFO: Loaded RL weights with best VAL -2024-02-20 18:01:16, INFO: Similarity_func: concatenation -2024-02-20 18:01:16, INFO: Layerwise_graph: False -2024-02-20 18:01:16, INFO: Skip_connection: True -2024-02-20 18:01:16, INFO: Number of layers: 1 -2024-02-20 18:01:16, INFO: Similarity_func: concatenation -2024-02-20 18:01:16, INFO: Layerwise_graph: False -2024-02-20 18:01:16, INFO: Skip_connection: True -2024-02-20 18:01:16, INFO: Number of layers: 1 -2024-02-20 18:01:16, INFO: Planning depth: 1 -2024-02-20 18:01:16, INFO: Planning width: 10 -2024-02-20 18:01:16, INFO: Sparse search: None -2024-02-20 18:01:18, INFO: human number: 10 -2024-02-20 18:01:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:01:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:01:18, INFO: Square width: 10, circle width: 4 -2024-02-20 18:01:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:01:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:01:23, INFO: Using device: cpu -2024-02-20 18:01:23, INFO: Loaded RL weights with best VAL -2024-02-20 18:01:23, INFO: Similarity_func: concatenation -2024-02-20 18:01:23, INFO: Layerwise_graph: False -2024-02-20 18:01:23, INFO: Skip_connection: True -2024-02-20 18:01:23, INFO: Number of layers: 1 -2024-02-20 18:01:23, INFO: Similarity_func: concatenation -2024-02-20 18:01:23, INFO: Layerwise_graph: False -2024-02-20 18:01:23, INFO: Skip_connection: True -2024-02-20 18:01:23, INFO: Number of layers: 1 -2024-02-20 18:01:23, INFO: Planning depth: 1 -2024-02-20 18:01:23, INFO: Planning width: 10 -2024-02-20 18:01:23, INFO: Sparse search: None -2024-02-20 18:01:26, INFO: human number: 10 -2024-02-20 18:01:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:01:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:01:26, INFO: Square width: 10, circle width: 4 -2024-02-20 18:01:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:01:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:01:30, INFO: Using device: cpu -2024-02-20 18:01:30, INFO: Loaded RL weights with best VAL -2024-02-20 18:01:30, INFO: Similarity_func: concatenation -2024-02-20 18:01:30, INFO: Layerwise_graph: False -2024-02-20 18:01:30, INFO: Skip_connection: True -2024-02-20 18:01:30, INFO: Number of layers: 1 -2024-02-20 18:01:30, INFO: Similarity_func: concatenation -2024-02-20 18:01:30, INFO: Layerwise_graph: False -2024-02-20 18:01:30, INFO: Skip_connection: True -2024-02-20 18:01:30, INFO: Number of layers: 1 -2024-02-20 18:01:30, INFO: Planning depth: 1 -2024-02-20 18:01:30, INFO: Planning width: 10 -2024-02-20 18:01:30, INFO: Sparse search: None -2024-02-20 18:01:33, INFO: human number: 10 -2024-02-20 18:01:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:01:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:01:33, INFO: Square width: 10, circle width: 4 -2024-02-20 18:01:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:01:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:01:34, INFO: Animation.save using -2024-02-20 18:01:59, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.106441 -2024-02-20 18:02:02, INFO: Using device: cpu -2024-02-20 18:02:02, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:02, INFO: Similarity_func: concatenation -2024-02-20 18:02:02, INFO: Layerwise_graph: False -2024-02-20 18:02:02, INFO: Skip_connection: True -2024-02-20 18:02:02, INFO: Number of layers: 1 -2024-02-20 18:02:02, INFO: Similarity_func: concatenation -2024-02-20 18:02:02, INFO: Layerwise_graph: False -2024-02-20 18:02:02, INFO: Skip_connection: True -2024-02-20 18:02:02, INFO: Number of layers: 1 -2024-02-20 18:02:02, INFO: Planning depth: 1 -2024-02-20 18:02:02, INFO: Planning width: 10 -2024-02-20 18:02:02, INFO: Sparse search: None -2024-02-20 18:02:05, INFO: human number: 10 -2024-02-20 18:02:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:05, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:10, INFO: Using device: cpu -2024-02-20 18:02:10, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:10, INFO: Similarity_func: concatenation -2024-02-20 18:02:10, INFO: Layerwise_graph: False -2024-02-20 18:02:10, INFO: Skip_connection: True -2024-02-20 18:02:10, INFO: Number of layers: 1 -2024-02-20 18:02:10, INFO: Similarity_func: concatenation -2024-02-20 18:02:10, INFO: Layerwise_graph: False -2024-02-20 18:02:10, INFO: Skip_connection: True -2024-02-20 18:02:10, INFO: Number of layers: 1 -2024-02-20 18:02:10, INFO: Planning depth: 1 -2024-02-20 18:02:10, INFO: Planning width: 10 -2024-02-20 18:02:10, INFO: Sparse search: None -2024-02-20 18:02:13, INFO: human number: 10 -2024-02-20 18:02:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:13, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:19, INFO: Using device: cpu -2024-02-20 18:02:19, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:19, INFO: Similarity_func: concatenation -2024-02-20 18:02:19, INFO: Layerwise_graph: False -2024-02-20 18:02:19, INFO: Skip_connection: True -2024-02-20 18:02:19, INFO: Number of layers: 1 -2024-02-20 18:02:19, INFO: Similarity_func: concatenation -2024-02-20 18:02:19, INFO: Layerwise_graph: False -2024-02-20 18:02:19, INFO: Skip_connection: True -2024-02-20 18:02:19, INFO: Number of layers: 1 -2024-02-20 18:02:19, INFO: Planning depth: 1 -2024-02-20 18:02:19, INFO: Planning width: 10 -2024-02-20 18:02:19, INFO: Sparse search: None -2024-02-20 18:02:21, INFO: human number: 10 -2024-02-20 18:02:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:21, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:26, INFO: Using device: cpu -2024-02-20 18:02:26, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:26, INFO: Similarity_func: concatenation -2024-02-20 18:02:26, INFO: Layerwise_graph: False -2024-02-20 18:02:26, INFO: Skip_connection: True -2024-02-20 18:02:26, INFO: Number of layers: 1 -2024-02-20 18:02:26, INFO: Similarity_func: concatenation -2024-02-20 18:02:26, INFO: Layerwise_graph: False -2024-02-20 18:02:26, INFO: Skip_connection: True -2024-02-20 18:02:26, INFO: Number of layers: 1 -2024-02-20 18:02:26, INFO: Planning depth: 1 -2024-02-20 18:02:26, INFO: Planning width: 10 -2024-02-20 18:02:26, INFO: Sparse search: None -2024-02-20 18:02:29, INFO: human number: 10 -2024-02-20 18:02:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:29, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:34, INFO: Using device: cpu -2024-02-20 18:02:34, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:34, INFO: Similarity_func: concatenation -2024-02-20 18:02:34, INFO: Layerwise_graph: False -2024-02-20 18:02:34, INFO: Skip_connection: True -2024-02-20 18:02:34, INFO: Number of layers: 1 -2024-02-20 18:02:34, INFO: Similarity_func: concatenation -2024-02-20 18:02:34, INFO: Layerwise_graph: False -2024-02-20 18:02:34, INFO: Skip_connection: True -2024-02-20 18:02:34, INFO: Number of layers: 1 -2024-02-20 18:02:34, INFO: Planning depth: 1 -2024-02-20 18:02:34, INFO: Planning width: 10 -2024-02-20 18:02:34, INFO: Sparse search: None -2024-02-20 18:02:37, INFO: human number: 10 -2024-02-20 18:02:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:37, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:42, INFO: Using device: cpu -2024-02-20 18:02:42, INFO: Loaded RL weights with best VAL -2024-02-20 18:02:42, INFO: Similarity_func: concatenation -2024-02-20 18:02:42, INFO: Layerwise_graph: False -2024-02-20 18:02:42, INFO: Skip_connection: True -2024-02-20 18:02:42, INFO: Number of layers: 1 -2024-02-20 18:02:42, INFO: Similarity_func: concatenation -2024-02-20 18:02:42, INFO: Layerwise_graph: False -2024-02-20 18:02:42, INFO: Skip_connection: True -2024-02-20 18:02:42, INFO: Number of layers: 1 -2024-02-20 18:02:42, INFO: Planning depth: 1 -2024-02-20 18:02:42, INFO: Planning width: 10 -2024-02-20 18:02:42, INFO: Sparse search: None -2024-02-20 18:02:45, INFO: human number: 10 -2024-02-20 18:02:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:02:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:02:45, INFO: Square width: 10, circle width: 4 -2024-02-20 18:02:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:02:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:02:47, INFO: Animation.save using -2024-02-20 18:03:20, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.931740 -2024-02-20 18:03:23, INFO: Using device: cpu -2024-02-20 18:03:23, INFO: Loaded RL weights with best VAL -2024-02-20 18:03:23, INFO: Similarity_func: concatenation -2024-02-20 18:03:23, INFO: Layerwise_graph: False -2024-02-20 18:03:23, INFO: Skip_connection: True -2024-02-20 18:03:23, INFO: Number of layers: 1 -2024-02-20 18:03:23, INFO: Similarity_func: concatenation -2024-02-20 18:03:23, INFO: Layerwise_graph: False -2024-02-20 18:03:23, INFO: Skip_connection: True -2024-02-20 18:03:23, INFO: Number of layers: 1 -2024-02-20 18:03:23, INFO: Planning depth: 1 -2024-02-20 18:03:23, INFO: Planning width: 10 -2024-02-20 18:03:23, INFO: Sparse search: None -2024-02-20 18:03:26, INFO: human number: 10 -2024-02-20 18:03:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:03:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:03:26, INFO: Square width: 10, circle width: 4 -2024-02-20 18:03:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:03:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:03:31, INFO: Using device: cpu -2024-02-20 18:03:31, INFO: Loaded RL weights with best VAL -2024-02-20 18:03:31, INFO: Similarity_func: concatenation -2024-02-20 18:03:31, INFO: Layerwise_graph: False -2024-02-20 18:03:31, INFO: Skip_connection: True -2024-02-20 18:03:31, INFO: Number of layers: 1 -2024-02-20 18:03:31, INFO: Similarity_func: concatenation -2024-02-20 18:03:31, INFO: Layerwise_graph: False -2024-02-20 18:03:31, INFO: Skip_connection: True -2024-02-20 18:03:31, INFO: Number of layers: 1 -2024-02-20 18:03:31, INFO: Planning depth: 1 -2024-02-20 18:03:31, INFO: Planning width: 10 -2024-02-20 18:03:31, INFO: Sparse search: None -2024-02-20 18:03:34, INFO: human number: 10 -2024-02-20 18:03:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:03:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:03:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:03:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:03:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:03:40, INFO: Animation.save using -2024-02-20 18:04:20, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.928893 -2024-02-20 18:04:23, INFO: Using device: cpu -2024-02-20 18:04:23, INFO: Loaded RL weights with best VAL -2024-02-20 18:04:23, INFO: Similarity_func: concatenation -2024-02-20 18:04:23, INFO: Layerwise_graph: False -2024-02-20 18:04:23, INFO: Skip_connection: True -2024-02-20 18:04:23, INFO: Number of layers: 1 -2024-02-20 18:04:23, INFO: Similarity_func: concatenation -2024-02-20 18:04:23, INFO: Layerwise_graph: False -2024-02-20 18:04:23, INFO: Skip_connection: True -2024-02-20 18:04:23, INFO: Number of layers: 1 -2024-02-20 18:04:23, INFO: Planning depth: 1 -2024-02-20 18:04:23, INFO: Planning width: 10 -2024-02-20 18:04:23, INFO: Sparse search: None -2024-02-20 18:04:26, INFO: human number: 10 -2024-02-20 18:04:26, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:04:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:04:26, INFO: Square width: 10, circle width: 4 -2024-02-20 18:04:26, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:04:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:04:30, INFO: Using device: cpu -2024-02-20 18:04:30, INFO: Loaded RL weights with best VAL -2024-02-20 18:04:30, INFO: Similarity_func: concatenation -2024-02-20 18:04:30, INFO: Layerwise_graph: False -2024-02-20 18:04:30, INFO: Skip_connection: True -2024-02-20 18:04:30, INFO: Number of layers: 1 -2024-02-20 18:04:30, INFO: Similarity_func: concatenation -2024-02-20 18:04:30, INFO: Layerwise_graph: False -2024-02-20 18:04:30, INFO: Skip_connection: True -2024-02-20 18:04:30, INFO: Number of layers: 1 -2024-02-20 18:04:30, INFO: Planning depth: 1 -2024-02-20 18:04:30, INFO: Planning width: 10 -2024-02-20 18:04:30, INFO: Sparse search: None -2024-02-20 18:04:33, INFO: human number: 10 -2024-02-20 18:04:33, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:04:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:04:33, INFO: Square width: 10, circle width: 4 -2024-02-20 18:04:33, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:04:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:04:38, INFO: Using device: cpu -2024-02-20 18:04:38, INFO: Loaded RL weights with best VAL -2024-02-20 18:04:38, INFO: Similarity_func: concatenation -2024-02-20 18:04:38, INFO: Layerwise_graph: False -2024-02-20 18:04:38, INFO: Skip_connection: True -2024-02-20 18:04:38, INFO: Number of layers: 1 -2024-02-20 18:04:38, INFO: Similarity_func: concatenation -2024-02-20 18:04:38, INFO: Layerwise_graph: False -2024-02-20 18:04:38, INFO: Skip_connection: True -2024-02-20 18:04:38, INFO: Number of layers: 1 -2024-02-20 18:04:38, INFO: Planning depth: 1 -2024-02-20 18:04:38, INFO: Planning width: 10 -2024-02-20 18:04:38, INFO: Sparse search: None -2024-02-20 18:04:41, INFO: human number: 10 -2024-02-20 18:04:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:04:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:04:41, INFO: Square width: 10, circle width: 4 -2024-02-20 18:04:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:04:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:04:43, INFO: Animation.save using -2024-02-20 18:05:13, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.749983 -2024-02-20 18:05:16, INFO: Using device: cpu -2024-02-20 18:05:16, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:16, INFO: Similarity_func: concatenation -2024-02-20 18:05:16, INFO: Layerwise_graph: False -2024-02-20 18:05:16, INFO: Skip_connection: True -2024-02-20 18:05:16, INFO: Number of layers: 1 -2024-02-20 18:05:16, INFO: Similarity_func: concatenation -2024-02-20 18:05:16, INFO: Layerwise_graph: False -2024-02-20 18:05:16, INFO: Skip_connection: True -2024-02-20 18:05:16, INFO: Number of layers: 1 -2024-02-20 18:05:16, INFO: Planning depth: 1 -2024-02-20 18:05:16, INFO: Planning width: 10 -2024-02-20 18:05:16, INFO: Sparse search: None -2024-02-20 18:05:19, INFO: human number: 10 -2024-02-20 18:05:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:19, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:05:25, INFO: Using device: cpu -2024-02-20 18:05:25, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:25, INFO: Similarity_func: concatenation -2024-02-20 18:05:25, INFO: Layerwise_graph: False -2024-02-20 18:05:25, INFO: Skip_connection: True -2024-02-20 18:05:25, INFO: Number of layers: 1 -2024-02-20 18:05:25, INFO: Similarity_func: concatenation -2024-02-20 18:05:25, INFO: Layerwise_graph: False -2024-02-20 18:05:25, INFO: Skip_connection: True -2024-02-20 18:05:25, INFO: Number of layers: 1 -2024-02-20 18:05:25, INFO: Planning depth: 1 -2024-02-20 18:05:25, INFO: Planning width: 10 -2024-02-20 18:05:25, INFO: Sparse search: None -2024-02-20 18:05:28, INFO: human number: 10 -2024-02-20 18:05:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:28, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:05:32, INFO: Using device: cpu -2024-02-20 18:05:32, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:32, INFO: Similarity_func: concatenation -2024-02-20 18:05:32, INFO: Layerwise_graph: False -2024-02-20 18:05:32, INFO: Skip_connection: True -2024-02-20 18:05:32, INFO: Number of layers: 1 -2024-02-20 18:05:32, INFO: Similarity_func: concatenation -2024-02-20 18:05:32, INFO: Layerwise_graph: False -2024-02-20 18:05:32, INFO: Skip_connection: True -2024-02-20 18:05:32, INFO: Number of layers: 1 -2024-02-20 18:05:32, INFO: Planning depth: 1 -2024-02-20 18:05:32, INFO: Planning width: 10 -2024-02-20 18:05:32, INFO: Sparse search: None -2024-02-20 18:05:35, INFO: human number: 10 -2024-02-20 18:05:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:35, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:05:39, INFO: Using device: cpu -2024-02-20 18:05:39, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:39, INFO: Similarity_func: concatenation -2024-02-20 18:05:39, INFO: Layerwise_graph: False -2024-02-20 18:05:39, INFO: Skip_connection: True -2024-02-20 18:05:39, INFO: Number of layers: 1 -2024-02-20 18:05:39, INFO: Similarity_func: concatenation -2024-02-20 18:05:39, INFO: Layerwise_graph: False -2024-02-20 18:05:39, INFO: Skip_connection: True -2024-02-20 18:05:39, INFO: Number of layers: 1 -2024-02-20 18:05:39, INFO: Planning depth: 1 -2024-02-20 18:05:39, INFO: Planning width: 10 -2024-02-20 18:05:39, INFO: Sparse search: None -2024-02-20 18:05:42, INFO: human number: 10 -2024-02-20 18:05:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:42, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:05:47, INFO: Using device: cpu -2024-02-20 18:05:47, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:47, INFO: Similarity_func: concatenation -2024-02-20 18:05:47, INFO: Layerwise_graph: False -2024-02-20 18:05:47, INFO: Skip_connection: True -2024-02-20 18:05:47, INFO: Number of layers: 1 -2024-02-20 18:05:47, INFO: Similarity_func: concatenation -2024-02-20 18:05:47, INFO: Layerwise_graph: False -2024-02-20 18:05:47, INFO: Skip_connection: True -2024-02-20 18:05:47, INFO: Number of layers: 1 -2024-02-20 18:05:47, INFO: Planning depth: 1 -2024-02-20 18:05:47, INFO: Planning width: 10 -2024-02-20 18:05:47, INFO: Sparse search: None -2024-02-20 18:05:50, INFO: human number: 10 -2024-02-20 18:05:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:50, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:05:55, INFO: Using device: cpu -2024-02-20 18:05:55, INFO: Loaded RL weights with best VAL -2024-02-20 18:05:55, INFO: Similarity_func: concatenation -2024-02-20 18:05:55, INFO: Layerwise_graph: False -2024-02-20 18:05:55, INFO: Skip_connection: True -2024-02-20 18:05:55, INFO: Number of layers: 1 -2024-02-20 18:05:55, INFO: Similarity_func: concatenation -2024-02-20 18:05:55, INFO: Layerwise_graph: False -2024-02-20 18:05:55, INFO: Skip_connection: True -2024-02-20 18:05:55, INFO: Number of layers: 1 -2024-02-20 18:05:55, INFO: Planning depth: 1 -2024-02-20 18:05:55, INFO: Planning width: 10 -2024-02-20 18:05:55, INFO: Sparse search: None -2024-02-20 18:05:57, INFO: human number: 10 -2024-02-20 18:05:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:05:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:05:57, INFO: Square width: 10, circle width: 4 -2024-02-20 18:05:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:05:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:06:02, INFO: Using device: cpu -2024-02-20 18:06:02, INFO: Loaded RL weights with best VAL -2024-02-20 18:06:02, INFO: Similarity_func: concatenation -2024-02-20 18:06:02, INFO: Layerwise_graph: False -2024-02-20 18:06:02, INFO: Skip_connection: True -2024-02-20 18:06:02, INFO: Number of layers: 1 -2024-02-20 18:06:02, INFO: Similarity_func: concatenation -2024-02-20 18:06:02, INFO: Layerwise_graph: False -2024-02-20 18:06:02, INFO: Skip_connection: True -2024-02-20 18:06:02, INFO: Number of layers: 1 -2024-02-20 18:06:02, INFO: Planning depth: 1 -2024-02-20 18:06:02, INFO: Planning width: 10 -2024-02-20 18:06:02, INFO: Sparse search: None -2024-02-20 18:06:05, INFO: human number: 10 -2024-02-20 18:06:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:06:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:06:05, INFO: Square width: 10, circle width: 4 -2024-02-20 18:06:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:06:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:06:10, INFO: Using device: cpu -2024-02-20 18:06:10, INFO: Loaded RL weights with best VAL -2024-02-20 18:06:10, INFO: Similarity_func: concatenation -2024-02-20 18:06:10, INFO: Layerwise_graph: False -2024-02-20 18:06:10, INFO: Skip_connection: True -2024-02-20 18:06:10, INFO: Number of layers: 1 -2024-02-20 18:06:10, INFO: Similarity_func: concatenation -2024-02-20 18:06:10, INFO: Layerwise_graph: False -2024-02-20 18:06:10, INFO: Skip_connection: True -2024-02-20 18:06:10, INFO: Number of layers: 1 -2024-02-20 18:06:10, INFO: Planning depth: 1 -2024-02-20 18:06:10, INFO: Planning width: 10 -2024-02-20 18:06:10, INFO: Sparse search: None -2024-02-20 18:06:12, INFO: human number: 10 -2024-02-20 18:06:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:06:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:06:12, INFO: Square width: 10, circle width: 4 -2024-02-20 18:06:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:06:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:06:15, INFO: Animation.save using -2024-02-20 18:06:54, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.873782 -2024-02-20 18:06:57, INFO: Using device: cpu -2024-02-20 18:06:57, INFO: Loaded RL weights with best VAL -2024-02-20 18:06:57, INFO: Similarity_func: concatenation -2024-02-20 18:06:57, INFO: Layerwise_graph: False -2024-02-20 18:06:57, INFO: Skip_connection: True -2024-02-20 18:06:57, INFO: Number of layers: 1 -2024-02-20 18:06:57, INFO: Similarity_func: concatenation -2024-02-20 18:06:57, INFO: Layerwise_graph: False -2024-02-20 18:06:57, INFO: Skip_connection: True -2024-02-20 18:06:57, INFO: Number of layers: 1 -2024-02-20 18:06:57, INFO: Planning depth: 1 -2024-02-20 18:06:57, INFO: Planning width: 10 -2024-02-20 18:06:57, INFO: Sparse search: None -2024-02-20 18:07:00, INFO: human number: 10 -2024-02-20 18:07:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:07:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:07:00, INFO: Square width: 10, circle width: 4 -2024-02-20 18:07:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:07:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:07:05, INFO: Using device: cpu -2024-02-20 18:07:05, INFO: Loaded RL weights with best VAL -2024-02-20 18:07:05, INFO: Similarity_func: concatenation -2024-02-20 18:07:05, INFO: Layerwise_graph: False -2024-02-20 18:07:05, INFO: Skip_connection: True -2024-02-20 18:07:05, INFO: Number of layers: 1 -2024-02-20 18:07:05, INFO: Similarity_func: concatenation -2024-02-20 18:07:05, INFO: Layerwise_graph: False -2024-02-20 18:07:05, INFO: Skip_connection: True -2024-02-20 18:07:05, INFO: Number of layers: 1 -2024-02-20 18:07:05, INFO: Planning depth: 1 -2024-02-20 18:07:05, INFO: Planning width: 10 -2024-02-20 18:07:05, INFO: Sparse search: None -2024-02-20 18:07:08, INFO: human number: 10 -2024-02-20 18:07:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:07:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:07:08, INFO: Square width: 10, circle width: 4 -2024-02-20 18:07:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:07:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:07:12, INFO: Animation.save using -2024-02-20 18:07:39, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.025681 -2024-02-20 18:07:42, INFO: Using device: cpu -2024-02-20 18:07:42, INFO: Loaded RL weights with best VAL -2024-02-20 18:07:42, INFO: Similarity_func: concatenation -2024-02-20 18:07:42, INFO: Layerwise_graph: False -2024-02-20 18:07:42, INFO: Skip_connection: True -2024-02-20 18:07:42, INFO: Number of layers: 1 -2024-02-20 18:07:42, INFO: Similarity_func: concatenation -2024-02-20 18:07:42, INFO: Layerwise_graph: False -2024-02-20 18:07:42, INFO: Skip_connection: True -2024-02-20 18:07:42, INFO: Number of layers: 1 -2024-02-20 18:07:42, INFO: Planning depth: 1 -2024-02-20 18:07:42, INFO: Planning width: 10 -2024-02-20 18:07:42, INFO: Sparse search: None -2024-02-20 18:07:44, INFO: human number: 10 -2024-02-20 18:07:44, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:07:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:07:44, INFO: Square width: 10, circle width: 4 -2024-02-20 18:07:44, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:07:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:07:47, INFO: Animation.save using -2024-02-20 18:08:18, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.003283 -2024-02-20 18:08:21, INFO: Using device: cpu -2024-02-20 18:08:21, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:21, INFO: Similarity_func: concatenation -2024-02-20 18:08:21, INFO: Layerwise_graph: False -2024-02-20 18:08:21, INFO: Skip_connection: True -2024-02-20 18:08:21, INFO: Number of layers: 1 -2024-02-20 18:08:21, INFO: Similarity_func: concatenation -2024-02-20 18:08:21, INFO: Layerwise_graph: False -2024-02-20 18:08:21, INFO: Skip_connection: True -2024-02-20 18:08:21, INFO: Number of layers: 1 -2024-02-20 18:08:21, INFO: Planning depth: 1 -2024-02-20 18:08:21, INFO: Planning width: 10 -2024-02-20 18:08:21, INFO: Sparse search: None -2024-02-20 18:08:24, INFO: human number: 10 -2024-02-20 18:08:24, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:08:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:08:24, INFO: Square width: 10, circle width: 4 -2024-02-20 18:08:24, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:08:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:08:29, INFO: Using device: cpu -2024-02-20 18:08:29, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:29, INFO: Similarity_func: concatenation -2024-02-20 18:08:29, INFO: Layerwise_graph: False -2024-02-20 18:08:29, INFO: Skip_connection: True -2024-02-20 18:08:29, INFO: Number of layers: 1 -2024-02-20 18:08:29, INFO: Similarity_func: concatenation -2024-02-20 18:08:29, INFO: Layerwise_graph: False -2024-02-20 18:08:29, INFO: Skip_connection: True -2024-02-20 18:08:29, INFO: Number of layers: 1 -2024-02-20 18:08:29, INFO: Planning depth: 1 -2024-02-20 18:08:29, INFO: Planning width: 10 -2024-02-20 18:08:29, INFO: Sparse search: None -2024-02-20 18:08:31, INFO: human number: 10 -2024-02-20 18:08:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:08:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:08:31, INFO: Square width: 10, circle width: 4 -2024-02-20 18:08:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:08:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:08:36, INFO: Using device: cpu -2024-02-20 18:08:36, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:36, INFO: Similarity_func: concatenation -2024-02-20 18:08:36, INFO: Layerwise_graph: False -2024-02-20 18:08:36, INFO: Skip_connection: True -2024-02-20 18:08:36, INFO: Number of layers: 1 -2024-02-20 18:08:36, INFO: Similarity_func: concatenation -2024-02-20 18:08:36, INFO: Layerwise_graph: False -2024-02-20 18:08:36, INFO: Skip_connection: True -2024-02-20 18:08:36, INFO: Number of layers: 1 -2024-02-20 18:08:36, INFO: Planning depth: 1 -2024-02-20 18:08:36, INFO: Planning width: 10 -2024-02-20 18:08:36, INFO: Sparse search: None -2024-02-20 18:08:39, INFO: human number: 10 -2024-02-20 18:08:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:08:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:08:39, INFO: Square width: 10, circle width: 4 -2024-02-20 18:08:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:08:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:08:44, INFO: Using device: cpu -2024-02-20 18:08:44, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:44, INFO: Similarity_func: concatenation -2024-02-20 18:08:44, INFO: Layerwise_graph: False -2024-02-20 18:08:44, INFO: Skip_connection: True -2024-02-20 18:08:44, INFO: Number of layers: 1 -2024-02-20 18:08:44, INFO: Similarity_func: concatenation -2024-02-20 18:08:44, INFO: Layerwise_graph: False -2024-02-20 18:08:44, INFO: Skip_connection: True -2024-02-20 18:08:44, INFO: Number of layers: 1 -2024-02-20 18:08:44, INFO: Planning depth: 1 -2024-02-20 18:08:44, INFO: Planning width: 10 -2024-02-20 18:08:44, INFO: Sparse search: None -2024-02-20 18:08:46, INFO: human number: 10 -2024-02-20 18:08:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:08:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:08:46, INFO: Square width: 10, circle width: 4 -2024-02-20 18:08:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:08:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:08:52, INFO: Using device: cpu -2024-02-20 18:08:52, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:52, INFO: Similarity_func: concatenation -2024-02-20 18:08:52, INFO: Layerwise_graph: False -2024-02-20 18:08:52, INFO: Skip_connection: True -2024-02-20 18:08:52, INFO: Number of layers: 1 -2024-02-20 18:08:52, INFO: Similarity_func: concatenation -2024-02-20 18:08:52, INFO: Layerwise_graph: False -2024-02-20 18:08:52, INFO: Skip_connection: True -2024-02-20 18:08:52, INFO: Number of layers: 1 -2024-02-20 18:08:52, INFO: Planning depth: 1 -2024-02-20 18:08:52, INFO: Planning width: 10 -2024-02-20 18:08:52, INFO: Sparse search: None -2024-02-20 18:08:55, INFO: human number: 10 -2024-02-20 18:08:55, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:08:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:08:55, INFO: Square width: 10, circle width: 4 -2024-02-20 18:08:55, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:08:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:08:59, INFO: Using device: cpu -2024-02-20 18:08:59, INFO: Loaded RL weights with best VAL -2024-02-20 18:08:59, INFO: Similarity_func: concatenation -2024-02-20 18:08:59, INFO: Layerwise_graph: False -2024-02-20 18:08:59, INFO: Skip_connection: True -2024-02-20 18:08:59, INFO: Number of layers: 1 -2024-02-20 18:08:59, INFO: Similarity_func: concatenation -2024-02-20 18:08:59, INFO: Layerwise_graph: False -2024-02-20 18:08:59, INFO: Skip_connection: True -2024-02-20 18:08:59, INFO: Number of layers: 1 -2024-02-20 18:08:59, INFO: Planning depth: 1 -2024-02-20 18:08:59, INFO: Planning width: 10 -2024-02-20 18:08:59, INFO: Sparse search: None -2024-02-20 18:09:02, INFO: human number: 10 -2024-02-20 18:09:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:02, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:07, INFO: Using device: cpu -2024-02-20 18:09:07, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:07, INFO: Similarity_func: concatenation -2024-02-20 18:09:07, INFO: Layerwise_graph: False -2024-02-20 18:09:07, INFO: Skip_connection: True -2024-02-20 18:09:07, INFO: Number of layers: 1 -2024-02-20 18:09:07, INFO: Similarity_func: concatenation -2024-02-20 18:09:07, INFO: Layerwise_graph: False -2024-02-20 18:09:07, INFO: Skip_connection: True -2024-02-20 18:09:07, INFO: Number of layers: 1 -2024-02-20 18:09:07, INFO: Planning depth: 1 -2024-02-20 18:09:07, INFO: Planning width: 10 -2024-02-20 18:09:07, INFO: Sparse search: None -2024-02-20 18:09:10, INFO: human number: 10 -2024-02-20 18:09:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:10, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:14, INFO: Using device: cpu -2024-02-20 18:09:14, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:14, INFO: Similarity_func: concatenation -2024-02-20 18:09:14, INFO: Layerwise_graph: False -2024-02-20 18:09:14, INFO: Skip_connection: True -2024-02-20 18:09:14, INFO: Number of layers: 1 -2024-02-20 18:09:14, INFO: Similarity_func: concatenation -2024-02-20 18:09:14, INFO: Layerwise_graph: False -2024-02-20 18:09:14, INFO: Skip_connection: True -2024-02-20 18:09:14, INFO: Number of layers: 1 -2024-02-20 18:09:14, INFO: Planning depth: 1 -2024-02-20 18:09:14, INFO: Planning width: 10 -2024-02-20 18:09:14, INFO: Sparse search: None -2024-02-20 18:09:17, INFO: human number: 10 -2024-02-20 18:09:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:17, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:22, INFO: Using device: cpu -2024-02-20 18:09:22, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:22, INFO: Similarity_func: concatenation -2024-02-20 18:09:22, INFO: Layerwise_graph: False -2024-02-20 18:09:22, INFO: Skip_connection: True -2024-02-20 18:09:22, INFO: Number of layers: 1 -2024-02-20 18:09:22, INFO: Similarity_func: concatenation -2024-02-20 18:09:22, INFO: Layerwise_graph: False -2024-02-20 18:09:22, INFO: Skip_connection: True -2024-02-20 18:09:22, INFO: Number of layers: 1 -2024-02-20 18:09:22, INFO: Planning depth: 1 -2024-02-20 18:09:22, INFO: Planning width: 10 -2024-02-20 18:09:22, INFO: Sparse search: None -2024-02-20 18:09:25, INFO: human number: 10 -2024-02-20 18:09:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:25, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:31, INFO: Using device: cpu -2024-02-20 18:09:31, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:31, INFO: Similarity_func: concatenation -2024-02-20 18:09:31, INFO: Layerwise_graph: False -2024-02-20 18:09:31, INFO: Skip_connection: True -2024-02-20 18:09:31, INFO: Number of layers: 1 -2024-02-20 18:09:31, INFO: Similarity_func: concatenation -2024-02-20 18:09:31, INFO: Layerwise_graph: False -2024-02-20 18:09:31, INFO: Skip_connection: True -2024-02-20 18:09:31, INFO: Number of layers: 1 -2024-02-20 18:09:31, INFO: Planning depth: 1 -2024-02-20 18:09:31, INFO: Planning width: 10 -2024-02-20 18:09:31, INFO: Sparse search: None -2024-02-20 18:09:34, INFO: human number: 10 -2024-02-20 18:09:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:39, INFO: Using device: cpu -2024-02-20 18:09:39, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:39, INFO: Similarity_func: concatenation -2024-02-20 18:09:39, INFO: Layerwise_graph: False -2024-02-20 18:09:39, INFO: Skip_connection: True -2024-02-20 18:09:39, INFO: Number of layers: 1 -2024-02-20 18:09:39, INFO: Similarity_func: concatenation -2024-02-20 18:09:39, INFO: Layerwise_graph: False -2024-02-20 18:09:39, INFO: Skip_connection: True -2024-02-20 18:09:39, INFO: Number of layers: 1 -2024-02-20 18:09:39, INFO: Planning depth: 1 -2024-02-20 18:09:39, INFO: Planning width: 10 -2024-02-20 18:09:39, INFO: Sparse search: None -2024-02-20 18:09:41, INFO: human number: 10 -2024-02-20 18:09:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:41, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:46, INFO: Using device: cpu -2024-02-20 18:09:46, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:46, INFO: Similarity_func: concatenation -2024-02-20 18:09:46, INFO: Layerwise_graph: False -2024-02-20 18:09:46, INFO: Skip_connection: True -2024-02-20 18:09:46, INFO: Number of layers: 1 -2024-02-20 18:09:46, INFO: Similarity_func: concatenation -2024-02-20 18:09:46, INFO: Layerwise_graph: False -2024-02-20 18:09:46, INFO: Skip_connection: True -2024-02-20 18:09:46, INFO: Number of layers: 1 -2024-02-20 18:09:46, INFO: Planning depth: 1 -2024-02-20 18:09:46, INFO: Planning width: 10 -2024-02-20 18:09:46, INFO: Sparse search: None -2024-02-20 18:09:49, INFO: human number: 10 -2024-02-20 18:09:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:49, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:09:54, INFO: Using device: cpu -2024-02-20 18:09:54, INFO: Loaded RL weights with best VAL -2024-02-20 18:09:54, INFO: Similarity_func: concatenation -2024-02-20 18:09:54, INFO: Layerwise_graph: False -2024-02-20 18:09:54, INFO: Skip_connection: True -2024-02-20 18:09:54, INFO: Number of layers: 1 -2024-02-20 18:09:54, INFO: Similarity_func: concatenation -2024-02-20 18:09:54, INFO: Layerwise_graph: False -2024-02-20 18:09:54, INFO: Skip_connection: True -2024-02-20 18:09:54, INFO: Number of layers: 1 -2024-02-20 18:09:54, INFO: Planning depth: 1 -2024-02-20 18:09:54, INFO: Planning width: 10 -2024-02-20 18:09:54, INFO: Sparse search: None -2024-02-20 18:09:57, INFO: human number: 10 -2024-02-20 18:09:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:09:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:09:57, INFO: Square width: 10, circle width: 4 -2024-02-20 18:09:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:09:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:02, INFO: Using device: cpu -2024-02-20 18:10:02, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:02, INFO: Similarity_func: concatenation -2024-02-20 18:10:02, INFO: Layerwise_graph: False -2024-02-20 18:10:02, INFO: Skip_connection: True -2024-02-20 18:10:02, INFO: Number of layers: 1 -2024-02-20 18:10:02, INFO: Similarity_func: concatenation -2024-02-20 18:10:02, INFO: Layerwise_graph: False -2024-02-20 18:10:02, INFO: Skip_connection: True -2024-02-20 18:10:02, INFO: Number of layers: 1 -2024-02-20 18:10:02, INFO: Planning depth: 1 -2024-02-20 18:10:02, INFO: Planning width: 10 -2024-02-20 18:10:02, INFO: Sparse search: None -2024-02-20 18:10:05, INFO: human number: 10 -2024-02-20 18:10:05, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:05, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:05, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:10, INFO: Using device: cpu -2024-02-20 18:10:10, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:10, INFO: Similarity_func: concatenation -2024-02-20 18:10:10, INFO: Layerwise_graph: False -2024-02-20 18:10:10, INFO: Skip_connection: True -2024-02-20 18:10:10, INFO: Number of layers: 1 -2024-02-20 18:10:10, INFO: Similarity_func: concatenation -2024-02-20 18:10:10, INFO: Layerwise_graph: False -2024-02-20 18:10:10, INFO: Skip_connection: True -2024-02-20 18:10:10, INFO: Number of layers: 1 -2024-02-20 18:10:10, INFO: Planning depth: 1 -2024-02-20 18:10:10, INFO: Planning width: 10 -2024-02-20 18:10:10, INFO: Sparse search: None -2024-02-20 18:10:12, INFO: human number: 10 -2024-02-20 18:10:12, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:12, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:12, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:18, INFO: Using device: cpu -2024-02-20 18:10:18, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:18, INFO: Similarity_func: concatenation -2024-02-20 18:10:18, INFO: Layerwise_graph: False -2024-02-20 18:10:18, INFO: Skip_connection: True -2024-02-20 18:10:18, INFO: Number of layers: 1 -2024-02-20 18:10:18, INFO: Similarity_func: concatenation -2024-02-20 18:10:18, INFO: Layerwise_graph: False -2024-02-20 18:10:18, INFO: Skip_connection: True -2024-02-20 18:10:18, INFO: Number of layers: 1 -2024-02-20 18:10:18, INFO: Planning depth: 1 -2024-02-20 18:10:18, INFO: Planning width: 10 -2024-02-20 18:10:18, INFO: Sparse search: None -2024-02-20 18:10:20, INFO: human number: 10 -2024-02-20 18:10:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:20, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:26, INFO: Using device: cpu -2024-02-20 18:10:26, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:26, INFO: Similarity_func: concatenation -2024-02-20 18:10:26, INFO: Layerwise_graph: False -2024-02-20 18:10:26, INFO: Skip_connection: True -2024-02-20 18:10:26, INFO: Number of layers: 1 -2024-02-20 18:10:26, INFO: Similarity_func: concatenation -2024-02-20 18:10:26, INFO: Layerwise_graph: False -2024-02-20 18:10:26, INFO: Skip_connection: True -2024-02-20 18:10:26, INFO: Number of layers: 1 -2024-02-20 18:10:26, INFO: Planning depth: 1 -2024-02-20 18:10:26, INFO: Planning width: 10 -2024-02-20 18:10:26, INFO: Sparse search: None -2024-02-20 18:10:28, INFO: human number: 10 -2024-02-20 18:10:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:28, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:33, INFO: Using device: cpu -2024-02-20 18:10:33, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:33, INFO: Similarity_func: concatenation -2024-02-20 18:10:33, INFO: Layerwise_graph: False -2024-02-20 18:10:33, INFO: Skip_connection: True -2024-02-20 18:10:33, INFO: Number of layers: 1 -2024-02-20 18:10:33, INFO: Similarity_func: concatenation -2024-02-20 18:10:33, INFO: Layerwise_graph: False -2024-02-20 18:10:33, INFO: Skip_connection: True -2024-02-20 18:10:33, INFO: Number of layers: 1 -2024-02-20 18:10:33, INFO: Planning depth: 1 -2024-02-20 18:10:33, INFO: Planning width: 10 -2024-02-20 18:10:33, INFO: Sparse search: None -2024-02-20 18:10:36, INFO: human number: 10 -2024-02-20 18:10:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:36, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:42, INFO: Using device: cpu -2024-02-20 18:10:42, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:42, INFO: Similarity_func: concatenation -2024-02-20 18:10:42, INFO: Layerwise_graph: False -2024-02-20 18:10:42, INFO: Skip_connection: True -2024-02-20 18:10:42, INFO: Number of layers: 1 -2024-02-20 18:10:42, INFO: Similarity_func: concatenation -2024-02-20 18:10:42, INFO: Layerwise_graph: False -2024-02-20 18:10:42, INFO: Skip_connection: True -2024-02-20 18:10:42, INFO: Number of layers: 1 -2024-02-20 18:10:42, INFO: Planning depth: 1 -2024-02-20 18:10:42, INFO: Planning width: 10 -2024-02-20 18:10:42, INFO: Sparse search: None -2024-02-20 18:10:45, INFO: human number: 10 -2024-02-20 18:10:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:45, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:49, INFO: Using device: cpu -2024-02-20 18:10:49, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:49, INFO: Similarity_func: concatenation -2024-02-20 18:10:49, INFO: Layerwise_graph: False -2024-02-20 18:10:49, INFO: Skip_connection: True -2024-02-20 18:10:49, INFO: Number of layers: 1 -2024-02-20 18:10:49, INFO: Similarity_func: concatenation -2024-02-20 18:10:49, INFO: Layerwise_graph: False -2024-02-20 18:10:49, INFO: Skip_connection: True -2024-02-20 18:10:49, INFO: Number of layers: 1 -2024-02-20 18:10:49, INFO: Planning depth: 1 -2024-02-20 18:10:49, INFO: Planning width: 10 -2024-02-20 18:10:49, INFO: Sparse search: None -2024-02-20 18:10:52, INFO: human number: 10 -2024-02-20 18:10:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:10:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:10:52, INFO: Square width: 10, circle width: 4 -2024-02-20 18:10:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:10:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:10:57, INFO: Using device: cpu -2024-02-20 18:10:57, INFO: Loaded RL weights with best VAL -2024-02-20 18:10:57, INFO: Similarity_func: concatenation -2024-02-20 18:10:57, INFO: Layerwise_graph: False -2024-02-20 18:10:57, INFO: Skip_connection: True -2024-02-20 18:10:57, INFO: Number of layers: 1 -2024-02-20 18:10:57, INFO: Similarity_func: concatenation -2024-02-20 18:10:57, INFO: Layerwise_graph: False -2024-02-20 18:10:57, INFO: Skip_connection: True -2024-02-20 18:10:57, INFO: Number of layers: 1 -2024-02-20 18:10:57, INFO: Planning depth: 1 -2024-02-20 18:10:57, INFO: Planning width: 10 -2024-02-20 18:10:57, INFO: Sparse search: None -2024-02-20 18:11:00, INFO: human number: 10 -2024-02-20 18:11:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:11:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:11:00, INFO: Square width: 10, circle width: 4 -2024-02-20 18:11:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:11:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:11:05, INFO: Using device: cpu -2024-02-20 18:11:05, INFO: Loaded RL weights with best VAL -2024-02-20 18:11:05, INFO: Similarity_func: concatenation -2024-02-20 18:11:05, INFO: Layerwise_graph: False -2024-02-20 18:11:05, INFO: Skip_connection: True -2024-02-20 18:11:05, INFO: Number of layers: 1 -2024-02-20 18:11:05, INFO: Similarity_func: concatenation -2024-02-20 18:11:05, INFO: Layerwise_graph: False -2024-02-20 18:11:05, INFO: Skip_connection: True -2024-02-20 18:11:05, INFO: Number of layers: 1 -2024-02-20 18:11:05, INFO: Planning depth: 1 -2024-02-20 18:11:05, INFO: Planning width: 10 -2024-02-20 18:11:05, INFO: Sparse search: None -2024-02-20 18:11:07, INFO: human number: 10 -2024-02-20 18:11:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:11:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:11:07, INFO: Square width: 10, circle width: 4 -2024-02-20 18:11:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:11:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:11:13, INFO: Using device: cpu -2024-02-20 18:11:13, INFO: Loaded RL weights with best VAL -2024-02-20 18:11:13, INFO: Similarity_func: concatenation -2024-02-20 18:11:13, INFO: Layerwise_graph: False -2024-02-20 18:11:13, INFO: Skip_connection: True -2024-02-20 18:11:13, INFO: Number of layers: 1 -2024-02-20 18:11:13, INFO: Similarity_func: concatenation -2024-02-20 18:11:13, INFO: Layerwise_graph: False -2024-02-20 18:11:13, INFO: Skip_connection: True -2024-02-20 18:11:13, INFO: Number of layers: 1 -2024-02-20 18:11:13, INFO: Planning depth: 1 -2024-02-20 18:11:13, INFO: Planning width: 10 -2024-02-20 18:11:13, INFO: Sparse search: None -2024-02-20 18:11:15, INFO: human number: 10 -2024-02-20 18:11:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:11:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:11:15, INFO: Square width: 10, circle width: 4 -2024-02-20 18:11:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:11:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:11:18, INFO: Animation.save using -2024-02-20 18:12:01, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.887409 -2024-02-20 18:12:04, INFO: Using device: cpu -2024-02-20 18:12:04, INFO: Loaded RL weights with best VAL -2024-02-20 18:12:04, INFO: Similarity_func: concatenation -2024-02-20 18:12:04, INFO: Layerwise_graph: False -2024-02-20 18:12:04, INFO: Skip_connection: True -2024-02-20 18:12:04, INFO: Number of layers: 1 -2024-02-20 18:12:04, INFO: Similarity_func: concatenation -2024-02-20 18:12:04, INFO: Layerwise_graph: False -2024-02-20 18:12:04, INFO: Skip_connection: True -2024-02-20 18:12:04, INFO: Number of layers: 1 -2024-02-20 18:12:04, INFO: Planning depth: 1 -2024-02-20 18:12:04, INFO: Planning width: 10 -2024-02-20 18:12:04, INFO: Sparse search: None -2024-02-20 18:12:07, INFO: human number: 10 -2024-02-20 18:12:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:12:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:12:07, INFO: Square width: 10, circle width: 4 -2024-02-20 18:12:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:12:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:12:12, INFO: Using device: cpu -2024-02-20 18:12:12, INFO: Loaded RL weights with best VAL -2024-02-20 18:12:12, INFO: Similarity_func: concatenation -2024-02-20 18:12:12, INFO: Layerwise_graph: False -2024-02-20 18:12:12, INFO: Skip_connection: True -2024-02-20 18:12:12, INFO: Number of layers: 1 -2024-02-20 18:12:12, INFO: Similarity_func: concatenation -2024-02-20 18:12:12, INFO: Layerwise_graph: False -2024-02-20 18:12:12, INFO: Skip_connection: True -2024-02-20 18:12:12, INFO: Number of layers: 1 -2024-02-20 18:12:12, INFO: Planning depth: 1 -2024-02-20 18:12:12, INFO: Planning width: 10 -2024-02-20 18:12:12, INFO: Sparse search: None -2024-02-20 18:12:15, INFO: human number: 10 -2024-02-20 18:12:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:12:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:12:15, INFO: Square width: 10, circle width: 4 -2024-02-20 18:12:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:12:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:12:19, INFO: Using device: cpu -2024-02-20 18:12:19, INFO: Loaded RL weights with best VAL -2024-02-20 18:12:19, INFO: Similarity_func: concatenation -2024-02-20 18:12:19, INFO: Layerwise_graph: False -2024-02-20 18:12:19, INFO: Skip_connection: True -2024-02-20 18:12:19, INFO: Number of layers: 1 -2024-02-20 18:12:19, INFO: Similarity_func: concatenation -2024-02-20 18:12:19, INFO: Layerwise_graph: False -2024-02-20 18:12:19, INFO: Skip_connection: True -2024-02-20 18:12:19, INFO: Number of layers: 1 -2024-02-20 18:12:19, INFO: Planning depth: 1 -2024-02-20 18:12:19, INFO: Planning width: 10 -2024-02-20 18:12:19, INFO: Sparse search: None -2024-02-20 18:12:22, INFO: human number: 10 -2024-02-20 18:12:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:12:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:12:22, INFO: Square width: 10, circle width: 4 -2024-02-20 18:12:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:12:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:12:28, INFO: Using device: cpu -2024-02-20 18:12:28, INFO: Loaded RL weights with best VAL -2024-02-20 18:12:28, INFO: Similarity_func: concatenation -2024-02-20 18:12:28, INFO: Layerwise_graph: False -2024-02-20 18:12:28, INFO: Skip_connection: True -2024-02-20 18:12:28, INFO: Number of layers: 1 -2024-02-20 18:12:28, INFO: Similarity_func: concatenation -2024-02-20 18:12:28, INFO: Layerwise_graph: False -2024-02-20 18:12:28, INFO: Skip_connection: True -2024-02-20 18:12:28, INFO: Number of layers: 1 -2024-02-20 18:12:28, INFO: Planning depth: 1 -2024-02-20 18:12:28, INFO: Planning width: 10 -2024-02-20 18:12:28, INFO: Sparse search: None -2024-02-20 18:12:31, INFO: human number: 10 -2024-02-20 18:12:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:12:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:12:31, INFO: Square width: 10, circle width: 4 -2024-02-20 18:12:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:12:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:12:36, INFO: Using device: cpu -2024-02-20 18:12:36, INFO: Loaded RL weights with best VAL -2024-02-20 18:12:36, INFO: Similarity_func: concatenation -2024-02-20 18:12:36, INFO: Layerwise_graph: False -2024-02-20 18:12:36, INFO: Skip_connection: True -2024-02-20 18:12:36, INFO: Number of layers: 1 -2024-02-20 18:12:36, INFO: Similarity_func: concatenation -2024-02-20 18:12:36, INFO: Layerwise_graph: False -2024-02-20 18:12:36, INFO: Skip_connection: True -2024-02-20 18:12:36, INFO: Number of layers: 1 -2024-02-20 18:12:36, INFO: Planning depth: 1 -2024-02-20 18:12:36, INFO: Planning width: 10 -2024-02-20 18:12:36, INFO: Sparse search: None -2024-02-20 18:12:38, INFO: human number: 10 -2024-02-20 18:12:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:12:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:12:38, INFO: Square width: 10, circle width: 4 -2024-02-20 18:12:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:12:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:12:40, INFO: Animation.save using -2024-02-20 18:13:08, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.072931 -2024-02-20 18:13:11, INFO: Using device: cpu -2024-02-20 18:13:11, INFO: Loaded RL weights with best VAL -2024-02-20 18:13:11, INFO: Similarity_func: concatenation -2024-02-20 18:13:11, INFO: Layerwise_graph: False -2024-02-20 18:13:11, INFO: Skip_connection: True -2024-02-20 18:13:11, INFO: Number of layers: 1 -2024-02-20 18:13:11, INFO: Similarity_func: concatenation -2024-02-20 18:13:11, INFO: Layerwise_graph: False -2024-02-20 18:13:11, INFO: Skip_connection: True -2024-02-20 18:13:11, INFO: Number of layers: 1 -2024-02-20 18:13:11, INFO: Planning depth: 1 -2024-02-20 18:13:11, INFO: Planning width: 10 -2024-02-20 18:13:11, INFO: Sparse search: None -2024-02-20 18:13:14, INFO: human number: 10 -2024-02-20 18:13:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:13:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:13:14, INFO: Square width: 10, circle width: 4 -2024-02-20 18:13:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:13:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:13:15, INFO: Animation.save using -2024-02-20 18:13:56, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.964745 -2024-02-20 18:13:59, INFO: Using device: cpu -2024-02-20 18:13:59, INFO: Loaded RL weights with best VAL -2024-02-20 18:13:59, INFO: Similarity_func: concatenation -2024-02-20 18:13:59, INFO: Layerwise_graph: False -2024-02-20 18:13:59, INFO: Skip_connection: True -2024-02-20 18:13:59, INFO: Number of layers: 1 -2024-02-20 18:13:59, INFO: Similarity_func: concatenation -2024-02-20 18:13:59, INFO: Layerwise_graph: False -2024-02-20 18:13:59, INFO: Skip_connection: True -2024-02-20 18:13:59, INFO: Number of layers: 1 -2024-02-20 18:13:59, INFO: Planning depth: 1 -2024-02-20 18:13:59, INFO: Planning width: 10 -2024-02-20 18:13:59, INFO: Sparse search: None -2024-02-20 18:14:01, INFO: human number: 10 -2024-02-20 18:14:01, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:14:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:14:01, INFO: Square width: 10, circle width: 4 -2024-02-20 18:14:01, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:14:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:14:07, INFO: Using device: cpu -2024-02-20 18:14:07, INFO: Loaded RL weights with best VAL -2024-02-20 18:14:07, INFO: Similarity_func: concatenation -2024-02-20 18:14:07, INFO: Layerwise_graph: False -2024-02-20 18:14:07, INFO: Skip_connection: True -2024-02-20 18:14:07, INFO: Number of layers: 1 -2024-02-20 18:14:07, INFO: Similarity_func: concatenation -2024-02-20 18:14:07, INFO: Layerwise_graph: False -2024-02-20 18:14:07, INFO: Skip_connection: True -2024-02-20 18:14:07, INFO: Number of layers: 1 -2024-02-20 18:14:07, INFO: Planning depth: 1 -2024-02-20 18:14:07, INFO: Planning width: 10 -2024-02-20 18:14:07, INFO: Sparse search: None -2024-02-20 18:14:10, INFO: human number: 10 -2024-02-20 18:14:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:14:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:14:10, INFO: Square width: 10, circle width: 4 -2024-02-20 18:14:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:14:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:14:15, INFO: Using device: cpu -2024-02-20 18:14:15, INFO: Loaded RL weights with best VAL -2024-02-20 18:14:15, INFO: Similarity_func: concatenation -2024-02-20 18:14:15, INFO: Layerwise_graph: False -2024-02-20 18:14:15, INFO: Skip_connection: True -2024-02-20 18:14:15, INFO: Number of layers: 1 -2024-02-20 18:14:15, INFO: Similarity_func: concatenation -2024-02-20 18:14:15, INFO: Layerwise_graph: False -2024-02-20 18:14:15, INFO: Skip_connection: True -2024-02-20 18:14:15, INFO: Number of layers: 1 -2024-02-20 18:14:15, INFO: Planning depth: 1 -2024-02-20 18:14:15, INFO: Planning width: 10 -2024-02-20 18:14:15, INFO: Sparse search: None -2024-02-20 18:14:18, INFO: human number: 10 -2024-02-20 18:14:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:14:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:14:18, INFO: Square width: 10, circle width: 4 -2024-02-20 18:14:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:14:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:14:24, INFO: Using device: cpu -2024-02-20 18:14:24, INFO: Loaded RL weights with best VAL -2024-02-20 18:14:24, INFO: Similarity_func: concatenation -2024-02-20 18:14:24, INFO: Layerwise_graph: False -2024-02-20 18:14:24, INFO: Skip_connection: True -2024-02-20 18:14:24, INFO: Number of layers: 1 -2024-02-20 18:14:24, INFO: Similarity_func: concatenation -2024-02-20 18:14:24, INFO: Layerwise_graph: False -2024-02-20 18:14:24, INFO: Skip_connection: True -2024-02-20 18:14:24, INFO: Number of layers: 1 -2024-02-20 18:14:24, INFO: Planning depth: 1 -2024-02-20 18:14:24, INFO: Planning width: 10 -2024-02-20 18:14:24, INFO: Sparse search: None -2024-02-20 18:14:27, INFO: human number: 10 -2024-02-20 18:14:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:14:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:14:27, INFO: Square width: 10, circle width: 4 -2024-02-20 18:14:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:14:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:14:28, INFO: Animation.save using -2024-02-20 18:14:58, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.952411 -2024-02-20 18:15:01, INFO: Using device: cpu -2024-02-20 18:15:01, INFO: Loaded RL weights with best VAL -2024-02-20 18:15:01, INFO: Similarity_func: concatenation -2024-02-20 18:15:01, INFO: Layerwise_graph: False -2024-02-20 18:15:01, INFO: Skip_connection: True -2024-02-20 18:15:01, INFO: Number of layers: 1 -2024-02-20 18:15:01, INFO: Similarity_func: concatenation -2024-02-20 18:15:01, INFO: Layerwise_graph: False -2024-02-20 18:15:01, INFO: Skip_connection: True -2024-02-20 18:15:01, INFO: Number of layers: 1 -2024-02-20 18:15:01, INFO: Planning depth: 1 -2024-02-20 18:15:01, INFO: Planning width: 10 -2024-02-20 18:15:01, INFO: Sparse search: None -2024-02-20 18:15:03, INFO: human number: 10 -2024-02-20 18:15:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:15:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:15:03, INFO: Square width: 10, circle width: 4 -2024-02-20 18:15:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:15:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:15:08, INFO: Using device: cpu -2024-02-20 18:15:08, INFO: Loaded RL weights with best VAL -2024-02-20 18:15:08, INFO: Similarity_func: concatenation -2024-02-20 18:15:08, INFO: Layerwise_graph: False -2024-02-20 18:15:08, INFO: Skip_connection: True -2024-02-20 18:15:08, INFO: Number of layers: 1 -2024-02-20 18:15:08, INFO: Similarity_func: concatenation -2024-02-20 18:15:08, INFO: Layerwise_graph: False -2024-02-20 18:15:08, INFO: Skip_connection: True -2024-02-20 18:15:08, INFO: Number of layers: 1 -2024-02-20 18:15:08, INFO: Planning depth: 1 -2024-02-20 18:15:08, INFO: Planning width: 10 -2024-02-20 18:15:08, INFO: Sparse search: None -2024-02-20 18:15:11, INFO: human number: 10 -2024-02-20 18:15:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:15:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:15:11, INFO: Square width: 10, circle width: 4 -2024-02-20 18:15:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:15:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:15:13, INFO: Animation.save using -2024-02-20 18:15:45, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.906040 -2024-02-20 18:15:48, INFO: Using device: cpu -2024-02-20 18:15:48, INFO: Loaded RL weights with best VAL -2024-02-20 18:15:48, INFO: Similarity_func: concatenation -2024-02-20 18:15:48, INFO: Layerwise_graph: False -2024-02-20 18:15:48, INFO: Skip_connection: True -2024-02-20 18:15:48, INFO: Number of layers: 1 -2024-02-20 18:15:48, INFO: Similarity_func: concatenation -2024-02-20 18:15:48, INFO: Layerwise_graph: False -2024-02-20 18:15:48, INFO: Skip_connection: True -2024-02-20 18:15:48, INFO: Number of layers: 1 -2024-02-20 18:15:48, INFO: Planning depth: 1 -2024-02-20 18:15:48, INFO: Planning width: 10 -2024-02-20 18:15:48, INFO: Sparse search: None -2024-02-20 18:15:50, INFO: human number: 10 -2024-02-20 18:15:50, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:15:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:15:50, INFO: Square width: 10, circle width: 4 -2024-02-20 18:15:50, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:15:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:15:56, INFO: Using device: cpu -2024-02-20 18:15:56, INFO: Loaded RL weights with best VAL -2024-02-20 18:15:56, INFO: Similarity_func: concatenation -2024-02-20 18:15:56, INFO: Layerwise_graph: False -2024-02-20 18:15:56, INFO: Skip_connection: True -2024-02-20 18:15:56, INFO: Number of layers: 1 -2024-02-20 18:15:56, INFO: Similarity_func: concatenation -2024-02-20 18:15:56, INFO: Layerwise_graph: False -2024-02-20 18:15:56, INFO: Skip_connection: True -2024-02-20 18:15:56, INFO: Number of layers: 1 -2024-02-20 18:15:56, INFO: Planning depth: 1 -2024-02-20 18:15:56, INFO: Planning width: 10 -2024-02-20 18:15:56, INFO: Sparse search: None -2024-02-20 18:15:58, INFO: human number: 10 -2024-02-20 18:15:58, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:15:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:15:58, INFO: Square width: 10, circle width: 4 -2024-02-20 18:15:58, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:15:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:05, INFO: Using device: cpu -2024-02-20 18:16:05, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:05, INFO: Similarity_func: concatenation -2024-02-20 18:16:05, INFO: Layerwise_graph: False -2024-02-20 18:16:05, INFO: Skip_connection: True -2024-02-20 18:16:05, INFO: Number of layers: 1 -2024-02-20 18:16:05, INFO: Similarity_func: concatenation -2024-02-20 18:16:05, INFO: Layerwise_graph: False -2024-02-20 18:16:05, INFO: Skip_connection: True -2024-02-20 18:16:05, INFO: Number of layers: 1 -2024-02-20 18:16:05, INFO: Planning depth: 1 -2024-02-20 18:16:05, INFO: Planning width: 10 -2024-02-20 18:16:05, INFO: Sparse search: None -2024-02-20 18:16:08, INFO: human number: 10 -2024-02-20 18:16:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:08, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:12, INFO: Using device: cpu -2024-02-20 18:16:12, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:12, INFO: Similarity_func: concatenation -2024-02-20 18:16:12, INFO: Layerwise_graph: False -2024-02-20 18:16:12, INFO: Skip_connection: True -2024-02-20 18:16:12, INFO: Number of layers: 1 -2024-02-20 18:16:12, INFO: Similarity_func: concatenation -2024-02-20 18:16:12, INFO: Layerwise_graph: False -2024-02-20 18:16:12, INFO: Skip_connection: True -2024-02-20 18:16:12, INFO: Number of layers: 1 -2024-02-20 18:16:12, INFO: Planning depth: 1 -2024-02-20 18:16:12, INFO: Planning width: 10 -2024-02-20 18:16:12, INFO: Sparse search: None -2024-02-20 18:16:15, INFO: human number: 10 -2024-02-20 18:16:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:15, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:19, INFO: Using device: cpu -2024-02-20 18:16:19, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:19, INFO: Similarity_func: concatenation -2024-02-20 18:16:19, INFO: Layerwise_graph: False -2024-02-20 18:16:19, INFO: Skip_connection: True -2024-02-20 18:16:19, INFO: Number of layers: 1 -2024-02-20 18:16:19, INFO: Similarity_func: concatenation -2024-02-20 18:16:19, INFO: Layerwise_graph: False -2024-02-20 18:16:19, INFO: Skip_connection: True -2024-02-20 18:16:19, INFO: Number of layers: 1 -2024-02-20 18:16:19, INFO: Planning depth: 1 -2024-02-20 18:16:19, INFO: Planning width: 10 -2024-02-20 18:16:19, INFO: Sparse search: None -2024-02-20 18:16:22, INFO: human number: 10 -2024-02-20 18:16:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:22, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:26, INFO: Using device: cpu -2024-02-20 18:16:26, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:26, INFO: Similarity_func: concatenation -2024-02-20 18:16:26, INFO: Layerwise_graph: False -2024-02-20 18:16:26, INFO: Skip_connection: True -2024-02-20 18:16:26, INFO: Number of layers: 1 -2024-02-20 18:16:26, INFO: Similarity_func: concatenation -2024-02-20 18:16:26, INFO: Layerwise_graph: False -2024-02-20 18:16:26, INFO: Skip_connection: True -2024-02-20 18:16:26, INFO: Number of layers: 1 -2024-02-20 18:16:26, INFO: Planning depth: 1 -2024-02-20 18:16:26, INFO: Planning width: 10 -2024-02-20 18:16:26, INFO: Sparse search: None -2024-02-20 18:16:29, INFO: human number: 10 -2024-02-20 18:16:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:29, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:35, INFO: Using device: cpu -2024-02-20 18:16:35, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:35, INFO: Similarity_func: concatenation -2024-02-20 18:16:35, INFO: Layerwise_graph: False -2024-02-20 18:16:35, INFO: Skip_connection: True -2024-02-20 18:16:35, INFO: Number of layers: 1 -2024-02-20 18:16:35, INFO: Similarity_func: concatenation -2024-02-20 18:16:35, INFO: Layerwise_graph: False -2024-02-20 18:16:35, INFO: Skip_connection: True -2024-02-20 18:16:35, INFO: Number of layers: 1 -2024-02-20 18:16:35, INFO: Planning depth: 1 -2024-02-20 18:16:35, INFO: Planning width: 10 -2024-02-20 18:16:35, INFO: Sparse search: None -2024-02-20 18:16:38, INFO: human number: 10 -2024-02-20 18:16:38, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:38, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:38, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:43, INFO: Using device: cpu -2024-02-20 18:16:43, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:43, INFO: Similarity_func: concatenation -2024-02-20 18:16:43, INFO: Layerwise_graph: False -2024-02-20 18:16:43, INFO: Skip_connection: True -2024-02-20 18:16:43, INFO: Number of layers: 1 -2024-02-20 18:16:43, INFO: Similarity_func: concatenation -2024-02-20 18:16:43, INFO: Layerwise_graph: False -2024-02-20 18:16:43, INFO: Skip_connection: True -2024-02-20 18:16:43, INFO: Number of layers: 1 -2024-02-20 18:16:43, INFO: Planning depth: 1 -2024-02-20 18:16:43, INFO: Planning width: 10 -2024-02-20 18:16:43, INFO: Sparse search: None -2024-02-20 18:16:46, INFO: human number: 10 -2024-02-20 18:16:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:46, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:50, INFO: Using device: cpu -2024-02-20 18:16:50, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:50, INFO: Similarity_func: concatenation -2024-02-20 18:16:50, INFO: Layerwise_graph: False -2024-02-20 18:16:50, INFO: Skip_connection: True -2024-02-20 18:16:50, INFO: Number of layers: 1 -2024-02-20 18:16:50, INFO: Similarity_func: concatenation -2024-02-20 18:16:50, INFO: Layerwise_graph: False -2024-02-20 18:16:50, INFO: Skip_connection: True -2024-02-20 18:16:50, INFO: Number of layers: 1 -2024-02-20 18:16:50, INFO: Planning depth: 1 -2024-02-20 18:16:50, INFO: Planning width: 10 -2024-02-20 18:16:50, INFO: Sparse search: None -2024-02-20 18:16:53, INFO: human number: 10 -2024-02-20 18:16:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:16:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:16:53, INFO: Square width: 10, circle width: 4 -2024-02-20 18:16:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:16:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:16:57, INFO: Using device: cpu -2024-02-20 18:16:57, INFO: Loaded RL weights with best VAL -2024-02-20 18:16:57, INFO: Similarity_func: concatenation -2024-02-20 18:16:57, INFO: Layerwise_graph: False -2024-02-20 18:16:57, INFO: Skip_connection: True -2024-02-20 18:16:57, INFO: Number of layers: 1 -2024-02-20 18:16:57, INFO: Similarity_func: concatenation -2024-02-20 18:16:57, INFO: Layerwise_graph: False -2024-02-20 18:16:57, INFO: Skip_connection: True -2024-02-20 18:16:57, INFO: Number of layers: 1 -2024-02-20 18:16:57, INFO: Planning depth: 1 -2024-02-20 18:16:57, INFO: Planning width: 10 -2024-02-20 18:16:57, INFO: Sparse search: None -2024-02-20 18:17:00, INFO: human number: 10 -2024-02-20 18:17:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:00, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:05, INFO: Using device: cpu -2024-02-20 18:17:05, INFO: Loaded RL weights with best VAL -2024-02-20 18:17:05, INFO: Similarity_func: concatenation -2024-02-20 18:17:05, INFO: Layerwise_graph: False -2024-02-20 18:17:05, INFO: Skip_connection: True -2024-02-20 18:17:05, INFO: Number of layers: 1 -2024-02-20 18:17:05, INFO: Similarity_func: concatenation -2024-02-20 18:17:05, INFO: Layerwise_graph: False -2024-02-20 18:17:05, INFO: Skip_connection: True -2024-02-20 18:17:05, INFO: Number of layers: 1 -2024-02-20 18:17:05, INFO: Planning depth: 1 -2024-02-20 18:17:05, INFO: Planning width: 10 -2024-02-20 18:17:05, INFO: Sparse search: None -2024-02-20 18:17:08, INFO: human number: 10 -2024-02-20 18:17:08, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:08, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:08, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:13, INFO: Using device: cpu -2024-02-20 18:17:13, INFO: Loaded RL weights with best VAL -2024-02-20 18:17:13, INFO: Similarity_func: concatenation -2024-02-20 18:17:13, INFO: Layerwise_graph: False -2024-02-20 18:17:13, INFO: Skip_connection: True -2024-02-20 18:17:13, INFO: Number of layers: 1 -2024-02-20 18:17:13, INFO: Similarity_func: concatenation -2024-02-20 18:17:13, INFO: Layerwise_graph: False -2024-02-20 18:17:13, INFO: Skip_connection: True -2024-02-20 18:17:13, INFO: Number of layers: 1 -2024-02-20 18:17:13, INFO: Planning depth: 1 -2024-02-20 18:17:13, INFO: Planning width: 10 -2024-02-20 18:17:13, INFO: Sparse search: None -2024-02-20 18:17:16, INFO: human number: 10 -2024-02-20 18:17:16, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:16, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:16, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:21, INFO: Using device: cpu -2024-02-20 18:17:21, INFO: Loaded RL weights with best VAL -2024-02-20 18:17:21, INFO: Similarity_func: concatenation -2024-02-20 18:17:21, INFO: Layerwise_graph: False -2024-02-20 18:17:21, INFO: Skip_connection: True -2024-02-20 18:17:21, INFO: Number of layers: 1 -2024-02-20 18:17:21, INFO: Similarity_func: concatenation -2024-02-20 18:17:21, INFO: Layerwise_graph: False -2024-02-20 18:17:21, INFO: Skip_connection: True -2024-02-20 18:17:21, INFO: Number of layers: 1 -2024-02-20 18:17:21, INFO: Planning depth: 1 -2024-02-20 18:17:21, INFO: Planning width: 10 -2024-02-20 18:17:21, INFO: Sparse search: None -2024-02-20 18:17:23, INFO: human number: 10 -2024-02-20 18:17:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:23, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:29, INFO: Using device: cpu -2024-02-20 18:17:29, INFO: Loaded RL weights with best VAL -2024-02-20 18:17:29, INFO: Similarity_func: concatenation -2024-02-20 18:17:29, INFO: Layerwise_graph: False -2024-02-20 18:17:29, INFO: Skip_connection: True -2024-02-20 18:17:29, INFO: Number of layers: 1 -2024-02-20 18:17:29, INFO: Similarity_func: concatenation -2024-02-20 18:17:29, INFO: Layerwise_graph: False -2024-02-20 18:17:29, INFO: Skip_connection: True -2024-02-20 18:17:29, INFO: Number of layers: 1 -2024-02-20 18:17:29, INFO: Planning depth: 1 -2024-02-20 18:17:29, INFO: Planning width: 10 -2024-02-20 18:17:29, INFO: Sparse search: None -2024-02-20 18:17:32, INFO: human number: 10 -2024-02-20 18:17:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:32, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:36, INFO: Using device: cpu -2024-02-20 18:17:36, INFO: Loaded RL weights with best VAL -2024-02-20 18:17:36, INFO: Similarity_func: concatenation -2024-02-20 18:17:36, INFO: Layerwise_graph: False -2024-02-20 18:17:36, INFO: Skip_connection: True -2024-02-20 18:17:36, INFO: Number of layers: 1 -2024-02-20 18:17:36, INFO: Similarity_func: concatenation -2024-02-20 18:17:36, INFO: Layerwise_graph: False -2024-02-20 18:17:36, INFO: Skip_connection: True -2024-02-20 18:17:36, INFO: Number of layers: 1 -2024-02-20 18:17:36, INFO: Planning depth: 1 -2024-02-20 18:17:36, INFO: Planning width: 10 -2024-02-20 18:17:36, INFO: Sparse search: None -2024-02-20 18:17:39, INFO: human number: 10 -2024-02-20 18:17:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:17:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:17:39, INFO: Square width: 10, circle width: 4 -2024-02-20 18:17:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:17:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:17:40, INFO: Animation.save using -2024-02-20 18:18:06, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.040178 -2024-02-20 18:18:09, INFO: Using device: cpu -2024-02-20 18:18:09, INFO: Loaded RL weights with best VAL -2024-02-20 18:18:09, INFO: Similarity_func: concatenation -2024-02-20 18:18:09, INFO: Layerwise_graph: False -2024-02-20 18:18:09, INFO: Skip_connection: True -2024-02-20 18:18:09, INFO: Number of layers: 1 -2024-02-20 18:18:09, INFO: Similarity_func: concatenation -2024-02-20 18:18:09, INFO: Layerwise_graph: False -2024-02-20 18:18:09, INFO: Skip_connection: True -2024-02-20 18:18:09, INFO: Number of layers: 1 -2024-02-20 18:18:09, INFO: Planning depth: 1 -2024-02-20 18:18:09, INFO: Planning width: 10 -2024-02-20 18:18:09, INFO: Sparse search: None -2024-02-20 18:18:11, INFO: human number: 10 -2024-02-20 18:18:11, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:18:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:18:11, INFO: Square width: 10, circle width: 4 -2024-02-20 18:18:11, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:18:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:18:16, INFO: Using device: cpu -2024-02-20 18:18:16, INFO: Loaded RL weights with best VAL -2024-02-20 18:18:16, INFO: Similarity_func: concatenation -2024-02-20 18:18:16, INFO: Layerwise_graph: False -2024-02-20 18:18:16, INFO: Skip_connection: True -2024-02-20 18:18:16, INFO: Number of layers: 1 -2024-02-20 18:18:16, INFO: Similarity_func: concatenation -2024-02-20 18:18:16, INFO: Layerwise_graph: False -2024-02-20 18:18:16, INFO: Skip_connection: True -2024-02-20 18:18:16, INFO: Number of layers: 1 -2024-02-20 18:18:16, INFO: Planning depth: 1 -2024-02-20 18:18:16, INFO: Planning width: 10 -2024-02-20 18:18:16, INFO: Sparse search: None -2024-02-20 18:18:19, INFO: human number: 10 -2024-02-20 18:18:19, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:18:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:18:19, INFO: Square width: 10, circle width: 4 -2024-02-20 18:18:19, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:18:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:18:20, INFO: Animation.save using -2024-02-20 18:18:47, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.000027 -2024-02-20 18:18:49, INFO: Using device: cpu -2024-02-20 18:18:49, INFO: Loaded RL weights with best VAL -2024-02-20 18:18:49, INFO: Similarity_func: concatenation -2024-02-20 18:18:49, INFO: Layerwise_graph: False -2024-02-20 18:18:49, INFO: Skip_connection: True -2024-02-20 18:18:49, INFO: Number of layers: 1 -2024-02-20 18:18:49, INFO: Similarity_func: concatenation -2024-02-20 18:18:49, INFO: Layerwise_graph: False -2024-02-20 18:18:49, INFO: Skip_connection: True -2024-02-20 18:18:49, INFO: Number of layers: 1 -2024-02-20 18:18:49, INFO: Planning depth: 1 -2024-02-20 18:18:49, INFO: Planning width: 10 -2024-02-20 18:18:49, INFO: Sparse search: None -2024-02-20 18:18:52, INFO: human number: 10 -2024-02-20 18:18:52, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:18:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:18:52, INFO: Square width: 10, circle width: 4 -2024-02-20 18:18:52, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:18:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:18:57, INFO: Using device: cpu -2024-02-20 18:18:57, INFO: Loaded RL weights with best VAL -2024-02-20 18:18:57, INFO: Similarity_func: concatenation -2024-02-20 18:18:57, INFO: Layerwise_graph: False -2024-02-20 18:18:57, INFO: Skip_connection: True -2024-02-20 18:18:57, INFO: Number of layers: 1 -2024-02-20 18:18:57, INFO: Similarity_func: concatenation -2024-02-20 18:18:57, INFO: Layerwise_graph: False -2024-02-20 18:18:57, INFO: Skip_connection: True -2024-02-20 18:18:57, INFO: Number of layers: 1 -2024-02-20 18:18:57, INFO: Planning depth: 1 -2024-02-20 18:18:57, INFO: Planning width: 10 -2024-02-20 18:18:57, INFO: Sparse search: None -2024-02-20 18:19:00, INFO: human number: 10 -2024-02-20 18:19:00, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:19:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:19:00, INFO: Square width: 10, circle width: 4 -2024-02-20 18:19:00, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:19:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:19:05, INFO: Using device: cpu -2024-02-20 18:19:05, INFO: Loaded RL weights with best VAL -2024-02-20 18:19:05, INFO: Similarity_func: concatenation -2024-02-20 18:19:05, INFO: Layerwise_graph: False -2024-02-20 18:19:05, INFO: Skip_connection: True -2024-02-20 18:19:05, INFO: Number of layers: 1 -2024-02-20 18:19:05, INFO: Similarity_func: concatenation -2024-02-20 18:19:05, INFO: Layerwise_graph: False -2024-02-20 18:19:05, INFO: Skip_connection: True -2024-02-20 18:19:05, INFO: Number of layers: 1 -2024-02-20 18:19:05, INFO: Planning depth: 1 -2024-02-20 18:19:05, INFO: Planning width: 10 -2024-02-20 18:19:05, INFO: Sparse search: None -2024-02-20 18:19:07, INFO: human number: 10 -2024-02-20 18:19:07, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:19:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:19:07, INFO: Square width: 10, circle width: 4 -2024-02-20 18:19:07, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:19:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:19:12, INFO: Using device: cpu -2024-02-20 18:19:12, INFO: Loaded RL weights with best VAL -2024-02-20 18:19:12, INFO: Similarity_func: concatenation -2024-02-20 18:19:12, INFO: Layerwise_graph: False -2024-02-20 18:19:12, INFO: Skip_connection: True -2024-02-20 18:19:12, INFO: Number of layers: 1 -2024-02-20 18:19:12, INFO: Similarity_func: concatenation -2024-02-20 18:19:12, INFO: Layerwise_graph: False -2024-02-20 18:19:12, INFO: Skip_connection: True -2024-02-20 18:19:12, INFO: Number of layers: 1 -2024-02-20 18:19:12, INFO: Planning depth: 1 -2024-02-20 18:19:12, INFO: Planning width: 10 -2024-02-20 18:19:12, INFO: Sparse search: None -2024-02-20 18:19:15, INFO: human number: 10 -2024-02-20 18:19:15, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:19:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:19:15, INFO: Square width: 10, circle width: 4 -2024-02-20 18:19:15, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:19:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:19:20, INFO: Using device: cpu -2024-02-20 18:19:20, INFO: Loaded RL weights with best VAL -2024-02-20 18:19:20, INFO: Similarity_func: concatenation -2024-02-20 18:19:20, INFO: Layerwise_graph: False -2024-02-20 18:19:20, INFO: Skip_connection: True -2024-02-20 18:19:20, INFO: Number of layers: 1 -2024-02-20 18:19:20, INFO: Similarity_func: concatenation -2024-02-20 18:19:20, INFO: Layerwise_graph: False -2024-02-20 18:19:20, INFO: Skip_connection: True -2024-02-20 18:19:20, INFO: Number of layers: 1 -2024-02-20 18:19:20, INFO: Planning depth: 1 -2024-02-20 18:19:20, INFO: Planning width: 10 -2024-02-20 18:19:20, INFO: Sparse search: None -2024-02-20 18:19:22, INFO: human number: 10 -2024-02-20 18:19:22, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:19:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:19:22, INFO: Square width: 10, circle width: 4 -2024-02-20 18:19:22, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:19:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:19:31, INFO: Using device: cpu -2024-02-20 18:19:31, INFO: Loaded RL weights with best VAL -2024-02-20 18:19:31, INFO: Similarity_func: concatenation -2024-02-20 18:19:31, INFO: Layerwise_graph: False -2024-02-20 18:19:31, INFO: Skip_connection: True -2024-02-20 18:19:31, INFO: Number of layers: 1 -2024-02-20 18:19:31, INFO: Similarity_func: concatenation -2024-02-20 18:19:31, INFO: Layerwise_graph: False -2024-02-20 18:19:31, INFO: Skip_connection: True -2024-02-20 18:19:31, INFO: Number of layers: 1 -2024-02-20 18:19:31, INFO: Planning depth: 1 -2024-02-20 18:19:31, INFO: Planning width: 10 -2024-02-20 18:19:31, INFO: Sparse search: None -2024-02-20 18:19:34, INFO: human number: 10 -2024-02-20 18:19:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:19:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:19:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:19:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:19:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:19:36, INFO: Animation.save using -2024-02-20 18:20:07, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.970623 -2024-02-20 18:20:10, INFO: Using device: cpu -2024-02-20 18:20:10, INFO: Loaded RL weights with best VAL -2024-02-20 18:20:10, INFO: Similarity_func: concatenation -2024-02-20 18:20:10, INFO: Layerwise_graph: False -2024-02-20 18:20:10, INFO: Skip_connection: True -2024-02-20 18:20:10, INFO: Number of layers: 1 -2024-02-20 18:20:10, INFO: Similarity_func: concatenation -2024-02-20 18:20:10, INFO: Layerwise_graph: False -2024-02-20 18:20:10, INFO: Skip_connection: True -2024-02-20 18:20:10, INFO: Number of layers: 1 -2024-02-20 18:20:10, INFO: Planning depth: 1 -2024-02-20 18:20:10, INFO: Planning width: 10 -2024-02-20 18:20:10, INFO: Sparse search: None -2024-02-20 18:20:13, INFO: human number: 10 -2024-02-20 18:20:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:20:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:20:13, INFO: Square width: 10, circle width: 4 -2024-02-20 18:20:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:20:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:20:18, INFO: Using device: cpu -2024-02-20 18:20:18, INFO: Loaded RL weights with best VAL -2024-02-20 18:20:18, INFO: Similarity_func: concatenation -2024-02-20 18:20:18, INFO: Layerwise_graph: False -2024-02-20 18:20:18, INFO: Skip_connection: True -2024-02-20 18:20:18, INFO: Number of layers: 1 -2024-02-20 18:20:18, INFO: Similarity_func: concatenation -2024-02-20 18:20:18, INFO: Layerwise_graph: False -2024-02-20 18:20:18, INFO: Skip_connection: True -2024-02-20 18:20:18, INFO: Number of layers: 1 -2024-02-20 18:20:18, INFO: Planning depth: 1 -2024-02-20 18:20:18, INFO: Planning width: 10 -2024-02-20 18:20:18, INFO: Sparse search: None -2024-02-20 18:20:20, INFO: human number: 10 -2024-02-20 18:20:20, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:20:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:20:20, INFO: Square width: 10, circle width: 4 -2024-02-20 18:20:20, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:20:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:20:22, INFO: Animation.save using -2024-02-20 18:21:04, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.863001 -2024-02-20 18:21:07, INFO: Using device: cpu -2024-02-20 18:21:07, INFO: Loaded RL weights with best VAL -2024-02-20 18:21:07, INFO: Similarity_func: concatenation -2024-02-20 18:21:07, INFO: Layerwise_graph: False -2024-02-20 18:21:07, INFO: Skip_connection: True -2024-02-20 18:21:07, INFO: Number of layers: 1 -2024-02-20 18:21:07, INFO: Similarity_func: concatenation -2024-02-20 18:21:07, INFO: Layerwise_graph: False -2024-02-20 18:21:07, INFO: Skip_connection: True -2024-02-20 18:21:07, INFO: Number of layers: 1 -2024-02-20 18:21:07, INFO: Planning depth: 1 -2024-02-20 18:21:07, INFO: Planning width: 10 -2024-02-20 18:21:07, INFO: Sparse search: None -2024-02-20 18:21:09, INFO: human number: 10 -2024-02-20 18:21:09, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:21:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:21:09, INFO: Square width: 10, circle width: 4 -2024-02-20 18:21:09, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:21:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:21:15, INFO: Using device: cpu -2024-02-20 18:21:15, INFO: Loaded RL weights with best VAL -2024-02-20 18:21:15, INFO: Similarity_func: concatenation -2024-02-20 18:21:15, INFO: Layerwise_graph: False -2024-02-20 18:21:15, INFO: Skip_connection: True -2024-02-20 18:21:15, INFO: Number of layers: 1 -2024-02-20 18:21:15, INFO: Similarity_func: concatenation -2024-02-20 18:21:15, INFO: Layerwise_graph: False -2024-02-20 18:21:15, INFO: Skip_connection: True -2024-02-20 18:21:15, INFO: Number of layers: 1 -2024-02-20 18:21:15, INFO: Planning depth: 1 -2024-02-20 18:21:15, INFO: Planning width: 10 -2024-02-20 18:21:15, INFO: Sparse search: None -2024-02-20 18:21:17, INFO: human number: 10 -2024-02-20 18:21:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:21:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:21:17, INFO: Square width: 10, circle width: 4 -2024-02-20 18:21:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:21:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:21:22, INFO: Using device: cpu -2024-02-20 18:21:22, INFO: Loaded RL weights with best VAL -2024-02-20 18:21:22, INFO: Similarity_func: concatenation -2024-02-20 18:21:22, INFO: Layerwise_graph: False -2024-02-20 18:21:22, INFO: Skip_connection: True -2024-02-20 18:21:22, INFO: Number of layers: 1 -2024-02-20 18:21:22, INFO: Similarity_func: concatenation -2024-02-20 18:21:22, INFO: Layerwise_graph: False -2024-02-20 18:21:22, INFO: Skip_connection: True -2024-02-20 18:21:22, INFO: Number of layers: 1 -2024-02-20 18:21:22, INFO: Planning depth: 1 -2024-02-20 18:21:22, INFO: Planning width: 10 -2024-02-20 18:21:22, INFO: Sparse search: None -2024-02-20 18:21:25, INFO: human number: 10 -2024-02-20 18:21:25, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:21:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:21:25, INFO: Square width: 10, circle width: 4 -2024-02-20 18:21:25, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:21:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:21:29, INFO: Using device: cpu -2024-02-20 18:21:29, INFO: Loaded RL weights with best VAL -2024-02-20 18:21:29, INFO: Similarity_func: concatenation -2024-02-20 18:21:29, INFO: Layerwise_graph: False -2024-02-20 18:21:29, INFO: Skip_connection: True -2024-02-20 18:21:29, INFO: Number of layers: 1 -2024-02-20 18:21:29, INFO: Similarity_func: concatenation -2024-02-20 18:21:29, INFO: Layerwise_graph: False -2024-02-20 18:21:29, INFO: Skip_connection: True -2024-02-20 18:21:29, INFO: Number of layers: 1 -2024-02-20 18:21:29, INFO: Planning depth: 1 -2024-02-20 18:21:29, INFO: Planning width: 10 -2024-02-20 18:21:29, INFO: Sparse search: None -2024-02-20 18:21:32, INFO: human number: 10 -2024-02-20 18:21:32, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:21:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:21:32, INFO: Square width: 10, circle width: 4 -2024-02-20 18:21:32, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:21:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:21:34, INFO: Animation.save using -2024-02-20 18:22:07, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.963504 -2024-02-20 18:22:10, INFO: Using device: cpu -2024-02-20 18:22:10, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:10, INFO: Similarity_func: concatenation -2024-02-20 18:22:10, INFO: Layerwise_graph: False -2024-02-20 18:22:10, INFO: Skip_connection: True -2024-02-20 18:22:10, INFO: Number of layers: 1 -2024-02-20 18:22:10, INFO: Similarity_func: concatenation -2024-02-20 18:22:10, INFO: Layerwise_graph: False -2024-02-20 18:22:10, INFO: Skip_connection: True -2024-02-20 18:22:10, INFO: Number of layers: 1 -2024-02-20 18:22:10, INFO: Planning depth: 1 -2024-02-20 18:22:10, INFO: Planning width: 10 -2024-02-20 18:22:10, INFO: Sparse search: None -2024-02-20 18:22:13, INFO: human number: 10 -2024-02-20 18:22:13, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:13, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:13, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:18, INFO: Using device: cpu -2024-02-20 18:22:18, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:18, INFO: Similarity_func: concatenation -2024-02-20 18:22:18, INFO: Layerwise_graph: False -2024-02-20 18:22:18, INFO: Skip_connection: True -2024-02-20 18:22:18, INFO: Number of layers: 1 -2024-02-20 18:22:18, INFO: Similarity_func: concatenation -2024-02-20 18:22:18, INFO: Layerwise_graph: False -2024-02-20 18:22:18, INFO: Skip_connection: True -2024-02-20 18:22:18, INFO: Number of layers: 1 -2024-02-20 18:22:18, INFO: Planning depth: 1 -2024-02-20 18:22:18, INFO: Planning width: 10 -2024-02-20 18:22:18, INFO: Sparse search: None -2024-02-20 18:22:21, INFO: human number: 10 -2024-02-20 18:22:21, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:21, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:21, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:26, INFO: Using device: cpu -2024-02-20 18:22:26, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:26, INFO: Similarity_func: concatenation -2024-02-20 18:22:26, INFO: Layerwise_graph: False -2024-02-20 18:22:26, INFO: Skip_connection: True -2024-02-20 18:22:26, INFO: Number of layers: 1 -2024-02-20 18:22:26, INFO: Similarity_func: concatenation -2024-02-20 18:22:26, INFO: Layerwise_graph: False -2024-02-20 18:22:26, INFO: Skip_connection: True -2024-02-20 18:22:26, INFO: Number of layers: 1 -2024-02-20 18:22:26, INFO: Planning depth: 1 -2024-02-20 18:22:26, INFO: Planning width: 10 -2024-02-20 18:22:26, INFO: Sparse search: None -2024-02-20 18:22:29, INFO: human number: 10 -2024-02-20 18:22:29, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:29, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:29, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:34, INFO: Using device: cpu -2024-02-20 18:22:34, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:34, INFO: Similarity_func: concatenation -2024-02-20 18:22:34, INFO: Layerwise_graph: False -2024-02-20 18:22:34, INFO: Skip_connection: True -2024-02-20 18:22:34, INFO: Number of layers: 1 -2024-02-20 18:22:34, INFO: Similarity_func: concatenation -2024-02-20 18:22:34, INFO: Layerwise_graph: False -2024-02-20 18:22:34, INFO: Skip_connection: True -2024-02-20 18:22:34, INFO: Number of layers: 1 -2024-02-20 18:22:34, INFO: Planning depth: 1 -2024-02-20 18:22:34, INFO: Planning width: 10 -2024-02-20 18:22:34, INFO: Sparse search: None -2024-02-20 18:22:37, INFO: human number: 10 -2024-02-20 18:22:37, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:37, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:37, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:42, INFO: Using device: cpu -2024-02-20 18:22:42, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:42, INFO: Similarity_func: concatenation -2024-02-20 18:22:42, INFO: Layerwise_graph: False -2024-02-20 18:22:42, INFO: Skip_connection: True -2024-02-20 18:22:42, INFO: Number of layers: 1 -2024-02-20 18:22:42, INFO: Similarity_func: concatenation -2024-02-20 18:22:42, INFO: Layerwise_graph: False -2024-02-20 18:22:42, INFO: Skip_connection: True -2024-02-20 18:22:42, INFO: Number of layers: 1 -2024-02-20 18:22:42, INFO: Planning depth: 1 -2024-02-20 18:22:42, INFO: Planning width: 10 -2024-02-20 18:22:42, INFO: Sparse search: None -2024-02-20 18:22:45, INFO: human number: 10 -2024-02-20 18:22:45, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:45, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:45, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:50, INFO: Using device: cpu -2024-02-20 18:22:50, INFO: Loaded RL weights with best VAL -2024-02-20 18:22:50, INFO: Similarity_func: concatenation -2024-02-20 18:22:50, INFO: Layerwise_graph: False -2024-02-20 18:22:50, INFO: Skip_connection: True -2024-02-20 18:22:50, INFO: Number of layers: 1 -2024-02-20 18:22:50, INFO: Similarity_func: concatenation -2024-02-20 18:22:50, INFO: Layerwise_graph: False -2024-02-20 18:22:50, INFO: Skip_connection: True -2024-02-20 18:22:50, INFO: Number of layers: 1 -2024-02-20 18:22:50, INFO: Planning depth: 1 -2024-02-20 18:22:50, INFO: Planning width: 10 -2024-02-20 18:22:50, INFO: Sparse search: None -2024-02-20 18:22:53, INFO: human number: 10 -2024-02-20 18:22:53, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:22:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:22:53, INFO: Square width: 10, circle width: 4 -2024-02-20 18:22:53, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:22:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:22:55, INFO: Animation.save using -2024-02-20 18:23:28, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.949205 -2024-02-20 18:23:32, INFO: Using device: cpu -2024-02-20 18:23:32, INFO: Loaded RL weights with best VAL -2024-02-20 18:23:32, INFO: Similarity_func: concatenation -2024-02-20 18:23:32, INFO: Layerwise_graph: False -2024-02-20 18:23:32, INFO: Skip_connection: True -2024-02-20 18:23:32, INFO: Number of layers: 1 -2024-02-20 18:23:32, INFO: Similarity_func: concatenation -2024-02-20 18:23:32, INFO: Layerwise_graph: False -2024-02-20 18:23:32, INFO: Skip_connection: True -2024-02-20 18:23:32, INFO: Number of layers: 1 -2024-02-20 18:23:32, INFO: Planning depth: 1 -2024-02-20 18:23:32, INFO: Planning width: 10 -2024-02-20 18:23:32, INFO: Sparse search: None -2024-02-20 18:23:34, INFO: human number: 10 -2024-02-20 18:23:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:23:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:23:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:23:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:23:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:23:39, INFO: Using device: cpu -2024-02-20 18:23:39, INFO: Loaded RL weights with best VAL -2024-02-20 18:23:39, INFO: Similarity_func: concatenation -2024-02-20 18:23:39, INFO: Layerwise_graph: False -2024-02-20 18:23:39, INFO: Skip_connection: True -2024-02-20 18:23:39, INFO: Number of layers: 1 -2024-02-20 18:23:39, INFO: Similarity_func: concatenation -2024-02-20 18:23:39, INFO: Layerwise_graph: False -2024-02-20 18:23:39, INFO: Skip_connection: True -2024-02-20 18:23:39, INFO: Number of layers: 1 -2024-02-20 18:23:39, INFO: Planning depth: 1 -2024-02-20 18:23:39, INFO: Planning width: 10 -2024-02-20 18:23:39, INFO: Sparse search: None -2024-02-20 18:23:42, INFO: human number: 10 -2024-02-20 18:23:42, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:23:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:23:42, INFO: Square width: 10, circle width: 4 -2024-02-20 18:23:42, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:23:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:23:46, INFO: Using device: cpu -2024-02-20 18:23:46, INFO: Loaded RL weights with best VAL -2024-02-20 18:23:46, INFO: Similarity_func: concatenation -2024-02-20 18:23:46, INFO: Layerwise_graph: False -2024-02-20 18:23:46, INFO: Skip_connection: True -2024-02-20 18:23:46, INFO: Number of layers: 1 -2024-02-20 18:23:46, INFO: Similarity_func: concatenation -2024-02-20 18:23:46, INFO: Layerwise_graph: False -2024-02-20 18:23:46, INFO: Skip_connection: True -2024-02-20 18:23:46, INFO: Number of layers: 1 -2024-02-20 18:23:46, INFO: Planning depth: 1 -2024-02-20 18:23:46, INFO: Planning width: 10 -2024-02-20 18:23:46, INFO: Sparse search: None -2024-02-20 18:23:49, INFO: human number: 10 -2024-02-20 18:23:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:23:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:23:49, INFO: Square width: 10, circle width: 4 -2024-02-20 18:23:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:23:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:23:54, INFO: Using device: cpu -2024-02-20 18:23:54, INFO: Loaded RL weights with best VAL -2024-02-20 18:23:54, INFO: Similarity_func: concatenation -2024-02-20 18:23:54, INFO: Layerwise_graph: False -2024-02-20 18:23:54, INFO: Skip_connection: True -2024-02-20 18:23:54, INFO: Number of layers: 1 -2024-02-20 18:23:54, INFO: Similarity_func: concatenation -2024-02-20 18:23:54, INFO: Layerwise_graph: False -2024-02-20 18:23:54, INFO: Skip_connection: True -2024-02-20 18:23:54, INFO: Number of layers: 1 -2024-02-20 18:23:54, INFO: Planning depth: 1 -2024-02-20 18:23:54, INFO: Planning width: 10 -2024-02-20 18:23:54, INFO: Sparse search: None -2024-02-20 18:23:57, INFO: human number: 10 -2024-02-20 18:23:57, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:23:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:23:57, INFO: Square width: 10, circle width: 4 -2024-02-20 18:23:57, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:23:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:23:59, INFO: Animation.save using -2024-02-20 18:24:43, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.903264 -2024-02-20 18:24:46, INFO: Using device: cpu -2024-02-20 18:24:46, INFO: Loaded RL weights with best VAL -2024-02-20 18:24:46, INFO: Similarity_func: concatenation -2024-02-20 18:24:46, INFO: Layerwise_graph: False -2024-02-20 18:24:46, INFO: Skip_connection: True -2024-02-20 18:24:46, INFO: Number of layers: 1 -2024-02-20 18:24:46, INFO: Similarity_func: concatenation -2024-02-20 18:24:46, INFO: Layerwise_graph: False -2024-02-20 18:24:46, INFO: Skip_connection: True -2024-02-20 18:24:46, INFO: Number of layers: 1 -2024-02-20 18:24:46, INFO: Planning depth: 1 -2024-02-20 18:24:46, INFO: Planning width: 10 -2024-02-20 18:24:46, INFO: Sparse search: None -2024-02-20 18:24:49, INFO: human number: 10 -2024-02-20 18:24:49, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:24:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:24:49, INFO: Square width: 10, circle width: 4 -2024-02-20 18:24:49, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:24:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:24:53, INFO: Using device: cpu -2024-02-20 18:24:53, INFO: Loaded RL weights with best VAL -2024-02-20 18:24:53, INFO: Similarity_func: concatenation -2024-02-20 18:24:53, INFO: Layerwise_graph: False -2024-02-20 18:24:53, INFO: Skip_connection: True -2024-02-20 18:24:53, INFO: Number of layers: 1 -2024-02-20 18:24:53, INFO: Similarity_func: concatenation -2024-02-20 18:24:53, INFO: Layerwise_graph: False -2024-02-20 18:24:53, INFO: Skip_connection: True -2024-02-20 18:24:53, INFO: Number of layers: 1 -2024-02-20 18:24:53, INFO: Planning depth: 1 -2024-02-20 18:24:53, INFO: Planning width: 10 -2024-02-20 18:24:53, INFO: Sparse search: None -2024-02-20 18:24:56, INFO: human number: 10 -2024-02-20 18:24:56, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:24:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:24:56, INFO: Square width: 10, circle width: 4 -2024-02-20 18:24:56, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:24:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:25:00, INFO: Using device: cpu -2024-02-20 18:25:00, INFO: Loaded RL weights with best VAL -2024-02-20 18:25:00, INFO: Similarity_func: concatenation -2024-02-20 18:25:00, INFO: Layerwise_graph: False -2024-02-20 18:25:00, INFO: Skip_connection: True -2024-02-20 18:25:00, INFO: Number of layers: 1 -2024-02-20 18:25:00, INFO: Similarity_func: concatenation -2024-02-20 18:25:00, INFO: Layerwise_graph: False -2024-02-20 18:25:00, INFO: Skip_connection: True -2024-02-20 18:25:00, INFO: Number of layers: 1 -2024-02-20 18:25:00, INFO: Planning depth: 1 -2024-02-20 18:25:00, INFO: Planning width: 10 -2024-02-20 18:25:00, INFO: Sparse search: None -2024-02-20 18:25:02, INFO: human number: 10 -2024-02-20 18:25:02, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:25:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:25:02, INFO: Square width: 10, circle width: 4 -2024-02-20 18:25:02, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:25:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:25:07, INFO: Using device: cpu -2024-02-20 18:25:07, INFO: Loaded RL weights with best VAL -2024-02-20 18:25:07, INFO: Similarity_func: concatenation -2024-02-20 18:25:07, INFO: Layerwise_graph: False -2024-02-20 18:25:07, INFO: Skip_connection: True -2024-02-20 18:25:07, INFO: Number of layers: 1 -2024-02-20 18:25:07, INFO: Similarity_func: concatenation -2024-02-20 18:25:07, INFO: Layerwise_graph: False -2024-02-20 18:25:07, INFO: Skip_connection: True -2024-02-20 18:25:07, INFO: Number of layers: 1 -2024-02-20 18:25:07, INFO: Planning depth: 1 -2024-02-20 18:25:07, INFO: Planning width: 10 -2024-02-20 18:25:07, INFO: Sparse search: None -2024-02-20 18:25:10, INFO: human number: 10 -2024-02-20 18:25:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:25:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:25:10, INFO: Square width: 10, circle width: 4 -2024-02-20 18:25:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:25:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:25:14, INFO: Using device: cpu -2024-02-20 18:25:14, INFO: Loaded RL weights with best VAL -2024-02-20 18:25:14, INFO: Similarity_func: concatenation -2024-02-20 18:25:14, INFO: Layerwise_graph: False -2024-02-20 18:25:14, INFO: Skip_connection: True -2024-02-20 18:25:14, INFO: Number of layers: 1 -2024-02-20 18:25:14, INFO: Similarity_func: concatenation -2024-02-20 18:25:14, INFO: Layerwise_graph: False -2024-02-20 18:25:14, INFO: Skip_connection: True -2024-02-20 18:25:14, INFO: Number of layers: 1 -2024-02-20 18:25:14, INFO: Planning depth: 1 -2024-02-20 18:25:14, INFO: Planning width: 10 -2024-02-20 18:25:14, INFO: Sparse search: None -2024-02-20 18:25:17, INFO: human number: 10 -2024-02-20 18:25:17, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:25:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:25:17, INFO: Square width: 10, circle width: 4 -2024-02-20 18:25:17, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:25:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:25:24, INFO: Using device: cpu -2024-02-20 18:25:24, INFO: Loaded RL weights with best VAL -2024-02-20 18:25:24, INFO: Similarity_func: concatenation -2024-02-20 18:25:24, INFO: Layerwise_graph: False -2024-02-20 18:25:24, INFO: Skip_connection: True -2024-02-20 18:25:24, INFO: Number of layers: 1 -2024-02-20 18:25:24, INFO: Similarity_func: concatenation -2024-02-20 18:25:24, INFO: Layerwise_graph: False -2024-02-20 18:25:24, INFO: Skip_connection: True -2024-02-20 18:25:24, INFO: Number of layers: 1 -2024-02-20 18:25:24, INFO: Planning depth: 1 -2024-02-20 18:25:24, INFO: Planning width: 10 -2024-02-20 18:25:24, INFO: Sparse search: None -2024-02-20 18:25:27, INFO: human number: 10 -2024-02-20 18:25:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:25:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:25:27, INFO: Square width: 10, circle width: 4 -2024-02-20 18:25:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:25:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:25:29, INFO: Animation.save using -2024-02-20 18:26:08, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.860965 -2024-02-20 18:26:11, INFO: Using device: cpu -2024-02-20 18:26:11, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:11, INFO: Similarity_func: concatenation -2024-02-20 18:26:11, INFO: Layerwise_graph: False -2024-02-20 18:26:11, INFO: Skip_connection: True -2024-02-20 18:26:11, INFO: Number of layers: 1 -2024-02-20 18:26:11, INFO: Similarity_func: concatenation -2024-02-20 18:26:11, INFO: Layerwise_graph: False -2024-02-20 18:26:11, INFO: Skip_connection: True -2024-02-20 18:26:11, INFO: Number of layers: 1 -2024-02-20 18:26:11, INFO: Planning depth: 1 -2024-02-20 18:26:11, INFO: Planning width: 10 -2024-02-20 18:26:11, INFO: Sparse search: None -2024-02-20 18:26:14, INFO: human number: 10 -2024-02-20 18:26:14, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:14, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:14, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:26:20, INFO: Using device: cpu -2024-02-20 18:26:20, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:20, INFO: Similarity_func: concatenation -2024-02-20 18:26:20, INFO: Layerwise_graph: False -2024-02-20 18:26:20, INFO: Skip_connection: True -2024-02-20 18:26:20, INFO: Number of layers: 1 -2024-02-20 18:26:20, INFO: Similarity_func: concatenation -2024-02-20 18:26:20, INFO: Layerwise_graph: False -2024-02-20 18:26:20, INFO: Skip_connection: True -2024-02-20 18:26:20, INFO: Number of layers: 1 -2024-02-20 18:26:20, INFO: Planning depth: 1 -2024-02-20 18:26:20, INFO: Planning width: 10 -2024-02-20 18:26:20, INFO: Sparse search: None -2024-02-20 18:26:23, INFO: human number: 10 -2024-02-20 18:26:23, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:23, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:23, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:26:28, INFO: Using device: cpu -2024-02-20 18:26:28, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:28, INFO: Similarity_func: concatenation -2024-02-20 18:26:28, INFO: Layerwise_graph: False -2024-02-20 18:26:28, INFO: Skip_connection: True -2024-02-20 18:26:28, INFO: Number of layers: 1 -2024-02-20 18:26:28, INFO: Similarity_func: concatenation -2024-02-20 18:26:28, INFO: Layerwise_graph: False -2024-02-20 18:26:28, INFO: Skip_connection: True -2024-02-20 18:26:28, INFO: Number of layers: 1 -2024-02-20 18:26:28, INFO: Planning depth: 1 -2024-02-20 18:26:28, INFO: Planning width: 10 -2024-02-20 18:26:28, INFO: Sparse search: None -2024-02-20 18:26:31, INFO: human number: 10 -2024-02-20 18:26:31, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:31, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:31, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:26:36, INFO: Using device: cpu -2024-02-20 18:26:36, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:36, INFO: Similarity_func: concatenation -2024-02-20 18:26:36, INFO: Layerwise_graph: False -2024-02-20 18:26:36, INFO: Skip_connection: True -2024-02-20 18:26:36, INFO: Number of layers: 1 -2024-02-20 18:26:36, INFO: Similarity_func: concatenation -2024-02-20 18:26:36, INFO: Layerwise_graph: False -2024-02-20 18:26:36, INFO: Skip_connection: True -2024-02-20 18:26:36, INFO: Number of layers: 1 -2024-02-20 18:26:36, INFO: Planning depth: 1 -2024-02-20 18:26:36, INFO: Planning width: 10 -2024-02-20 18:26:36, INFO: Sparse search: None -2024-02-20 18:26:39, INFO: human number: 10 -2024-02-20 18:26:39, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:39, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:39, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:26:44, INFO: Using device: cpu -2024-02-20 18:26:44, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:44, INFO: Similarity_func: concatenation -2024-02-20 18:26:44, INFO: Layerwise_graph: False -2024-02-20 18:26:44, INFO: Skip_connection: True -2024-02-20 18:26:44, INFO: Number of layers: 1 -2024-02-20 18:26:44, INFO: Similarity_func: concatenation -2024-02-20 18:26:44, INFO: Layerwise_graph: False -2024-02-20 18:26:44, INFO: Skip_connection: True -2024-02-20 18:26:44, INFO: Number of layers: 1 -2024-02-20 18:26:44, INFO: Planning depth: 1 -2024-02-20 18:26:44, INFO: Planning width: 10 -2024-02-20 18:26:44, INFO: Sparse search: None -2024-02-20 18:26:46, INFO: human number: 10 -2024-02-20 18:26:46, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:46, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:46, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:26:52, INFO: Using device: cpu -2024-02-20 18:26:52, INFO: Loaded RL weights with best VAL -2024-02-20 18:26:52, INFO: Similarity_func: concatenation -2024-02-20 18:26:52, INFO: Layerwise_graph: False -2024-02-20 18:26:52, INFO: Skip_connection: True -2024-02-20 18:26:52, INFO: Number of layers: 1 -2024-02-20 18:26:52, INFO: Similarity_func: concatenation -2024-02-20 18:26:52, INFO: Layerwise_graph: False -2024-02-20 18:26:52, INFO: Skip_connection: True -2024-02-20 18:26:52, INFO: Number of layers: 1 -2024-02-20 18:26:52, INFO: Planning depth: 1 -2024-02-20 18:26:52, INFO: Planning width: 10 -2024-02-20 18:26:52, INFO: Sparse search: None -2024-02-20 18:26:54, INFO: human number: 10 -2024-02-20 18:26:54, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:26:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:26:54, INFO: Square width: 10, circle width: 4 -2024-02-20 18:26:54, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:26:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:00, INFO: Using device: cpu -2024-02-20 18:27:00, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:00, INFO: Similarity_func: concatenation -2024-02-20 18:27:00, INFO: Layerwise_graph: False -2024-02-20 18:27:00, INFO: Skip_connection: True -2024-02-20 18:27:00, INFO: Number of layers: 1 -2024-02-20 18:27:00, INFO: Similarity_func: concatenation -2024-02-20 18:27:00, INFO: Layerwise_graph: False -2024-02-20 18:27:00, INFO: Skip_connection: True -2024-02-20 18:27:00, INFO: Number of layers: 1 -2024-02-20 18:27:00, INFO: Planning depth: 1 -2024-02-20 18:27:00, INFO: Planning width: 10 -2024-02-20 18:27:00, INFO: Sparse search: None -2024-02-20 18:27:03, INFO: human number: 10 -2024-02-20 18:27:03, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:03, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:03, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:08, INFO: Using device: cpu -2024-02-20 18:27:08, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:08, INFO: Similarity_func: concatenation -2024-02-20 18:27:08, INFO: Layerwise_graph: False -2024-02-20 18:27:08, INFO: Skip_connection: True -2024-02-20 18:27:08, INFO: Number of layers: 1 -2024-02-20 18:27:08, INFO: Similarity_func: concatenation -2024-02-20 18:27:08, INFO: Layerwise_graph: False -2024-02-20 18:27:08, INFO: Skip_connection: True -2024-02-20 18:27:08, INFO: Number of layers: 1 -2024-02-20 18:27:08, INFO: Planning depth: 1 -2024-02-20 18:27:08, INFO: Planning width: 10 -2024-02-20 18:27:08, INFO: Sparse search: None -2024-02-20 18:27:10, INFO: human number: 10 -2024-02-20 18:27:10, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:10, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:10, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:15, INFO: Using device: cpu -2024-02-20 18:27:15, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:15, INFO: Similarity_func: concatenation -2024-02-20 18:27:15, INFO: Layerwise_graph: False -2024-02-20 18:27:15, INFO: Skip_connection: True -2024-02-20 18:27:15, INFO: Number of layers: 1 -2024-02-20 18:27:15, INFO: Similarity_func: concatenation -2024-02-20 18:27:15, INFO: Layerwise_graph: False -2024-02-20 18:27:15, INFO: Skip_connection: True -2024-02-20 18:27:15, INFO: Number of layers: 1 -2024-02-20 18:27:15, INFO: Planning depth: 1 -2024-02-20 18:27:15, INFO: Planning width: 10 -2024-02-20 18:27:15, INFO: Sparse search: None -2024-02-20 18:27:18, INFO: human number: 10 -2024-02-20 18:27:18, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:18, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:18, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:25, INFO: Using device: cpu -2024-02-20 18:27:25, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:25, INFO: Similarity_func: concatenation -2024-02-20 18:27:25, INFO: Layerwise_graph: False -2024-02-20 18:27:25, INFO: Skip_connection: True -2024-02-20 18:27:25, INFO: Number of layers: 1 -2024-02-20 18:27:25, INFO: Similarity_func: concatenation -2024-02-20 18:27:25, INFO: Layerwise_graph: False -2024-02-20 18:27:25, INFO: Skip_connection: True -2024-02-20 18:27:25, INFO: Number of layers: 1 -2024-02-20 18:27:25, INFO: Planning depth: 1 -2024-02-20 18:27:25, INFO: Planning width: 10 -2024-02-20 18:27:25, INFO: Sparse search: None -2024-02-20 18:27:28, INFO: human number: 10 -2024-02-20 18:27:28, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:28, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:28, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:32, INFO: Using device: cpu -2024-02-20 18:27:32, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:32, INFO: Similarity_func: concatenation -2024-02-20 18:27:32, INFO: Layerwise_graph: False -2024-02-20 18:27:32, INFO: Skip_connection: True -2024-02-20 18:27:32, INFO: Number of layers: 1 -2024-02-20 18:27:32, INFO: Similarity_func: concatenation -2024-02-20 18:27:32, INFO: Layerwise_graph: False -2024-02-20 18:27:32, INFO: Skip_connection: True -2024-02-20 18:27:32, INFO: Number of layers: 1 -2024-02-20 18:27:32, INFO: Planning depth: 1 -2024-02-20 18:27:32, INFO: Planning width: 10 -2024-02-20 18:27:32, INFO: Sparse search: None -2024-02-20 18:27:35, INFO: human number: 10 -2024-02-20 18:27:35, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:35, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:35, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:40, INFO: Using device: cpu -2024-02-20 18:27:40, INFO: Loaded RL weights with best VAL -2024-02-20 18:27:40, INFO: Similarity_func: concatenation -2024-02-20 18:27:40, INFO: Layerwise_graph: False -2024-02-20 18:27:40, INFO: Skip_connection: True -2024-02-20 18:27:40, INFO: Number of layers: 1 -2024-02-20 18:27:40, INFO: Similarity_func: concatenation -2024-02-20 18:27:40, INFO: Layerwise_graph: False -2024-02-20 18:27:40, INFO: Skip_connection: True -2024-02-20 18:27:40, INFO: Number of layers: 1 -2024-02-20 18:27:40, INFO: Planning depth: 1 -2024-02-20 18:27:40, INFO: Planning width: 10 -2024-02-20 18:27:40, INFO: Sparse search: None -2024-02-20 18:27:43, INFO: human number: 10 -2024-02-20 18:27:43, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:27:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:27:43, INFO: Square width: 10, circle width: 4 -2024-02-20 18:27:43, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:27:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:27:45, INFO: Animation.save using -2024-02-20 18:28:21, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.870064 -2024-02-20 18:28:24, INFO: Using device: cpu -2024-02-20 18:28:24, INFO: Loaded RL weights with best VAL -2024-02-20 18:28:24, INFO: Similarity_func: concatenation -2024-02-20 18:28:24, INFO: Layerwise_graph: False -2024-02-20 18:28:24, INFO: Skip_connection: True -2024-02-20 18:28:24, INFO: Number of layers: 1 -2024-02-20 18:28:24, INFO: Similarity_func: concatenation -2024-02-20 18:28:24, INFO: Layerwise_graph: False -2024-02-20 18:28:24, INFO: Skip_connection: True -2024-02-20 18:28:24, INFO: Number of layers: 1 -2024-02-20 18:28:24, INFO: Planning depth: 1 -2024-02-20 18:28:24, INFO: Planning width: 10 -2024-02-20 18:28:24, INFO: Sparse search: None -2024-02-20 18:28:27, INFO: human number: 10 -2024-02-20 18:28:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:28:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:28:27, INFO: Square width: 10, circle width: 4 -2024-02-20 18:28:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:28:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:28:31, INFO: Using device: cpu -2024-02-20 18:28:31, INFO: Loaded RL weights with best VAL -2024-02-20 18:28:31, INFO: Similarity_func: concatenation -2024-02-20 18:28:31, INFO: Layerwise_graph: False -2024-02-20 18:28:31, INFO: Skip_connection: True -2024-02-20 18:28:31, INFO: Number of layers: 1 -2024-02-20 18:28:31, INFO: Similarity_func: concatenation -2024-02-20 18:28:31, INFO: Layerwise_graph: False -2024-02-20 18:28:31, INFO: Skip_connection: True -2024-02-20 18:28:31, INFO: Number of layers: 1 -2024-02-20 18:28:31, INFO: Planning depth: 1 -2024-02-20 18:28:31, INFO: Planning width: 10 -2024-02-20 18:28:31, INFO: Sparse search: None -2024-02-20 18:28:34, INFO: human number: 10 -2024-02-20 18:28:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:28:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:28:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:28:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:28:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:28:38, INFO: Using device: cpu -2024-02-20 18:28:38, INFO: Loaded RL weights with best VAL -2024-02-20 18:28:38, INFO: Similarity_func: concatenation -2024-02-20 18:28:38, INFO: Layerwise_graph: False -2024-02-20 18:28:38, INFO: Skip_connection: True -2024-02-20 18:28:38, INFO: Number of layers: 1 -2024-02-20 18:28:38, INFO: Similarity_func: concatenation -2024-02-20 18:28:38, INFO: Layerwise_graph: False -2024-02-20 18:28:38, INFO: Skip_connection: True -2024-02-20 18:28:38, INFO: Number of layers: 1 -2024-02-20 18:28:38, INFO: Planning depth: 1 -2024-02-20 18:28:38, INFO: Planning width: 10 -2024-02-20 18:28:38, INFO: Sparse search: None -2024-02-20 18:28:40, INFO: human number: 10 -2024-02-20 18:28:40, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:28:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:28:40, INFO: Square width: 10, circle width: 4 -2024-02-20 18:28:40, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:28:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:28:45, INFO: Using device: cpu -2024-02-20 18:28:45, INFO: Loaded RL weights with best VAL -2024-02-20 18:28:45, INFO: Similarity_func: concatenation -2024-02-20 18:28:45, INFO: Layerwise_graph: False -2024-02-20 18:28:45, INFO: Skip_connection: True -2024-02-20 18:28:45, INFO: Number of layers: 1 -2024-02-20 18:28:45, INFO: Similarity_func: concatenation -2024-02-20 18:28:45, INFO: Layerwise_graph: False -2024-02-20 18:28:45, INFO: Skip_connection: True -2024-02-20 18:28:45, INFO: Number of layers: 1 -2024-02-20 18:28:45, INFO: Planning depth: 1 -2024-02-20 18:28:45, INFO: Planning width: 10 -2024-02-20 18:28:45, INFO: Sparse search: None -2024-02-20 18:28:48, INFO: human number: 10 -2024-02-20 18:28:48, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:28:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:28:48, INFO: Square width: 10, circle width: 4 -2024-02-20 18:28:48, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:28:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:28:50, INFO: Animation.save using -2024-02-20 18:29:30, INFO: It takes 12.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.886299 -2024-02-20 18:29:33, INFO: Using device: cpu -2024-02-20 18:29:33, INFO: Loaded RL weights with best VAL -2024-02-20 18:29:33, INFO: Similarity_func: concatenation -2024-02-20 18:29:33, INFO: Layerwise_graph: False -2024-02-20 18:29:33, INFO: Skip_connection: True -2024-02-20 18:29:33, INFO: Number of layers: 1 -2024-02-20 18:29:33, INFO: Similarity_func: concatenation -2024-02-20 18:29:33, INFO: Layerwise_graph: False -2024-02-20 18:29:33, INFO: Skip_connection: True -2024-02-20 18:29:33, INFO: Number of layers: 1 -2024-02-20 18:29:33, INFO: Planning depth: 1 -2024-02-20 18:29:33, INFO: Planning width: 10 -2024-02-20 18:29:33, INFO: Sparse search: None -2024-02-20 18:29:36, INFO: human number: 10 -2024-02-20 18:29:36, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:29:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:29:36, INFO: Square width: 10, circle width: 4 -2024-02-20 18:29:36, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:29:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:29:38, INFO: Animation.save using -2024-02-20 18:30:21, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.717048 -2024-02-20 18:30:24, INFO: Using device: cpu -2024-02-20 18:30:24, INFO: Loaded RL weights with best VAL -2024-02-20 18:30:24, INFO: Similarity_func: concatenation -2024-02-20 18:30:24, INFO: Layerwise_graph: False -2024-02-20 18:30:24, INFO: Skip_connection: True -2024-02-20 18:30:24, INFO: Number of layers: 1 -2024-02-20 18:30:24, INFO: Similarity_func: concatenation -2024-02-20 18:30:24, INFO: Layerwise_graph: False -2024-02-20 18:30:24, INFO: Skip_connection: True -2024-02-20 18:30:24, INFO: Number of layers: 1 -2024-02-20 18:30:24, INFO: Planning depth: 1 -2024-02-20 18:30:24, INFO: Planning width: 10 -2024-02-20 18:30:24, INFO: Sparse search: None -2024-02-20 18:30:27, INFO: human number: 10 -2024-02-20 18:30:27, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:30:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:30:27, INFO: Square width: 10, circle width: 4 -2024-02-20 18:30:27, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:30:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:30:32, INFO: Using device: cpu -2024-02-20 18:30:32, INFO: Loaded RL weights with best VAL -2024-02-20 18:30:32, INFO: Similarity_func: concatenation -2024-02-20 18:30:32, INFO: Layerwise_graph: False -2024-02-20 18:30:32, INFO: Skip_connection: True -2024-02-20 18:30:32, INFO: Number of layers: 1 -2024-02-20 18:30:32, INFO: Similarity_func: concatenation -2024-02-20 18:30:32, INFO: Layerwise_graph: False -2024-02-20 18:30:32, INFO: Skip_connection: True -2024-02-20 18:30:32, INFO: Number of layers: 1 -2024-02-20 18:30:32, INFO: Planning depth: 1 -2024-02-20 18:30:32, INFO: Planning width: 10 -2024-02-20 18:30:32, INFO: Sparse search: None -2024-02-20 18:30:34, INFO: human number: 10 -2024-02-20 18:30:34, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:30:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:30:34, INFO: Square width: 10, circle width: 4 -2024-02-20 18:30:34, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:30:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-20 18:30:39, INFO: Using device: cpu -2024-02-20 18:30:39, INFO: Loaded RL weights with best VAL -2024-02-20 18:30:39, INFO: Similarity_func: concatenation -2024-02-20 18:30:39, INFO: Layerwise_graph: False -2024-02-20 18:30:39, INFO: Skip_connection: True -2024-02-20 18:30:39, INFO: Number of layers: 1 -2024-02-20 18:30:39, INFO: Similarity_func: concatenation -2024-02-20 18:30:39, INFO: Layerwise_graph: False -2024-02-20 18:30:39, INFO: Skip_connection: True -2024-02-20 18:30:39, INFO: Number of layers: 1 -2024-02-20 18:30:39, INFO: Planning depth: 1 -2024-02-20 18:30:39, INFO: Planning width: 10 -2024-02-20 18:30:39, INFO: Sparse search: None -2024-02-20 18:30:41, INFO: human number: 10 -2024-02-20 18:30:41, INFO: Not randomize human's radius and preferred speed -2024-02-20 18:30:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-20 18:30:41, INFO: Square width: 10, circle width: 4 -2024-02-20 18:30:41, INFO: rotation constraint: 3.141592653589793 -2024-02-20 18:30:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 10:48:28, INFO: Using device: cpu -2024-02-21 10:48:28, INFO: Loaded RL weights with best VAL -2024-02-21 10:48:29, INFO: Similarity_func: concatenation -2024-02-21 10:48:29, INFO: Layerwise_graph: False -2024-02-21 10:48:29, INFO: Skip_connection: True -2024-02-21 10:48:29, INFO: Number of layers: 1 -2024-02-21 10:48:29, INFO: Similarity_func: concatenation -2024-02-21 10:48:29, INFO: Layerwise_graph: False -2024-02-21 10:48:29, INFO: Skip_connection: True -2024-02-21 10:48:29, INFO: Number of layers: 1 -2024-02-21 10:48:29, INFO: Planning depth: 1 -2024-02-21 10:48:29, INFO: Planning width: 10 -2024-02-21 10:48:29, INFO: Sparse search: None -2024-02-21 10:51:25, INFO: Using device: cpu -2024-02-21 10:51:25, INFO: Loaded RL weights with best VAL -2024-02-21 10:51:26, INFO: Similarity_func: concatenation -2024-02-21 10:51:26, INFO: Layerwise_graph: False -2024-02-21 10:51:26, INFO: Skip_connection: True -2024-02-21 10:51:26, INFO: Number of layers: 1 -2024-02-21 10:51:26, INFO: Similarity_func: concatenation -2024-02-21 10:51:26, INFO: Layerwise_graph: False -2024-02-21 10:51:26, INFO: Skip_connection: True -2024-02-21 10:51:26, INFO: Number of layers: 1 -2024-02-21 10:51:26, INFO: Planning depth: 1 -2024-02-21 10:51:26, INFO: Planning width: 10 -2024-02-21 10:51:26, INFO: Sparse search: None -2024-02-21 10:53:19, INFO: Using device: cpu -2024-02-21 10:53:19, INFO: Loaded RL weights with best VAL -2024-02-21 10:53:19, INFO: Similarity_func: concatenation -2024-02-21 10:53:19, INFO: Layerwise_graph: False -2024-02-21 10:53:19, INFO: Skip_connection: True -2024-02-21 10:53:19, INFO: Number of layers: 1 -2024-02-21 10:53:19, INFO: Similarity_func: concatenation -2024-02-21 10:53:19, INFO: Layerwise_graph: False -2024-02-21 10:53:19, INFO: Skip_connection: True -2024-02-21 10:53:19, INFO: Number of layers: 1 -2024-02-21 10:53:19, INFO: Planning depth: 1 -2024-02-21 10:53:19, INFO: Planning width: 10 -2024-02-21 10:53:19, INFO: Sparse search: None -2024-02-21 10:54:15, INFO: human number: 10 -2024-02-21 10:54:15, INFO: Not randomize human's radius and preferred speed -2024-02-21 10:54:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 10:54:15, INFO: Square width: 10, circle width: 4 -2024-02-21 10:54:15, INFO: rotation constraint: 3.141592653589793 -2024-02-21 10:54:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 10:56:01, INFO: Using device: cpu -2024-02-21 10:56:01, INFO: Loaded RL weights with best VAL -2024-02-21 10:56:02, INFO: Similarity_func: concatenation -2024-02-21 10:56:02, INFO: Layerwise_graph: False -2024-02-21 10:56:02, INFO: Skip_connection: True -2024-02-21 10:56:02, INFO: Number of layers: 1 -2024-02-21 10:56:02, INFO: Similarity_func: concatenation -2024-02-21 10:56:02, INFO: Layerwise_graph: False -2024-02-21 10:56:02, INFO: Skip_connection: True -2024-02-21 10:56:02, INFO: Number of layers: 1 -2024-02-21 10:56:02, INFO: Planning depth: 1 -2024-02-21 10:56:02, INFO: Planning width: 10 -2024-02-21 10:56:02, INFO: Sparse search: None -2024-02-21 10:56:53, INFO: Using device: cpu -2024-02-21 10:56:53, INFO: Loaded RL weights with best VAL -2024-02-21 10:56:53, INFO: Similarity_func: concatenation -2024-02-21 10:56:53, INFO: Layerwise_graph: False -2024-02-21 10:56:53, INFO: Skip_connection: True -2024-02-21 10:56:53, INFO: Number of layers: 1 -2024-02-21 10:56:53, INFO: Similarity_func: concatenation -2024-02-21 10:56:53, INFO: Layerwise_graph: False -2024-02-21 10:56:53, INFO: Skip_connection: True -2024-02-21 10:56:53, INFO: Number of layers: 1 -2024-02-21 10:56:53, INFO: Planning depth: 1 -2024-02-21 10:56:53, INFO: Planning width: 10 -2024-02-21 10:56:53, INFO: Sparse search: None -2024-02-21 10:56:56, INFO: human number: 10 -2024-02-21 10:56:56, INFO: Not randomize human's radius and preferred speed -2024-02-21 10:56:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 10:56:56, INFO: Square width: 10, circle width: 4 -2024-02-21 10:56:56, INFO: rotation constraint: 3.141592653589793 -2024-02-21 10:56:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 10:57:44, INFO: Using device: cpu -2024-02-21 10:57:44, INFO: Loaded RL weights with best VAL -2024-02-21 10:57:44, INFO: Similarity_func: concatenation -2024-02-21 10:57:44, INFO: Layerwise_graph: False -2024-02-21 10:57:44, INFO: Skip_connection: True -2024-02-21 10:57:44, INFO: Number of layers: 1 -2024-02-21 10:57:44, INFO: Similarity_func: concatenation -2024-02-21 10:57:44, INFO: Layerwise_graph: False -2024-02-21 10:57:44, INFO: Skip_connection: True -2024-02-21 10:57:44, INFO: Number of layers: 1 -2024-02-21 10:57:44, INFO: Planning depth: 1 -2024-02-21 10:57:44, INFO: Planning width: 10 -2024-02-21 10:57:44, INFO: Sparse search: None -2024-02-21 10:57:47, INFO: human number: 10 -2024-02-21 10:57:47, INFO: Not randomize human's radius and preferred speed -2024-02-21 10:57:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 10:57:47, INFO: Square width: 10, circle width: 4 -2024-02-21 10:57:47, INFO: rotation constraint: 3.141592653589793 -2024-02-21 10:57:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 10:57:54, INFO: Animation.save using -2024-02-21 10:58:38, INFO: human number: 10 -2024-02-21 10:58:38, INFO: Not randomize human's radius and preferred speed -2024-02-21 10:58:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 10:58:38, INFO: Square width: 10, circle width: 4 -2024-02-21 10:58:38, INFO: rotation constraint: 3.141592653589793 -2024-02-21 10:58:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:29:54, INFO: Using device: cpu -2024-02-21 11:29:54, INFO: Loaded RL weights with best VAL -2024-02-21 11:29:54, INFO: Similarity_func: concatenation -2024-02-21 11:29:54, INFO: Layerwise_graph: False -2024-02-21 11:29:54, INFO: Skip_connection: True -2024-02-21 11:29:54, INFO: Number of layers: 1 -2024-02-21 11:29:54, INFO: Similarity_func: concatenation -2024-02-21 11:29:54, INFO: Layerwise_graph: False -2024-02-21 11:29:54, INFO: Skip_connection: True -2024-02-21 11:29:54, INFO: Number of layers: 1 -2024-02-21 11:29:54, INFO: Planning depth: 1 -2024-02-21 11:29:54, INFO: Planning width: 10 -2024-02-21 11:29:54, INFO: Sparse search: None -2024-02-21 11:29:58, INFO: human number: 10 -2024-02-21 11:29:58, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:29:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:29:58, INFO: Square width: 10, circle width: 4 -2024-02-21 11:29:58, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:29:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:30:04, INFO: Animation.save using -2024-02-21 11:30:40, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 11:50:27, INFO: Using device: cpu -2024-02-21 11:50:27, INFO: Loaded RL weights with best VAL -2024-02-21 11:50:27, INFO: Similarity_func: concatenation -2024-02-21 11:50:27, INFO: Layerwise_graph: False -2024-02-21 11:50:27, INFO: Skip_connection: True -2024-02-21 11:50:27, INFO: Number of layers: 1 -2024-02-21 11:50:27, INFO: Similarity_func: concatenation -2024-02-21 11:50:27, INFO: Layerwise_graph: False -2024-02-21 11:50:27, INFO: Skip_connection: True -2024-02-21 11:50:27, INFO: Number of layers: 1 -2024-02-21 11:50:27, INFO: Planning depth: 1 -2024-02-21 11:50:27, INFO: Planning width: 10 -2024-02-21 11:50:27, INFO: Sparse search: None -2024-02-21 11:50:30, INFO: human number: 10 -2024-02-21 11:50:30, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:50:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:50:30, INFO: Square width: 10, circle width: 4 -2024-02-21 11:50:30, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:50:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:50:36, INFO: Animation.save using -2024-02-21 11:51:10, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 11:52:13, INFO: Using device: cpu -2024-02-21 11:52:13, INFO: Loaded RL weights with best VAL -2024-02-21 11:52:13, INFO: Similarity_func: concatenation -2024-02-21 11:52:13, INFO: Layerwise_graph: False -2024-02-21 11:52:13, INFO: Skip_connection: True -2024-02-21 11:52:13, INFO: Number of layers: 1 -2024-02-21 11:52:13, INFO: Similarity_func: concatenation -2024-02-21 11:52:13, INFO: Layerwise_graph: False -2024-02-21 11:52:13, INFO: Skip_connection: True -2024-02-21 11:52:13, INFO: Number of layers: 1 -2024-02-21 11:52:13, INFO: Planning depth: 1 -2024-02-21 11:52:13, INFO: Planning width: 10 -2024-02-21 11:52:13, INFO: Sparse search: None -2024-02-21 11:52:16, INFO: human number: 10 -2024-02-21 11:52:16, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:52:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:52:16, INFO: Square width: 10, circle width: 4 -2024-02-21 11:52:16, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:52:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:52:19, INFO: Animation.save using -2024-02-21 11:52:56, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 11:54:02, INFO: Using device: cpu -2024-02-21 11:54:02, INFO: Loaded RL weights with best VAL -2024-02-21 11:54:02, INFO: Similarity_func: concatenation -2024-02-21 11:54:02, INFO: Layerwise_graph: False -2024-02-21 11:54:02, INFO: Skip_connection: True -2024-02-21 11:54:02, INFO: Number of layers: 1 -2024-02-21 11:54:02, INFO: Similarity_func: concatenation -2024-02-21 11:54:02, INFO: Layerwise_graph: False -2024-02-21 11:54:02, INFO: Skip_connection: True -2024-02-21 11:54:02, INFO: Number of layers: 1 -2024-02-21 11:54:02, INFO: Planning depth: 1 -2024-02-21 11:54:02, INFO: Planning width: 10 -2024-02-21 11:54:02, INFO: Sparse search: None -2024-02-21 11:54:05, INFO: human number: 10 -2024-02-21 11:54:05, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:54:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:54:05, INFO: Square width: 10, circle width: 4 -2024-02-21 11:54:05, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:54:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:54:56, INFO: Using device: cpu -2024-02-21 11:54:56, INFO: Loaded RL weights with best VAL -2024-02-21 11:54:56, INFO: Similarity_func: concatenation -2024-02-21 11:54:56, INFO: Layerwise_graph: False -2024-02-21 11:54:56, INFO: Skip_connection: True -2024-02-21 11:54:56, INFO: Number of layers: 1 -2024-02-21 11:54:56, INFO: Similarity_func: concatenation -2024-02-21 11:54:56, INFO: Layerwise_graph: False -2024-02-21 11:54:56, INFO: Skip_connection: True -2024-02-21 11:54:56, INFO: Number of layers: 1 -2024-02-21 11:54:56, INFO: Planning depth: 1 -2024-02-21 11:54:56, INFO: Planning width: 10 -2024-02-21 11:54:56, INFO: Sparse search: None -2024-02-21 11:54:59, INFO: human number: 10 -2024-02-21 11:54:59, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:54:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:54:59, INFO: Square width: 10, circle width: 4 -2024-02-21 11:54:59, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:54:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:55:01, INFO: Animation.save using -2024-02-21 11:55:36, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 11:56:36, INFO: Using device: cpu -2024-02-21 11:56:36, INFO: Loaded RL weights with best VAL -2024-02-21 11:56:36, INFO: Similarity_func: concatenation -2024-02-21 11:56:36, INFO: Layerwise_graph: False -2024-02-21 11:56:36, INFO: Skip_connection: True -2024-02-21 11:56:36, INFO: Number of layers: 1 -2024-02-21 11:56:36, INFO: Similarity_func: concatenation -2024-02-21 11:56:36, INFO: Layerwise_graph: False -2024-02-21 11:56:36, INFO: Skip_connection: True -2024-02-21 11:56:36, INFO: Number of layers: 1 -2024-02-21 11:56:36, INFO: Planning depth: 1 -2024-02-21 11:56:36, INFO: Planning width: 10 -2024-02-21 11:56:36, INFO: Sparse search: None -2024-02-21 11:56:39, INFO: human number: 10 -2024-02-21 11:56:39, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:56:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:56:39, INFO: Square width: 10, circle width: 4 -2024-02-21 11:56:39, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:56:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:57:49, INFO: Using device: cpu -2024-02-21 11:57:49, INFO: Loaded RL weights with best VAL -2024-02-21 11:57:49, INFO: Similarity_func: concatenation -2024-02-21 11:57:49, INFO: Layerwise_graph: False -2024-02-21 11:57:49, INFO: Skip_connection: True -2024-02-21 11:57:49, INFO: Number of layers: 1 -2024-02-21 11:57:49, INFO: Similarity_func: concatenation -2024-02-21 11:57:49, INFO: Layerwise_graph: False -2024-02-21 11:57:49, INFO: Skip_connection: True -2024-02-21 11:57:49, INFO: Number of layers: 1 -2024-02-21 11:57:49, INFO: Planning depth: 1 -2024-02-21 11:57:49, INFO: Planning width: 10 -2024-02-21 11:57:49, INFO: Sparse search: None -2024-02-21 11:57:52, INFO: human number: 10 -2024-02-21 11:57:52, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:57:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:57:52, INFO: Square width: 10, circle width: 4 -2024-02-21 11:57:52, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:57:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:58:14, INFO: Animation.save using -2024-02-21 11:58:48, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 11:59:07, INFO: Using device: cpu -2024-02-21 11:59:07, INFO: Loaded RL weights with best VAL -2024-02-21 11:59:07, INFO: Similarity_func: concatenation -2024-02-21 11:59:07, INFO: Layerwise_graph: False -2024-02-21 11:59:07, INFO: Skip_connection: True -2024-02-21 11:59:07, INFO: Number of layers: 1 -2024-02-21 11:59:07, INFO: Similarity_func: concatenation -2024-02-21 11:59:07, INFO: Layerwise_graph: False -2024-02-21 11:59:07, INFO: Skip_connection: True -2024-02-21 11:59:07, INFO: Number of layers: 1 -2024-02-21 11:59:07, INFO: Planning depth: 1 -2024-02-21 11:59:07, INFO: Planning width: 10 -2024-02-21 11:59:07, INFO: Sparse search: None -2024-02-21 11:59:10, INFO: human number: 10 -2024-02-21 11:59:10, INFO: Not randomize human's radius and preferred speed -2024-02-21 11:59:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 11:59:10, INFO: Square width: 10, circle width: 4 -2024-02-21 11:59:10, INFO: rotation constraint: 3.141592653589793 -2024-02-21 11:59:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 11:59:24, INFO: Animation.save using -2024-02-21 11:59:58, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 12:00:26, INFO: Using device: cpu -2024-02-21 12:00:26, INFO: Loaded RL weights with best VAL -2024-02-21 12:00:26, INFO: Similarity_func: concatenation -2024-02-21 12:00:26, INFO: Layerwise_graph: False -2024-02-21 12:00:26, INFO: Skip_connection: True -2024-02-21 12:00:26, INFO: Number of layers: 1 -2024-02-21 12:00:26, INFO: Similarity_func: concatenation -2024-02-21 12:00:26, INFO: Layerwise_graph: False -2024-02-21 12:00:26, INFO: Skip_connection: True -2024-02-21 12:00:26, INFO: Number of layers: 1 -2024-02-21 12:00:26, INFO: Planning depth: 1 -2024-02-21 12:00:26, INFO: Planning width: 10 -2024-02-21 12:00:26, INFO: Sparse search: None -2024-02-21 12:00:29, INFO: human number: 10 -2024-02-21 12:00:29, INFO: Not randomize human's radius and preferred speed -2024-02-21 12:00:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 12:00:29, INFO: Square width: 10, circle width: 4 -2024-02-21 12:00:29, INFO: rotation constraint: 3.141592653589793 -2024-02-21 12:00:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 12:00:41, INFO: Animation.save using -2024-02-21 12:01:18, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-21 12:02:15, INFO: Using device: cpu -2024-02-21 12:02:15, INFO: Loaded RL weights with best VAL -2024-02-21 12:02:15, INFO: Similarity_func: concatenation -2024-02-21 12:02:15, INFO: Layerwise_graph: False -2024-02-21 12:02:15, INFO: Skip_connection: True -2024-02-21 12:02:15, INFO: Number of layers: 1 -2024-02-21 12:02:15, INFO: Similarity_func: concatenation -2024-02-21 12:02:15, INFO: Layerwise_graph: False -2024-02-21 12:02:15, INFO: Skip_connection: True -2024-02-21 12:02:15, INFO: Number of layers: 1 -2024-02-21 12:02:15, INFO: Planning depth: 1 -2024-02-21 12:02:15, INFO: Planning width: 10 -2024-02-21 12:02:15, INFO: Sparse search: None -2024-02-21 12:02:18, INFO: human number: 10 -2024-02-21 12:02:18, INFO: Not randomize human's radius and preferred speed -2024-02-21 12:02:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 12:02:18, INFO: Square width: 10, circle width: 4 -2024-02-21 12:02:18, INFO: rotation constraint: 3.141592653589793 -2024-02-21 12:02:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 12:02:21, INFO: Animation.save using -2024-02-21 12:03:04, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-21 12:03:42, INFO: Using device: cpu -2024-02-21 12:03:42, INFO: Loaded RL weights with best VAL -2024-02-21 12:03:42, INFO: Similarity_func: concatenation -2024-02-21 12:03:42, INFO: Layerwise_graph: False -2024-02-21 12:03:42, INFO: Skip_connection: True -2024-02-21 12:03:42, INFO: Number of layers: 1 -2024-02-21 12:03:42, INFO: Similarity_func: concatenation -2024-02-21 12:03:42, INFO: Layerwise_graph: False -2024-02-21 12:03:42, INFO: Skip_connection: True -2024-02-21 12:03:42, INFO: Number of layers: 1 -2024-02-21 12:03:42, INFO: Planning depth: 1 -2024-02-21 12:03:42, INFO: Planning width: 10 -2024-02-21 12:03:42, INFO: Sparse search: None -2024-02-21 12:03:45, INFO: human number: 10 -2024-02-21 12:03:45, INFO: Not randomize human's radius and preferred speed -2024-02-21 12:03:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 12:03:45, INFO: Square width: 10, circle width: 4 -2024-02-21 12:03:45, INFO: rotation constraint: 3.141592653589793 -2024-02-21 12:03:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 12:04:04, INFO: Animation.save using -2024-02-21 12:04:48, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-21 12:04:58, INFO: Using device: cpu -2024-02-21 12:04:58, INFO: Loaded RL weights with best VAL -2024-02-21 12:04:58, INFO: Similarity_func: concatenation -2024-02-21 12:04:58, INFO: Layerwise_graph: False -2024-02-21 12:04:58, INFO: Skip_connection: True -2024-02-21 12:04:58, INFO: Number of layers: 1 -2024-02-21 12:04:58, INFO: Similarity_func: concatenation -2024-02-21 12:04:58, INFO: Layerwise_graph: False -2024-02-21 12:04:58, INFO: Skip_connection: True -2024-02-21 12:04:58, INFO: Number of layers: 1 -2024-02-21 12:04:58, INFO: Planning depth: 1 -2024-02-21 12:04:58, INFO: Planning width: 10 -2024-02-21 12:04:58, INFO: Sparse search: None -2024-02-21 12:05:01, INFO: human number: 10 -2024-02-21 12:05:01, INFO: Not randomize human's radius and preferred speed -2024-02-21 12:05:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 12:05:01, INFO: Square width: 10, circle width: 4 -2024-02-21 12:05:01, INFO: rotation constraint: 3.141592653589793 -2024-02-21 12:05:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 12:05:04, INFO: Animation.save using -2024-02-21 12:05:25, INFO: Using device: cpu -2024-02-21 12:05:25, INFO: Loaded RL weights with best VAL -2024-02-21 12:05:25, INFO: Similarity_func: concatenation -2024-02-21 12:05:25, INFO: Layerwise_graph: False -2024-02-21 12:05:25, INFO: Skip_connection: True -2024-02-21 12:05:25, INFO: Number of layers: 1 -2024-02-21 12:05:25, INFO: Similarity_func: concatenation -2024-02-21 12:05:25, INFO: Layerwise_graph: False -2024-02-21 12:05:25, INFO: Skip_connection: True -2024-02-21 12:05:25, INFO: Number of layers: 1 -2024-02-21 12:05:25, INFO: Planning depth: 1 -2024-02-21 12:05:25, INFO: Planning width: 10 -2024-02-21 12:05:25, INFO: Sparse search: None -2024-02-21 12:05:28, INFO: human number: 10 -2024-02-21 12:05:28, INFO: Not randomize human's radius and preferred speed -2024-02-21 12:05:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 12:05:28, INFO: Square width: 10, circle width: 4 -2024-02-21 12:05:28, INFO: rotation constraint: 3.141592653589793 -2024-02-21 12:05:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 12:05:30, INFO: Animation.save using -2024-02-21 12:05:54, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-21 14:14:52, INFO: Using device: cpu -2024-02-21 14:14:52, INFO: Loaded RL weights with best VAL -2024-02-21 14:14:53, INFO: Similarity_func: concatenation -2024-02-21 14:14:53, INFO: Layerwise_graph: False -2024-02-21 14:14:53, INFO: Skip_connection: True -2024-02-21 14:14:53, INFO: Number of layers: 1 -2024-02-21 14:14:53, INFO: Similarity_func: concatenation -2024-02-21 14:14:53, INFO: Layerwise_graph: False -2024-02-21 14:14:53, INFO: Skip_connection: True -2024-02-21 14:14:53, INFO: Number of layers: 1 -2024-02-21 14:14:53, INFO: Planning depth: 1 -2024-02-21 14:14:53, INFO: Planning width: 10 -2024-02-21 14:14:53, INFO: Sparse search: None -2024-02-21 14:17:19, INFO: Using device: cpu -2024-02-21 14:17:19, INFO: Loaded RL weights with best VAL -2024-02-21 14:17:19, INFO: Similarity_func: concatenation -2024-02-21 14:17:19, INFO: Layerwise_graph: False -2024-02-21 14:17:19, INFO: Skip_connection: True -2024-02-21 14:17:19, INFO: Number of layers: 1 -2024-02-21 14:17:19, INFO: Similarity_func: concatenation -2024-02-21 14:17:19, INFO: Layerwise_graph: False -2024-02-21 14:17:19, INFO: Skip_connection: True -2024-02-21 14:17:19, INFO: Number of layers: 1 -2024-02-21 14:17:19, INFO: Planning depth: 1 -2024-02-21 14:17:19, INFO: Planning width: 10 -2024-02-21 14:17:19, INFO: Sparse search: None -2024-02-21 14:17:22, INFO: human number: 10 -2024-02-21 14:17:22, INFO: Not randomize human's radius and preferred speed -2024-02-21 14:17:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 14:17:22, INFO: Square width: 10, circle width: 4 -2024-02-21 14:17:22, INFO: rotation constraint: 3.141592653589793 -2024-02-21 14:17:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 14:20:31, INFO: Using device: cpu -2024-02-21 14:20:31, INFO: Loaded RL weights with best VAL -2024-02-21 14:20:31, INFO: Similarity_func: concatenation -2024-02-21 14:20:31, INFO: Layerwise_graph: False -2024-02-21 14:20:31, INFO: Skip_connection: True -2024-02-21 14:20:31, INFO: Number of layers: 1 -2024-02-21 14:20:31, INFO: Similarity_func: concatenation -2024-02-21 14:20:31, INFO: Layerwise_graph: False -2024-02-21 14:20:31, INFO: Skip_connection: True -2024-02-21 14:20:31, INFO: Number of layers: 1 -2024-02-21 14:20:31, INFO: Planning depth: 1 -2024-02-21 14:20:31, INFO: Planning width: 10 -2024-02-21 14:20:31, INFO: Sparse search: None -2024-02-21 14:20:34, INFO: human number: 10 -2024-02-21 14:20:34, INFO: Not randomize human's radius and preferred speed -2024-02-21 14:20:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 14:20:34, INFO: Square width: 10, circle width: 4 -2024-02-21 14:20:34, INFO: rotation constraint: 3.141592653589793 -2024-02-21 14:20:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-21 14:21:23, INFO: Using device: cpu -2024-02-21 14:21:23, INFO: Loaded RL weights with best VAL -2024-02-21 14:21:23, INFO: Similarity_func: concatenation -2024-02-21 14:21:23, INFO: Layerwise_graph: False -2024-02-21 14:21:23, INFO: Skip_connection: True -2024-02-21 14:21:23, INFO: Number of layers: 1 -2024-02-21 14:21:23, INFO: Similarity_func: concatenation -2024-02-21 14:21:23, INFO: Layerwise_graph: False -2024-02-21 14:21:23, INFO: Skip_connection: True -2024-02-21 14:21:23, INFO: Number of layers: 1 -2024-02-21 14:21:23, INFO: Planning depth: 1 -2024-02-21 14:21:23, INFO: Planning width: 10 -2024-02-21 14:21:23, INFO: Sparse search: None -2024-02-21 14:21:26, INFO: human number: 10 -2024-02-21 14:21:26, INFO: Not randomize human's radius and preferred speed -2024-02-21 14:21:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-21 14:21:26, INFO: Square width: 10, circle width: 4 -2024-02-21 14:21:26, INFO: rotation constraint: 3.141592653589793 -2024-02-21 14:21:26, INFO: Agent is invisible and has unicycle kinematic constraint -<<<<<<< HEAD -2024-02-22 15:26:59, INFO: Using device: cpu -2024-02-22 15:26:59, INFO: Loaded RL weights with best VAL -2024-02-22 15:26:59, INFO: Similarity_func: concatenation -2024-02-22 15:26:59, INFO: Layerwise_graph: False -2024-02-22 15:26:59, INFO: Skip_connection: True -2024-02-22 15:26:59, INFO: Number of layers: 1 -2024-02-22 15:26:59, INFO: Similarity_func: concatenation -2024-02-22 15:26:59, INFO: Layerwise_graph: False -2024-02-22 15:26:59, INFO: Skip_connection: True -2024-02-22 15:26:59, INFO: Number of layers: 1 -2024-02-22 15:26:59, INFO: Planning depth: 1 -2024-02-22 15:26:59, INFO: Planning width: 10 -2024-02-22 15:26:59, INFO: Sparse search: None -2024-02-27 15:33:53, INFO: Using device: cpu -2024-02-27 15:33:53, INFO: Loaded RL weights with best VAL -2024-02-27 15:33:54, INFO: Similarity_func: concatenation -2024-02-27 15:33:54, INFO: Layerwise_graph: False -2024-02-27 15:33:54, INFO: Skip_connection: True -2024-02-27 15:33:54, INFO: Number of layers: 1 -2024-02-27 15:33:54, INFO: Similarity_func: concatenation -2024-02-27 15:33:54, INFO: Layerwise_graph: False -2024-02-27 15:33:54, INFO: Skip_connection: True -2024-02-27 15:33:54, INFO: Number of layers: 1 -2024-02-27 15:33:54, INFO: Planning depth: 1 -2024-02-27 15:33:54, INFO: Planning width: 10 -2024-02-27 15:33:54, INFO: Sparse search: None -======= -2024-02-22 15:57:54, INFO: Using device: cpu -2024-02-22 15:57:54, INFO: Loaded RL weights with best VAL -2024-02-22 15:57:54, INFO: Similarity_func: concatenation -2024-02-22 15:57:54, INFO: Layerwise_graph: False -2024-02-22 15:57:54, INFO: Skip_connection: True -2024-02-22 15:57:54, INFO: Number of layers: 1 -2024-02-22 15:57:54, INFO: Similarity_func: concatenation -2024-02-22 15:57:54, INFO: Layerwise_graph: False -2024-02-22 15:57:54, INFO: Skip_connection: True -2024-02-22 15:57:54, INFO: Number of layers: 1 -2024-02-22 15:57:54, INFO: Planning depth: 1 -2024-02-22 15:57:54, INFO: Planning width: 10 -2024-02-22 15:57:54, INFO: Sparse search: None -2024-02-22 15:58:09, INFO: human number: 10 -2024-02-22 15:58:09, INFO: Not randomize human's radius and preferred speed -2024-02-22 15:58:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 15:58:09, INFO: Square width: 10, circle width: 4 -2024-02-22 15:58:09, INFO: rotation constraint: 3.141592653589793 -2024-02-22 15:58:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 15:58:37, INFO: Using device: cpu -2024-02-22 15:58:37, INFO: Loaded RL weights with best VAL -2024-02-22 15:58:37, INFO: Similarity_func: concatenation -2024-02-22 15:58:37, INFO: Layerwise_graph: False -2024-02-22 15:58:37, INFO: Skip_connection: True -2024-02-22 15:58:37, INFO: Number of layers: 1 -2024-02-22 15:58:37, INFO: Similarity_func: concatenation -2024-02-22 15:58:37, INFO: Layerwise_graph: False -2024-02-22 15:58:37, INFO: Skip_connection: True -2024-02-22 15:58:37, INFO: Number of layers: 1 -2024-02-22 15:58:37, INFO: Planning depth: 1 -2024-02-22 15:58:37, INFO: Planning width: 10 -2024-02-22 15:58:37, INFO: Sparse search: None -2024-02-22 15:58:40, INFO: human number: 10 -2024-02-22 15:58:40, INFO: Not randomize human's radius and preferred speed -2024-02-22 15:58:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 15:58:40, INFO: Square width: 10, circle width: 4 -2024-02-22 15:58:40, INFO: rotation constraint: 3.141592653589793 -2024-02-22 15:58:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 15:59:11, INFO: Using device: cpu -2024-02-22 15:59:11, INFO: Loaded RL weights with best VAL -2024-02-22 15:59:11, INFO: Similarity_func: concatenation -2024-02-22 15:59:11, INFO: Layerwise_graph: False -2024-02-22 15:59:11, INFO: Skip_connection: True -2024-02-22 15:59:11, INFO: Number of layers: 1 -2024-02-22 15:59:11, INFO: Similarity_func: concatenation -2024-02-22 15:59:11, INFO: Layerwise_graph: False -2024-02-22 15:59:11, INFO: Skip_connection: True -2024-02-22 15:59:11, INFO: Number of layers: 1 -2024-02-22 15:59:11, INFO: Planning depth: 1 -2024-02-22 15:59:11, INFO: Planning width: 10 -2024-02-22 15:59:11, INFO: Sparse search: None -2024-02-22 15:59:14, INFO: human number: 10 -2024-02-22 15:59:14, INFO: Not randomize human's radius and preferred speed -2024-02-22 15:59:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 15:59:14, INFO: Square width: 10, circle width: 4 -2024-02-22 15:59:14, INFO: rotation constraint: 3.141592653589793 -2024-02-22 15:59:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 15:59:17, INFO: Animation.save using -2024-02-22 16:00:08, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:00:08, INFO: Using device: cpu -2024-02-22 16:00:08, INFO: Loaded RL weights with best VAL -2024-02-22 16:00:08, INFO: Similarity_func: concatenation -2024-02-22 16:00:08, INFO: Layerwise_graph: False -2024-02-22 16:00:08, INFO: Skip_connection: True -2024-02-22 16:00:08, INFO: Number of layers: 1 -2024-02-22 16:00:08, INFO: Similarity_func: concatenation -2024-02-22 16:00:08, INFO: Layerwise_graph: False -2024-02-22 16:00:08, INFO: Skip_connection: True -2024-02-22 16:00:08, INFO: Number of layers: 1 -2024-02-22 16:00:08, INFO: Planning depth: 1 -2024-02-22 16:00:08, INFO: Planning width: 10 -2024-02-22 16:00:08, INFO: Sparse search: None -2024-02-22 16:00:08, INFO: human number: 10 -2024-02-22 16:00:08, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:00:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:00:08, INFO: Square width: 10, circle width: 4 -2024-02-22 16:00:08, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:00:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:00:10, INFO: Animation.save using -2024-02-22 16:01:02, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:01:43, INFO: Using device: cpu -2024-02-22 16:01:43, INFO: Loaded RL weights with best VAL -2024-02-22 16:01:43, INFO: Similarity_func: concatenation -2024-02-22 16:01:43, INFO: Layerwise_graph: False -2024-02-22 16:01:43, INFO: Skip_connection: True -2024-02-22 16:01:43, INFO: Number of layers: 1 -2024-02-22 16:01:43, INFO: Similarity_func: concatenation -2024-02-22 16:01:43, INFO: Layerwise_graph: False -2024-02-22 16:01:43, INFO: Skip_connection: True -2024-02-22 16:01:43, INFO: Number of layers: 1 -2024-02-22 16:01:43, INFO: Planning depth: 1 -2024-02-22 16:01:43, INFO: Planning width: 10 -2024-02-22 16:01:43, INFO: Sparse search: None -2024-02-22 16:01:46, INFO: human number: 10 -2024-02-22 16:01:46, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:01:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:01:46, INFO: Square width: 10, circle width: 4 -2024-02-22 16:01:46, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:01:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:01:49, INFO: Animation.save using -2024-02-22 16:02:56, INFO: Using device: cpu -2024-02-22 16:02:56, INFO: Loaded RL weights with best VAL -2024-02-22 16:02:56, INFO: Similarity_func: concatenation -2024-02-22 16:02:56, INFO: Layerwise_graph: False -2024-02-22 16:02:56, INFO: Skip_connection: True -2024-02-22 16:02:56, INFO: Number of layers: 1 -2024-02-22 16:02:56, INFO: Similarity_func: concatenation -2024-02-22 16:02:56, INFO: Layerwise_graph: False -2024-02-22 16:02:56, INFO: Skip_connection: True -2024-02-22 16:02:56, INFO: Number of layers: 1 -2024-02-22 16:02:56, INFO: Planning depth: 1 -2024-02-22 16:02:56, INFO: Planning width: 10 -2024-02-22 16:02:56, INFO: Sparse search: None -2024-02-22 16:02:59, INFO: human number: 10 -2024-02-22 16:02:59, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:02:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:02:59, INFO: Square width: 10, circle width: 4 -2024-02-22 16:02:59, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:02:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:03:02, INFO: Animation.save using -2024-02-22 16:05:17, INFO: Using device: cpu -2024-02-22 16:05:17, INFO: Loaded RL weights with best VAL -2024-02-22 16:05:17, INFO: Similarity_func: concatenation -2024-02-22 16:05:17, INFO: Layerwise_graph: False -2024-02-22 16:05:17, INFO: Skip_connection: True -2024-02-22 16:05:17, INFO: Number of layers: 1 -2024-02-22 16:05:17, INFO: Similarity_func: concatenation -2024-02-22 16:05:17, INFO: Layerwise_graph: False -2024-02-22 16:05:17, INFO: Skip_connection: True -2024-02-22 16:05:17, INFO: Number of layers: 1 -2024-02-22 16:05:17, INFO: Planning depth: 1 -2024-02-22 16:05:17, INFO: Planning width: 10 -2024-02-22 16:05:17, INFO: Sparse search: None -2024-02-22 16:05:21, INFO: human number: 10 -2024-02-22 16:05:21, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:05:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:05:21, INFO: Square width: 10, circle width: 4 -2024-02-22 16:05:21, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:05:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:05:23, INFO: Animation.save using -2024-02-22 16:06:10, INFO: Using device: cpu -2024-02-22 16:06:10, INFO: Loaded RL weights with best VAL -2024-02-22 16:06:10, INFO: Similarity_func: concatenation -2024-02-22 16:06:10, INFO: Layerwise_graph: False -2024-02-22 16:06:10, INFO: Skip_connection: True -2024-02-22 16:06:10, INFO: Number of layers: 1 -2024-02-22 16:06:10, INFO: Similarity_func: concatenation -2024-02-22 16:06:10, INFO: Layerwise_graph: False -2024-02-22 16:06:10, INFO: Skip_connection: True -2024-02-22 16:06:10, INFO: Number of layers: 1 -2024-02-22 16:06:10, INFO: Planning depth: 1 -2024-02-22 16:06:10, INFO: Planning width: 10 -2024-02-22 16:06:10, INFO: Sparse search: None -2024-02-22 16:06:13, INFO: human number: 10 -2024-02-22 16:06:13, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:06:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:06:13, INFO: Square width: 10, circle width: 4 -2024-02-22 16:06:13, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:06:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:06:16, INFO: Animation.save using -2024-02-22 16:06:38, INFO: Using device: cpu -2024-02-22 16:06:38, INFO: Loaded RL weights with best VAL -2024-02-22 16:06:38, INFO: Similarity_func: concatenation -2024-02-22 16:06:38, INFO: Layerwise_graph: False -2024-02-22 16:06:38, INFO: Skip_connection: True -2024-02-22 16:06:38, INFO: Number of layers: 1 -2024-02-22 16:06:38, INFO: Similarity_func: concatenation -2024-02-22 16:06:38, INFO: Layerwise_graph: False -2024-02-22 16:06:38, INFO: Skip_connection: True -2024-02-22 16:06:38, INFO: Number of layers: 1 -2024-02-22 16:06:38, INFO: Planning depth: 1 -2024-02-22 16:06:38, INFO: Planning width: 10 -2024-02-22 16:06:38, INFO: Sparse search: None -2024-02-22 16:06:41, INFO: human number: 10 -2024-02-22 16:06:41, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:06:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:06:41, INFO: Square width: 10, circle width: 4 -2024-02-22 16:06:41, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:06:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:06:44, INFO: Animation.save using -2024-02-22 16:07:33, INFO: Using device: cpu -2024-02-22 16:07:33, INFO: Loaded RL weights with best VAL -2024-02-22 16:07:33, INFO: Similarity_func: concatenation -2024-02-22 16:07:33, INFO: Layerwise_graph: False -2024-02-22 16:07:33, INFO: Skip_connection: True -2024-02-22 16:07:33, INFO: Number of layers: 1 -2024-02-22 16:07:33, INFO: Similarity_func: concatenation -2024-02-22 16:07:33, INFO: Layerwise_graph: False -2024-02-22 16:07:33, INFO: Skip_connection: True -2024-02-22 16:07:33, INFO: Number of layers: 1 -2024-02-22 16:07:33, INFO: Planning depth: 1 -2024-02-22 16:07:33, INFO: Planning width: 10 -2024-02-22 16:07:33, INFO: Sparse search: None -2024-02-22 16:07:36, INFO: human number: 10 -2024-02-22 16:07:36, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:07:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:07:36, INFO: Square width: 10, circle width: 4 -2024-02-22 16:07:36, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:07:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:07:39, INFO: Animation.save using -2024-02-22 16:08:45, INFO: Using device: cpu -2024-02-22 16:08:45, INFO: Loaded RL weights with best VAL -2024-02-22 16:08:45, INFO: Similarity_func: concatenation -2024-02-22 16:08:45, INFO: Layerwise_graph: False -2024-02-22 16:08:45, INFO: Skip_connection: True -2024-02-22 16:08:45, INFO: Number of layers: 1 -2024-02-22 16:08:45, INFO: Similarity_func: concatenation -2024-02-22 16:08:45, INFO: Layerwise_graph: False -2024-02-22 16:08:45, INFO: Skip_connection: True -2024-02-22 16:08:45, INFO: Number of layers: 1 -2024-02-22 16:08:45, INFO: Planning depth: 1 -2024-02-22 16:08:45, INFO: Planning width: 10 -2024-02-22 16:08:45, INFO: Sparse search: None -2024-02-22 16:08:48, INFO: human number: 10 -2024-02-22 16:08:48, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:08:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:08:48, INFO: Square width: 10, circle width: 4 -2024-02-22 16:08:48, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:08:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:08:51, INFO: Animation.save using -2024-02-22 16:12:20, INFO: Using device: cpu -2024-02-22 16:12:20, INFO: Loaded RL weights with best VAL -2024-02-22 16:12:20, INFO: Similarity_func: concatenation -2024-02-22 16:12:20, INFO: Layerwise_graph: False -2024-02-22 16:12:20, INFO: Skip_connection: True -2024-02-22 16:12:20, INFO: Number of layers: 1 -2024-02-22 16:12:20, INFO: Similarity_func: concatenation -2024-02-22 16:12:20, INFO: Layerwise_graph: False -2024-02-22 16:12:20, INFO: Skip_connection: True -2024-02-22 16:12:20, INFO: Number of layers: 1 -2024-02-22 16:12:20, INFO: Planning depth: 1 -2024-02-22 16:12:20, INFO: Planning width: 10 -2024-02-22 16:12:20, INFO: Sparse search: None -2024-02-22 16:12:23, INFO: human number: 10 -2024-02-22 16:12:23, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:12:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:12:23, INFO: Square width: 10, circle width: 4 -2024-02-22 16:12:23, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:12:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:12:26, INFO: Animation.save using -2024-02-22 16:12:59, INFO: Using device: cpu -2024-02-22 16:12:59, INFO: Loaded RL weights with best VAL -2024-02-22 16:12:59, INFO: Similarity_func: concatenation -2024-02-22 16:12:59, INFO: Layerwise_graph: False -2024-02-22 16:12:59, INFO: Skip_connection: True -2024-02-22 16:12:59, INFO: Number of layers: 1 -2024-02-22 16:12:59, INFO: Similarity_func: concatenation -2024-02-22 16:12:59, INFO: Layerwise_graph: False -2024-02-22 16:12:59, INFO: Skip_connection: True -2024-02-22 16:12:59, INFO: Number of layers: 1 -2024-02-22 16:12:59, INFO: Planning depth: 1 -2024-02-22 16:12:59, INFO: Planning width: 10 -2024-02-22 16:12:59, INFO: Sparse search: None -2024-02-22 16:13:02, INFO: human number: 10 -2024-02-22 16:13:02, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:13:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:13:02, INFO: Square width: 10, circle width: 4 -2024-02-22 16:13:02, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:13:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:13:05, INFO: Animation.save using -2024-02-22 16:13:53, INFO: Using device: cpu -2024-02-22 16:13:53, INFO: Loaded RL weights with best VAL -2024-02-22 16:13:53, INFO: Similarity_func: concatenation -2024-02-22 16:13:53, INFO: Layerwise_graph: False -2024-02-22 16:13:53, INFO: Skip_connection: True -2024-02-22 16:13:53, INFO: Number of layers: 1 -2024-02-22 16:13:53, INFO: Similarity_func: concatenation -2024-02-22 16:13:53, INFO: Layerwise_graph: False -2024-02-22 16:13:53, INFO: Skip_connection: True -2024-02-22 16:13:53, INFO: Number of layers: 1 -2024-02-22 16:13:53, INFO: Planning depth: 1 -2024-02-22 16:13:53, INFO: Planning width: 10 -2024-02-22 16:13:53, INFO: Sparse search: None -2024-02-22 16:13:56, INFO: human number: 10 -2024-02-22 16:13:56, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:13:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:13:56, INFO: Square width: 10, circle width: 4 -2024-02-22 16:13:56, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:13:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:13:58, INFO: Animation.save using -2024-02-22 16:14:04, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:14:04, INFO: Using device: cpu -2024-02-22 16:14:04, INFO: Loaded RL weights with best VAL -2024-02-22 16:14:04, INFO: Similarity_func: concatenation -2024-02-22 16:14:04, INFO: Layerwise_graph: False -2024-02-22 16:14:04, INFO: Skip_connection: True -2024-02-22 16:14:04, INFO: Number of layers: 1 -2024-02-22 16:14:04, INFO: Similarity_func: concatenation -2024-02-22 16:14:04, INFO: Layerwise_graph: False -2024-02-22 16:14:04, INFO: Skip_connection: True -2024-02-22 16:14:04, INFO: Number of layers: 1 -2024-02-22 16:14:04, INFO: Planning depth: 1 -2024-02-22 16:14:04, INFO: Planning width: 10 -2024-02-22 16:14:04, INFO: Sparse search: None -2024-02-22 16:14:04, INFO: human number: 10 -2024-02-22 16:14:04, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:14:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:14:04, INFO: Square width: 10, circle width: 4 -2024-02-22 16:14:04, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:14:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:14:06, INFO: Animation.save using -2024-02-22 16:14:12, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:15:03, INFO: Using device: cpu -2024-02-22 16:15:03, INFO: Loaded RL weights with best VAL -2024-02-22 16:15:03, INFO: Similarity_func: concatenation -2024-02-22 16:15:03, INFO: Layerwise_graph: False -2024-02-22 16:15:03, INFO: Skip_connection: True -2024-02-22 16:15:03, INFO: Number of layers: 1 -2024-02-22 16:15:03, INFO: Similarity_func: concatenation -2024-02-22 16:15:03, INFO: Layerwise_graph: False -2024-02-22 16:15:03, INFO: Skip_connection: True -2024-02-22 16:15:03, INFO: Number of layers: 1 -2024-02-22 16:15:03, INFO: Planning depth: 1 -2024-02-22 16:15:03, INFO: Planning width: 10 -2024-02-22 16:15:03, INFO: Sparse search: None -2024-02-22 16:15:06, INFO: human number: 10 -2024-02-22 16:15:06, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:15:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:15:06, INFO: Square width: 10, circle width: 4 -2024-02-22 16:15:06, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:15:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:15:09, INFO: Animation.save using -2024-02-22 16:15:14, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:15:14, INFO: Using device: cpu -2024-02-22 16:15:14, INFO: Loaded RL weights with best VAL -2024-02-22 16:15:14, INFO: Similarity_func: concatenation -2024-02-22 16:15:14, INFO: Layerwise_graph: False -2024-02-22 16:15:14, INFO: Skip_connection: True -2024-02-22 16:15:14, INFO: Number of layers: 1 -2024-02-22 16:15:14, INFO: Similarity_func: concatenation -2024-02-22 16:15:14, INFO: Layerwise_graph: False -2024-02-22 16:15:14, INFO: Skip_connection: True -2024-02-22 16:15:14, INFO: Number of layers: 1 -2024-02-22 16:15:14, INFO: Planning depth: 1 -2024-02-22 16:15:14, INFO: Planning width: 10 -2024-02-22 16:15:14, INFO: Sparse search: None -2024-02-22 16:15:14, INFO: human number: 10 -2024-02-22 16:15:14, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:15:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:15:14, INFO: Square width: 10, circle width: 4 -2024-02-22 16:15:14, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:15:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:15:17, INFO: Animation.save using -2024-02-22 16:15:22, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:19:11, INFO: Using device: cpu -2024-02-22 16:19:11, INFO: Loaded RL weights with best VAL -2024-02-22 16:19:11, INFO: Similarity_func: concatenation -2024-02-22 16:19:11, INFO: Layerwise_graph: False -2024-02-22 16:19:11, INFO: Skip_connection: True -2024-02-22 16:19:11, INFO: Number of layers: 1 -2024-02-22 16:19:11, INFO: Similarity_func: concatenation -2024-02-22 16:19:11, INFO: Layerwise_graph: False -2024-02-22 16:19:11, INFO: Skip_connection: True -2024-02-22 16:19:11, INFO: Number of layers: 1 -2024-02-22 16:19:11, INFO: Planning depth: 1 -2024-02-22 16:19:11, INFO: Planning width: 10 -2024-02-22 16:19:11, INFO: Sparse search: None -2024-02-22 16:19:14, INFO: human number: 10 -2024-02-22 16:19:14, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:19:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:19:14, INFO: Square width: 10, circle width: 4 -2024-02-22 16:19:14, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:19:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:19:17, INFO: Animation.save using -2024-02-22 16:19:22, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:19:22, INFO: Using device: cpu -2024-02-22 16:19:22, INFO: Loaded RL weights with best VAL -2024-02-22 16:19:22, INFO: Similarity_func: concatenation -2024-02-22 16:19:22, INFO: Layerwise_graph: False -2024-02-22 16:19:22, INFO: Skip_connection: True -2024-02-22 16:19:22, INFO: Number of layers: 1 -2024-02-22 16:19:22, INFO: Similarity_func: concatenation -2024-02-22 16:19:22, INFO: Layerwise_graph: False -2024-02-22 16:19:22, INFO: Skip_connection: True -2024-02-22 16:19:22, INFO: Number of layers: 1 -2024-02-22 16:19:22, INFO: Planning depth: 1 -2024-02-22 16:19:22, INFO: Planning width: 10 -2024-02-22 16:19:22, INFO: Sparse search: None -2024-02-22 16:19:22, INFO: human number: 10 -2024-02-22 16:19:22, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:19:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:19:22, INFO: Square width: 10, circle width: 4 -2024-02-22 16:19:22, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:19:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:19:25, INFO: Animation.save using -2024-02-22 16:19:30, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:19:50, INFO: Using device: cpu -2024-02-22 16:19:50, INFO: Loaded RL weights with best VAL -2024-02-22 16:19:50, INFO: Similarity_func: concatenation -2024-02-22 16:19:50, INFO: Layerwise_graph: False -2024-02-22 16:19:50, INFO: Skip_connection: True -2024-02-22 16:19:50, INFO: Number of layers: 1 -2024-02-22 16:19:50, INFO: Similarity_func: concatenation -2024-02-22 16:19:50, INFO: Layerwise_graph: False -2024-02-22 16:19:50, INFO: Skip_connection: True -2024-02-22 16:19:50, INFO: Number of layers: 1 -2024-02-22 16:19:50, INFO: Planning depth: 1 -2024-02-22 16:19:50, INFO: Planning width: 10 -2024-02-22 16:19:50, INFO: Sparse search: None -2024-02-22 16:19:54, INFO: human number: 10 -2024-02-22 16:19:54, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:19:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:19:54, INFO: Square width: 10, circle width: 4 -2024-02-22 16:19:54, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:19:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:19:57, INFO: Animation.save using -2024-02-22 16:20:03, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:20:03, INFO: Using device: cpu -2024-02-22 16:20:03, INFO: Loaded RL weights with best VAL -2024-02-22 16:20:03, INFO: Similarity_func: concatenation -2024-02-22 16:20:03, INFO: Layerwise_graph: False -2024-02-22 16:20:03, INFO: Skip_connection: True -2024-02-22 16:20:03, INFO: Number of layers: 1 -2024-02-22 16:20:03, INFO: Similarity_func: concatenation -2024-02-22 16:20:03, INFO: Layerwise_graph: False -2024-02-22 16:20:03, INFO: Skip_connection: True -2024-02-22 16:20:03, INFO: Number of layers: 1 -2024-02-22 16:20:03, INFO: Planning depth: 1 -2024-02-22 16:20:03, INFO: Planning width: 10 -2024-02-22 16:20:03, INFO: Sparse search: None -2024-02-22 16:20:03, INFO: human number: 10 -2024-02-22 16:20:03, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:20:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:20:03, INFO: Square width: 10, circle width: 4 -2024-02-22 16:20:03, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:20:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:20:05, INFO: Animation.save using -2024-02-22 16:20:11, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:20:59, INFO: Using device: cpu -2024-02-22 16:20:59, INFO: Loaded RL weights with best VAL -2024-02-22 16:20:59, INFO: Similarity_func: concatenation -2024-02-22 16:20:59, INFO: Layerwise_graph: False -2024-02-22 16:20:59, INFO: Skip_connection: True -2024-02-22 16:20:59, INFO: Number of layers: 1 -2024-02-22 16:20:59, INFO: Similarity_func: concatenation -2024-02-22 16:20:59, INFO: Layerwise_graph: False -2024-02-22 16:20:59, INFO: Skip_connection: True -2024-02-22 16:20:59, INFO: Number of layers: 1 -2024-02-22 16:20:59, INFO: Planning depth: 1 -2024-02-22 16:20:59, INFO: Planning width: 10 -2024-02-22 16:20:59, INFO: Sparse search: None -2024-02-22 16:21:02, INFO: human number: 10 -2024-02-22 16:21:02, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:21:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:21:02, INFO: Square width: 10, circle width: 4 -2024-02-22 16:21:02, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:21:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:21:05, INFO: Animation.save using -2024-02-22 16:21:11, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:21:11, INFO: Using device: cpu -2024-02-22 16:21:11, INFO: Loaded RL weights with best VAL -2024-02-22 16:21:11, INFO: Similarity_func: concatenation -2024-02-22 16:21:11, INFO: Layerwise_graph: False -2024-02-22 16:21:11, INFO: Skip_connection: True -2024-02-22 16:21:11, INFO: Number of layers: 1 -2024-02-22 16:21:11, INFO: Similarity_func: concatenation -2024-02-22 16:21:11, INFO: Layerwise_graph: False -2024-02-22 16:21:11, INFO: Skip_connection: True -2024-02-22 16:21:11, INFO: Number of layers: 1 -2024-02-22 16:21:11, INFO: Planning depth: 1 -2024-02-22 16:21:11, INFO: Planning width: 10 -2024-02-22 16:21:11, INFO: Sparse search: None -2024-02-22 16:21:11, INFO: human number: 10 -2024-02-22 16:21:11, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:21:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:21:11, INFO: Square width: 10, circle width: 4 -2024-02-22 16:21:11, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:21:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:21:13, INFO: Animation.save using -2024-02-22 16:21:19, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:23:08, INFO: Using device: cpu -2024-02-22 16:23:08, INFO: Loaded RL weights with best VAL -2024-02-22 16:23:08, INFO: Similarity_func: concatenation -2024-02-22 16:23:08, INFO: Layerwise_graph: False -2024-02-22 16:23:08, INFO: Skip_connection: True -2024-02-22 16:23:08, INFO: Number of layers: 1 -2024-02-22 16:23:08, INFO: Similarity_func: concatenation -2024-02-22 16:23:08, INFO: Layerwise_graph: False -2024-02-22 16:23:08, INFO: Skip_connection: True -2024-02-22 16:23:08, INFO: Number of layers: 1 -2024-02-22 16:23:08, INFO: Planning depth: 1 -2024-02-22 16:23:08, INFO: Planning width: 10 -2024-02-22 16:23:08, INFO: Sparse search: None -2024-02-22 16:23:12, INFO: human number: 10 -2024-02-22 16:23:12, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:23:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:23:12, INFO: Square width: 10, circle width: 4 -2024-02-22 16:23:12, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:23:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:23:15, INFO: Animation.save using -2024-02-22 16:23:20, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:23:21, INFO: Using device: cpu -2024-02-22 16:23:21, INFO: Loaded RL weights with best VAL -2024-02-22 16:23:21, INFO: Similarity_func: concatenation -2024-02-22 16:23:21, INFO: Layerwise_graph: False -2024-02-22 16:23:21, INFO: Skip_connection: True -2024-02-22 16:23:21, INFO: Number of layers: 1 -2024-02-22 16:23:21, INFO: Similarity_func: concatenation -2024-02-22 16:23:21, INFO: Layerwise_graph: False -2024-02-22 16:23:21, INFO: Skip_connection: True -2024-02-22 16:23:21, INFO: Number of layers: 1 -2024-02-22 16:23:21, INFO: Planning depth: 1 -2024-02-22 16:23:21, INFO: Planning width: 10 -2024-02-22 16:23:21, INFO: Sparse search: None -2024-02-22 16:23:21, INFO: human number: 10 -2024-02-22 16:23:21, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:23:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:23:21, INFO: Square width: 10, circle width: 4 -2024-02-22 16:23:21, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:23:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:23:23, INFO: Animation.save using -2024-02-22 16:23:33, INFO: Using device: cpu -2024-02-22 16:23:33, INFO: Loaded RL weights with best VAL -2024-02-22 16:23:33, INFO: Similarity_func: concatenation -2024-02-22 16:23:33, INFO: Layerwise_graph: False -2024-02-22 16:23:33, INFO: Skip_connection: True -2024-02-22 16:23:33, INFO: Number of layers: 1 -2024-02-22 16:23:33, INFO: Similarity_func: concatenation -2024-02-22 16:23:33, INFO: Layerwise_graph: False -2024-02-22 16:23:33, INFO: Skip_connection: True -2024-02-22 16:23:33, INFO: Number of layers: 1 -2024-02-22 16:23:33, INFO: Planning depth: 1 -2024-02-22 16:23:33, INFO: Planning width: 10 -2024-02-22 16:23:33, INFO: Sparse search: None -2024-02-22 16:23:37, INFO: human number: 10 -2024-02-22 16:23:37, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:23:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:23:37, INFO: Square width: 10, circle width: 4 -2024-02-22 16:23:37, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:23:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:23:40, INFO: Animation.save using -2024-02-22 16:23:46, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:23:46, INFO: Using device: cpu -2024-02-22 16:23:46, INFO: Loaded RL weights with best VAL -2024-02-22 16:23:46, INFO: Similarity_func: concatenation -2024-02-22 16:23:46, INFO: Layerwise_graph: False -2024-02-22 16:23:46, INFO: Skip_connection: True -2024-02-22 16:23:46, INFO: Number of layers: 1 -2024-02-22 16:23:46, INFO: Similarity_func: concatenation -2024-02-22 16:23:46, INFO: Layerwise_graph: False -2024-02-22 16:23:46, INFO: Skip_connection: True -2024-02-22 16:23:46, INFO: Number of layers: 1 -2024-02-22 16:23:46, INFO: Planning depth: 1 -2024-02-22 16:23:46, INFO: Planning width: 10 -2024-02-22 16:23:46, INFO: Sparse search: None -2024-02-22 16:23:46, INFO: human number: 10 -2024-02-22 16:23:46, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:23:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:23:46, INFO: Square width: 10, circle width: 4 -2024-02-22 16:23:46, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:23:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:23:48, INFO: Animation.save using -2024-02-22 16:23:53, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:30:15, INFO: Using device: cpu -2024-02-22 16:30:15, INFO: Loaded RL weights with best VAL -2024-02-22 16:30:15, INFO: Similarity_func: concatenation -2024-02-22 16:30:15, INFO: Layerwise_graph: False -2024-02-22 16:30:15, INFO: Skip_connection: True -2024-02-22 16:30:15, INFO: Number of layers: 1 -2024-02-22 16:30:15, INFO: Similarity_func: concatenation -2024-02-22 16:30:15, INFO: Layerwise_graph: False -2024-02-22 16:30:15, INFO: Skip_connection: True -2024-02-22 16:30:15, INFO: Number of layers: 1 -2024-02-22 16:30:15, INFO: Planning depth: 1 -2024-02-22 16:30:15, INFO: Planning width: 10 -2024-02-22 16:30:15, INFO: Sparse search: None -2024-02-22 16:30:18, INFO: human number: 10 -2024-02-22 16:30:18, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:30:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:30:18, INFO: Square width: 10, circle width: 4 -2024-02-22 16:30:18, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:30:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:30:21, INFO: Animation.save using -2024-02-22 16:30:26, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:30:26, INFO: Using device: cpu -2024-02-22 16:30:26, INFO: Loaded RL weights with best VAL -2024-02-22 16:30:26, INFO: Similarity_func: concatenation -2024-02-22 16:30:26, INFO: Layerwise_graph: False -2024-02-22 16:30:26, INFO: Skip_connection: True -2024-02-22 16:30:26, INFO: Number of layers: 1 -2024-02-22 16:30:26, INFO: Similarity_func: concatenation -2024-02-22 16:30:26, INFO: Layerwise_graph: False -2024-02-22 16:30:26, INFO: Skip_connection: True -2024-02-22 16:30:26, INFO: Number of layers: 1 -2024-02-22 16:30:26, INFO: Planning depth: 1 -2024-02-22 16:30:26, INFO: Planning width: 10 -2024-02-22 16:30:26, INFO: Sparse search: None -2024-02-22 16:30:26, INFO: human number: 10 -2024-02-22 16:30:26, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:30:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:30:26, INFO: Square width: 10, circle width: 4 -2024-02-22 16:30:26, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:30:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:30:28, INFO: Animation.save using -2024-02-22 16:30:34, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:33:11, INFO: Using device: cpu -2024-02-22 16:33:11, INFO: Loaded RL weights with best VAL -2024-02-22 16:33:11, INFO: Similarity_func: concatenation -2024-02-22 16:33:11, INFO: Layerwise_graph: False -2024-02-22 16:33:11, INFO: Skip_connection: True -2024-02-22 16:33:11, INFO: Number of layers: 1 -2024-02-22 16:33:11, INFO: Similarity_func: concatenation -2024-02-22 16:33:11, INFO: Layerwise_graph: False -2024-02-22 16:33:11, INFO: Skip_connection: True -2024-02-22 16:33:11, INFO: Number of layers: 1 -2024-02-22 16:33:11, INFO: Planning depth: 1 -2024-02-22 16:33:11, INFO: Planning width: 10 -2024-02-22 16:33:11, INFO: Sparse search: None -2024-02-22 16:33:15, INFO: human number: 10 -2024-02-22 16:33:15, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:33:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:33:15, INFO: Square width: 10, circle width: 4 -2024-02-22 16:33:15, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:33:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:33:17, INFO: Animation.save using -2024-02-22 16:33:22, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:33:23, INFO: Using device: cpu -2024-02-22 16:33:23, INFO: Loaded RL weights with best VAL -2024-02-22 16:33:23, INFO: Similarity_func: concatenation -2024-02-22 16:33:23, INFO: Layerwise_graph: False -2024-02-22 16:33:23, INFO: Skip_connection: True -2024-02-22 16:33:23, INFO: Number of layers: 1 -2024-02-22 16:33:23, INFO: Similarity_func: concatenation -2024-02-22 16:33:23, INFO: Layerwise_graph: False -2024-02-22 16:33:23, INFO: Skip_connection: True -2024-02-22 16:33:23, INFO: Number of layers: 1 -2024-02-22 16:33:23, INFO: Planning depth: 1 -2024-02-22 16:33:23, INFO: Planning width: 10 -2024-02-22 16:33:23, INFO: Sparse search: None -2024-02-22 16:33:23, INFO: human number: 10 -2024-02-22 16:33:23, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:33:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:33:23, INFO: Square width: 10, circle width: 4 -2024-02-22 16:33:23, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:33:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:33:25, INFO: Animation.save using -2024-02-22 16:33:30, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:37:13, INFO: Using device: cpu -2024-02-22 16:37:13, INFO: Loaded RL weights with best VAL -2024-02-22 16:37:13, INFO: Similarity_func: concatenation -2024-02-22 16:37:13, INFO: Layerwise_graph: False -2024-02-22 16:37:13, INFO: Skip_connection: True -2024-02-22 16:37:13, INFO: Number of layers: 1 -2024-02-22 16:37:13, INFO: Similarity_func: concatenation -2024-02-22 16:37:13, INFO: Layerwise_graph: False -2024-02-22 16:37:13, INFO: Skip_connection: True -2024-02-22 16:37:13, INFO: Number of layers: 1 -2024-02-22 16:37:13, INFO: Planning depth: 1 -2024-02-22 16:37:13, INFO: Planning width: 10 -2024-02-22 16:37:13, INFO: Sparse search: None -2024-02-22 16:37:16, INFO: human number: 10 -2024-02-22 16:37:16, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:37:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:37:16, INFO: Square width: 10, circle width: 4 -2024-02-22 16:37:16, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:37:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:37:19, INFO: Animation.save using -2024-02-22 16:37:24, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:37:24, INFO: Using device: cpu -2024-02-22 16:37:24, INFO: Loaded RL weights with best VAL -2024-02-22 16:37:24, INFO: Similarity_func: concatenation -2024-02-22 16:37:24, INFO: Layerwise_graph: False -2024-02-22 16:37:24, INFO: Skip_connection: True -2024-02-22 16:37:24, INFO: Number of layers: 1 -2024-02-22 16:37:24, INFO: Similarity_func: concatenation -2024-02-22 16:37:24, INFO: Layerwise_graph: False -2024-02-22 16:37:24, INFO: Skip_connection: True -2024-02-22 16:37:24, INFO: Number of layers: 1 -2024-02-22 16:37:24, INFO: Planning depth: 1 -2024-02-22 16:37:24, INFO: Planning width: 10 -2024-02-22 16:37:24, INFO: Sparse search: None -2024-02-22 16:37:24, INFO: human number: 10 -2024-02-22 16:37:24, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:37:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:37:24, INFO: Square width: 10, circle width: 4 -2024-02-22 16:37:24, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:37:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:37:27, INFO: Animation.save using -2024-02-22 16:37:32, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:39:27, INFO: Using device: cpu -2024-02-22 16:39:27, INFO: Loaded RL weights with best VAL -2024-02-22 16:39:27, INFO: Similarity_func: concatenation -2024-02-22 16:39:27, INFO: Layerwise_graph: False -2024-02-22 16:39:27, INFO: Skip_connection: True -2024-02-22 16:39:27, INFO: Number of layers: 1 -2024-02-22 16:39:27, INFO: Similarity_func: concatenation -2024-02-22 16:39:27, INFO: Layerwise_graph: False -2024-02-22 16:39:27, INFO: Skip_connection: True -2024-02-22 16:39:27, INFO: Number of layers: 1 -2024-02-22 16:39:27, INFO: Planning depth: 1 -2024-02-22 16:39:27, INFO: Planning width: 10 -2024-02-22 16:39:27, INFO: Sparse search: None -2024-02-22 16:39:30, INFO: human number: 10 -2024-02-22 16:39:30, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:39:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:39:30, INFO: Square width: 10, circle width: 4 -2024-02-22 16:39:30, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:39:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:39:33, INFO: Animation.save using -2024-02-22 16:39:39, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:39:39, INFO: Using device: cpu -2024-02-22 16:39:39, INFO: Loaded RL weights with best VAL -2024-02-22 16:39:39, INFO: Similarity_func: concatenation -2024-02-22 16:39:39, INFO: Layerwise_graph: False -2024-02-22 16:39:39, INFO: Skip_connection: True -2024-02-22 16:39:39, INFO: Number of layers: 1 -2024-02-22 16:39:39, INFO: Similarity_func: concatenation -2024-02-22 16:39:39, INFO: Layerwise_graph: False -2024-02-22 16:39:39, INFO: Skip_connection: True -2024-02-22 16:39:39, INFO: Number of layers: 1 -2024-02-22 16:39:39, INFO: Planning depth: 1 -2024-02-22 16:39:39, INFO: Planning width: 10 -2024-02-22 16:39:39, INFO: Sparse search: None -2024-02-22 16:39:39, INFO: human number: 10 -2024-02-22 16:39:39, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:39:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:39:39, INFO: Square width: 10, circle width: 4 -2024-02-22 16:39:39, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:39:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:39:42, INFO: Animation.save using -2024-02-22 16:39:47, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:40:30, INFO: Using device: cpu -2024-02-22 16:40:30, INFO: Loaded RL weights with best VAL -2024-02-22 16:40:30, INFO: Similarity_func: concatenation -2024-02-22 16:40:30, INFO: Layerwise_graph: False -2024-02-22 16:40:30, INFO: Skip_connection: True -2024-02-22 16:40:30, INFO: Number of layers: 1 -2024-02-22 16:40:30, INFO: Similarity_func: concatenation -2024-02-22 16:40:30, INFO: Layerwise_graph: False -2024-02-22 16:40:30, INFO: Skip_connection: True -2024-02-22 16:40:30, INFO: Number of layers: 1 -2024-02-22 16:40:30, INFO: Planning depth: 1 -2024-02-22 16:40:30, INFO: Planning width: 10 -2024-02-22 16:40:30, INFO: Sparse search: None -2024-02-22 16:40:33, INFO: human number: 10 -2024-02-22 16:40:33, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:40:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:40:33, INFO: Square width: 10, circle width: 4 -2024-02-22 16:40:33, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:40:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:40:37, INFO: Animation.save using -2024-02-22 16:40:42, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:40:42, INFO: Using device: cpu -2024-02-22 16:40:42, INFO: Loaded RL weights with best VAL -2024-02-22 16:40:42, INFO: Similarity_func: concatenation -2024-02-22 16:40:42, INFO: Layerwise_graph: False -2024-02-22 16:40:42, INFO: Skip_connection: True -2024-02-22 16:40:42, INFO: Number of layers: 1 -2024-02-22 16:40:42, INFO: Similarity_func: concatenation -2024-02-22 16:40:42, INFO: Layerwise_graph: False -2024-02-22 16:40:42, INFO: Skip_connection: True -2024-02-22 16:40:42, INFO: Number of layers: 1 -2024-02-22 16:40:42, INFO: Planning depth: 1 -2024-02-22 16:40:42, INFO: Planning width: 10 -2024-02-22 16:40:42, INFO: Sparse search: None -2024-02-22 16:40:42, INFO: human number: 10 -2024-02-22 16:40:42, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:40:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:40:42, INFO: Square width: 10, circle width: 4 -2024-02-22 16:40:42, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:40:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:40:45, INFO: Animation.save using -2024-02-22 16:40:50, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-22 16:48:23, INFO: Using device: cpu -2024-02-22 16:48:23, INFO: Loaded RL weights with best VAL -2024-02-22 16:48:23, INFO: Similarity_func: concatenation -2024-02-22 16:48:23, INFO: Layerwise_graph: False -2024-02-22 16:48:23, INFO: Skip_connection: True -2024-02-22 16:48:23, INFO: Number of layers: 1 -2024-02-22 16:48:23, INFO: Similarity_func: concatenation -2024-02-22 16:48:23, INFO: Layerwise_graph: False -2024-02-22 16:48:23, INFO: Skip_connection: True -2024-02-22 16:48:23, INFO: Number of layers: 1 -2024-02-22 16:48:23, INFO: Planning depth: 1 -2024-02-22 16:48:23, INFO: Planning width: 10 -2024-02-22 16:48:23, INFO: Sparse search: None -2024-02-22 16:48:27, INFO: human number: 10 -2024-02-22 16:48:27, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:48:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:48:27, INFO: Square width: 10, circle width: 4 -2024-02-22 16:48:27, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:48:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:48:30, INFO: Animation.save using -2024-02-22 16:48:37, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-22 16:48:37, INFO: Using device: cpu -2024-02-22 16:48:37, INFO: Loaded RL weights with best VAL -2024-02-22 16:48:37, INFO: Similarity_func: concatenation -2024-02-22 16:48:37, INFO: Layerwise_graph: False -2024-02-22 16:48:37, INFO: Skip_connection: True -2024-02-22 16:48:37, INFO: Number of layers: 1 -2024-02-22 16:48:37, INFO: Similarity_func: concatenation -2024-02-22 16:48:37, INFO: Layerwise_graph: False -2024-02-22 16:48:37, INFO: Skip_connection: True -2024-02-22 16:48:37, INFO: Number of layers: 1 -2024-02-22 16:48:37, INFO: Planning depth: 1 -2024-02-22 16:48:37, INFO: Planning width: 10 -2024-02-22 16:48:37, INFO: Sparse search: None -2024-02-22 16:48:37, INFO: human number: 10 -2024-02-22 16:48:37, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:48:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:48:37, INFO: Square width: 10, circle width: 4 -2024-02-22 16:48:37, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:48:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:48:40, INFO: Animation.save using -2024-02-22 16:48:46, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-22 16:50:30, INFO: Using device: cpu -2024-02-22 16:50:30, INFO: Loaded RL weights with best VAL -2024-02-22 16:50:30, INFO: Similarity_func: concatenation -2024-02-22 16:50:30, INFO: Layerwise_graph: False -2024-02-22 16:50:30, INFO: Skip_connection: True -2024-02-22 16:50:30, INFO: Number of layers: 1 -2024-02-22 16:50:30, INFO: Similarity_func: concatenation -2024-02-22 16:50:30, INFO: Layerwise_graph: False -2024-02-22 16:50:30, INFO: Skip_connection: True -2024-02-22 16:50:30, INFO: Number of layers: 1 -2024-02-22 16:50:30, INFO: Planning depth: 1 -2024-02-22 16:50:30, INFO: Planning width: 10 -2024-02-22 16:50:30, INFO: Sparse search: None -2024-02-22 16:50:33, INFO: human number: 10 -2024-02-22 16:50:33, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:50:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:50:33, INFO: Square width: 10, circle width: 4 -2024-02-22 16:50:33, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:50:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:50:37, INFO: Animation.save using -2024-02-22 16:50:44, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-22 16:50:44, INFO: Using device: cpu -2024-02-22 16:50:44, INFO: Loaded RL weights with best VAL -2024-02-22 16:50:44, INFO: Similarity_func: concatenation -2024-02-22 16:50:44, INFO: Layerwise_graph: False -2024-02-22 16:50:44, INFO: Skip_connection: True -2024-02-22 16:50:44, INFO: Number of layers: 1 -2024-02-22 16:50:44, INFO: Similarity_func: concatenation -2024-02-22 16:50:44, INFO: Layerwise_graph: False -2024-02-22 16:50:44, INFO: Skip_connection: True -2024-02-22 16:50:44, INFO: Number of layers: 1 -2024-02-22 16:50:44, INFO: Planning depth: 1 -2024-02-22 16:50:44, INFO: Planning width: 10 -2024-02-22 16:50:44, INFO: Sparse search: None -2024-02-22 16:50:44, INFO: human number: 10 -2024-02-22 16:50:44, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:50:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:50:44, INFO: Square width: 10, circle width: 4 -2024-02-22 16:50:44, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:50:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:50:46, INFO: Animation.save using -2024-02-22 16:50:53, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-22 16:51:35, INFO: Using device: cpu -2024-02-22 16:51:35, INFO: Loaded RL weights with best VAL -2024-02-22 16:51:35, INFO: Similarity_func: concatenation -2024-02-22 16:51:35, INFO: Layerwise_graph: False -2024-02-22 16:51:35, INFO: Skip_connection: True -2024-02-22 16:51:35, INFO: Number of layers: 1 -2024-02-22 16:51:35, INFO: Similarity_func: concatenation -2024-02-22 16:51:35, INFO: Layerwise_graph: False -2024-02-22 16:51:35, INFO: Skip_connection: True -2024-02-22 16:51:35, INFO: Number of layers: 1 -2024-02-22 16:51:35, INFO: Planning depth: 1 -2024-02-22 16:51:35, INFO: Planning width: 10 -2024-02-22 16:51:35, INFO: Sparse search: None -2024-02-22 16:51:38, INFO: human number: 10 -2024-02-22 16:51:38, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:51:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:51:38, INFO: Square width: 10, circle width: 4 -2024-02-22 16:51:38, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:51:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:51:40, INFO: Animation.save using -2024-02-22 16:51:45, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-22 16:51:45, INFO: Using device: cpu -2024-02-22 16:51:45, INFO: Loaded RL weights with best VAL -2024-02-22 16:51:45, INFO: Similarity_func: concatenation -2024-02-22 16:51:45, INFO: Layerwise_graph: False -2024-02-22 16:51:45, INFO: Skip_connection: True -2024-02-22 16:51:45, INFO: Number of layers: 1 -2024-02-22 16:51:45, INFO: Similarity_func: concatenation -2024-02-22 16:51:45, INFO: Layerwise_graph: False -2024-02-22 16:51:45, INFO: Skip_connection: True -2024-02-22 16:51:45, INFO: Number of layers: 1 -2024-02-22 16:51:45, INFO: Planning depth: 1 -2024-02-22 16:51:45, INFO: Planning width: 10 -2024-02-22 16:51:45, INFO: Sparse search: None -2024-02-22 16:51:45, INFO: human number: 10 -2024-02-22 16:51:45, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:51:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:51:45, INFO: Square width: 10, circle width: 4 -2024-02-22 16:51:45, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:51:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:51:47, INFO: Animation.save using -2024-02-22 16:51:51, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-22 16:52:36, INFO: Using device: cpu -2024-02-22 16:52:36, INFO: Loaded RL weights with best VAL -2024-02-22 16:52:36, INFO: Similarity_func: concatenation -2024-02-22 16:52:36, INFO: Layerwise_graph: False -2024-02-22 16:52:36, INFO: Skip_connection: True -2024-02-22 16:52:36, INFO: Number of layers: 1 -2024-02-22 16:52:36, INFO: Similarity_func: concatenation -2024-02-22 16:52:36, INFO: Layerwise_graph: False -2024-02-22 16:52:36, INFO: Skip_connection: True -2024-02-22 16:52:36, INFO: Number of layers: 1 -2024-02-22 16:52:36, INFO: Planning depth: 1 -2024-02-22 16:52:36, INFO: Planning width: 10 -2024-02-22 16:52:36, INFO: Sparse search: None -2024-02-22 16:52:39, INFO: human number: 10 -2024-02-22 16:52:39, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:52:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:52:39, INFO: Square width: 10, circle width: 4 -2024-02-22 16:52:39, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:52:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:52:41, INFO: Animation.save using -2024-02-22 16:52:46, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-22 16:52:46, INFO: Using device: cpu -2024-02-22 16:52:46, INFO: Loaded RL weights with best VAL -2024-02-22 16:52:46, INFO: Similarity_func: concatenation -2024-02-22 16:52:46, INFO: Layerwise_graph: False -2024-02-22 16:52:46, INFO: Skip_connection: True -2024-02-22 16:52:46, INFO: Number of layers: 1 -2024-02-22 16:52:46, INFO: Similarity_func: concatenation -2024-02-22 16:52:46, INFO: Layerwise_graph: False -2024-02-22 16:52:46, INFO: Skip_connection: True -2024-02-22 16:52:46, INFO: Number of layers: 1 -2024-02-22 16:52:46, INFO: Planning depth: 1 -2024-02-22 16:52:46, INFO: Planning width: 10 -2024-02-22 16:52:46, INFO: Sparse search: None -2024-02-22 16:52:46, INFO: human number: 10 -2024-02-22 16:52:46, INFO: Not randomize human's radius and preferred speed -2024-02-22 16:52:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-22 16:52:46, INFO: Square width: 10, circle width: 4 -2024-02-22 16:52:46, INFO: rotation constraint: 3.141592653589793 -2024-02-22 16:52:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-22 16:52:48, INFO: Animation.save using -2024-02-22 16:52:52, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-23 10:18:44, INFO: Using device: cpu -2024-02-23 10:18:44, INFO: Loaded RL weights with best VAL -2024-02-23 10:18:44, INFO: Similarity_func: concatenation -2024-02-23 10:18:44, INFO: Layerwise_graph: False -2024-02-23 10:18:44, INFO: Skip_connection: True -2024-02-23 10:18:44, INFO: Number of layers: 1 -2024-02-23 10:18:44, INFO: Similarity_func: concatenation -2024-02-23 10:18:44, INFO: Layerwise_graph: False -2024-02-23 10:18:44, INFO: Skip_connection: True -2024-02-23 10:18:44, INFO: Number of layers: 1 -2024-02-23 10:18:44, INFO: Planning depth: 1 -2024-02-23 10:18:44, INFO: Planning width: 10 -2024-02-23 10:18:44, INFO: Sparse search: None -2024-02-23 10:18:47, INFO: human number: 10 -2024-02-23 10:18:47, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:18:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:18:47, INFO: Square width: 10, circle width: 4 -2024-02-23 10:18:47, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:18:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:18:51, INFO: Animation.save using -2024-02-23 10:18:57, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:18:57, INFO: Using device: cpu -2024-02-23 10:18:57, INFO: Loaded RL weights with best VAL -2024-02-23 10:18:57, INFO: Similarity_func: concatenation -2024-02-23 10:18:57, INFO: Layerwise_graph: False -2024-02-23 10:18:57, INFO: Skip_connection: True -2024-02-23 10:18:57, INFO: Number of layers: 1 -2024-02-23 10:18:57, INFO: Similarity_func: concatenation -2024-02-23 10:18:57, INFO: Layerwise_graph: False -2024-02-23 10:18:57, INFO: Skip_connection: True -2024-02-23 10:18:57, INFO: Number of layers: 1 -2024-02-23 10:18:57, INFO: Planning depth: 1 -2024-02-23 10:18:57, INFO: Planning width: 10 -2024-02-23 10:18:57, INFO: Sparse search: None -2024-02-23 10:18:57, INFO: human number: 10 -2024-02-23 10:18:57, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:18:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:18:57, INFO: Square width: 10, circle width: 4 -2024-02-23 10:18:57, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:18:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:19:00, INFO: Animation.save using -2024-02-23 10:19:06, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:41:56, INFO: Using device: cpu -2024-02-23 10:41:56, INFO: Loaded RL weights with best VAL -2024-02-23 10:41:56, INFO: Similarity_func: concatenation -2024-02-23 10:41:56, INFO: Layerwise_graph: False -2024-02-23 10:41:56, INFO: Skip_connection: True -2024-02-23 10:41:56, INFO: Number of layers: 1 -2024-02-23 10:41:56, INFO: Similarity_func: concatenation -2024-02-23 10:41:56, INFO: Layerwise_graph: False -2024-02-23 10:41:56, INFO: Skip_connection: True -2024-02-23 10:41:56, INFO: Number of layers: 1 -2024-02-23 10:41:56, INFO: Planning depth: 1 -2024-02-23 10:41:56, INFO: Planning width: 10 -2024-02-23 10:41:56, INFO: Sparse search: None -2024-02-23 10:41:59, INFO: human number: 10 -2024-02-23 10:41:59, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:41:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:41:59, INFO: Square width: 10, circle width: 4 -2024-02-23 10:41:59, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:41:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:42:02, INFO: Animation.save using -2024-02-23 10:42:09, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:42:09, INFO: Using device: cpu -2024-02-23 10:42:09, INFO: Loaded RL weights with best VAL -2024-02-23 10:42:09, INFO: Similarity_func: concatenation -2024-02-23 10:42:09, INFO: Layerwise_graph: False -2024-02-23 10:42:09, INFO: Skip_connection: True -2024-02-23 10:42:09, INFO: Number of layers: 1 -2024-02-23 10:42:09, INFO: Similarity_func: concatenation -2024-02-23 10:42:09, INFO: Layerwise_graph: False -2024-02-23 10:42:09, INFO: Skip_connection: True -2024-02-23 10:42:09, INFO: Number of layers: 1 -2024-02-23 10:42:09, INFO: Planning depth: 1 -2024-02-23 10:42:09, INFO: Planning width: 10 -2024-02-23 10:42:09, INFO: Sparse search: None -2024-02-23 10:42:09, INFO: human number: 10 -2024-02-23 10:42:09, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:42:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:42:09, INFO: Square width: 10, circle width: 4 -2024-02-23 10:42:09, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:42:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:42:11, INFO: Animation.save using -2024-02-23 10:42:18, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:42:54, INFO: Using device: cpu -2024-02-23 10:42:54, INFO: Loaded RL weights with best VAL -2024-02-23 10:42:54, INFO: Similarity_func: concatenation -2024-02-23 10:42:54, INFO: Layerwise_graph: False -2024-02-23 10:42:54, INFO: Skip_connection: True -2024-02-23 10:42:54, INFO: Number of layers: 1 -2024-02-23 10:42:54, INFO: Similarity_func: concatenation -2024-02-23 10:42:54, INFO: Layerwise_graph: False -2024-02-23 10:42:54, INFO: Skip_connection: True -2024-02-23 10:42:54, INFO: Number of layers: 1 -2024-02-23 10:42:54, INFO: Planning depth: 1 -2024-02-23 10:42:54, INFO: Planning width: 10 -2024-02-23 10:42:54, INFO: Sparse search: None -2024-02-23 10:42:57, INFO: human number: 10 -2024-02-23 10:42:57, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:42:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:42:57, INFO: Square width: 10, circle width: 4 -2024-02-23 10:42:57, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:42:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:43:00, INFO: Animation.save using -2024-02-23 10:43:07, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:43:07, INFO: Using device: cpu -2024-02-23 10:43:07, INFO: Loaded RL weights with best VAL -2024-02-23 10:43:07, INFO: Similarity_func: concatenation -2024-02-23 10:43:07, INFO: Layerwise_graph: False -2024-02-23 10:43:07, INFO: Skip_connection: True -2024-02-23 10:43:07, INFO: Number of layers: 1 -2024-02-23 10:43:07, INFO: Similarity_func: concatenation -2024-02-23 10:43:07, INFO: Layerwise_graph: False -2024-02-23 10:43:07, INFO: Skip_connection: True -2024-02-23 10:43:07, INFO: Number of layers: 1 -2024-02-23 10:43:07, INFO: Planning depth: 1 -2024-02-23 10:43:07, INFO: Planning width: 10 -2024-02-23 10:43:07, INFO: Sparse search: None -2024-02-23 10:43:07, INFO: human number: 10 -2024-02-23 10:43:07, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:43:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:43:07, INFO: Square width: 10, circle width: 4 -2024-02-23 10:43:07, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:43:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:43:10, INFO: Animation.save using -2024-02-23 10:43:17, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:44:20, INFO: Using device: cpu -2024-02-23 10:44:20, INFO: Loaded RL weights with best VAL -2024-02-23 10:44:20, INFO: Similarity_func: concatenation -2024-02-23 10:44:20, INFO: Layerwise_graph: False -2024-02-23 10:44:20, INFO: Skip_connection: True -2024-02-23 10:44:20, INFO: Number of layers: 1 -2024-02-23 10:44:20, INFO: Similarity_func: concatenation -2024-02-23 10:44:20, INFO: Layerwise_graph: False -2024-02-23 10:44:20, INFO: Skip_connection: True -2024-02-23 10:44:20, INFO: Number of layers: 1 -2024-02-23 10:44:20, INFO: Planning depth: 1 -2024-02-23 10:44:20, INFO: Planning width: 10 -2024-02-23 10:44:20, INFO: Sparse search: None -2024-02-23 10:44:23, INFO: human number: 10 -2024-02-23 10:44:23, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:44:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:44:23, INFO: Square width: 10, circle width: 4 -2024-02-23 10:44:23, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:44:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:44:26, INFO: Animation.save using -2024-02-23 10:44:33, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:44:33, INFO: Using device: cpu -2024-02-23 10:44:33, INFO: Loaded RL weights with best VAL -2024-02-23 10:44:33, INFO: Similarity_func: concatenation -2024-02-23 10:44:33, INFO: Layerwise_graph: False -2024-02-23 10:44:33, INFO: Skip_connection: True -2024-02-23 10:44:33, INFO: Number of layers: 1 -2024-02-23 10:44:33, INFO: Similarity_func: concatenation -2024-02-23 10:44:33, INFO: Layerwise_graph: False -2024-02-23 10:44:33, INFO: Skip_connection: True -2024-02-23 10:44:33, INFO: Number of layers: 1 -2024-02-23 10:44:33, INFO: Planning depth: 1 -2024-02-23 10:44:33, INFO: Planning width: 10 -2024-02-23 10:44:33, INFO: Sparse search: None -2024-02-23 10:44:33, INFO: human number: 10 -2024-02-23 10:44:33, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:44:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:44:33, INFO: Square width: 10, circle width: 4 -2024-02-23 10:44:33, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:44:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:44:36, INFO: Animation.save using -2024-02-23 10:44:42, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:51:18, INFO: Using device: cpu -2024-02-23 10:51:18, INFO: Loaded RL weights with best VAL -2024-02-23 10:51:18, INFO: Similarity_func: concatenation -2024-02-23 10:51:18, INFO: Layerwise_graph: False -2024-02-23 10:51:18, INFO: Skip_connection: True -2024-02-23 10:51:18, INFO: Number of layers: 1 -2024-02-23 10:51:18, INFO: Similarity_func: concatenation -2024-02-23 10:51:18, INFO: Layerwise_graph: False -2024-02-23 10:51:18, INFO: Skip_connection: True -2024-02-23 10:51:18, INFO: Number of layers: 1 -2024-02-23 10:51:18, INFO: Planning depth: 1 -2024-02-23 10:51:18, INFO: Planning width: 10 -2024-02-23 10:51:18, INFO: Sparse search: None -2024-02-23 10:51:22, INFO: human number: 10 -2024-02-23 10:51:22, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:51:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:51:22, INFO: Square width: 10, circle width: 4 -2024-02-23 10:51:22, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:51:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:51:25, INFO: Animation.save using -2024-02-23 10:51:32, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 10:51:32, INFO: Using device: cpu -2024-02-23 10:51:32, INFO: Loaded RL weights with best VAL -2024-02-23 10:51:32, INFO: Similarity_func: concatenation -2024-02-23 10:51:32, INFO: Layerwise_graph: False -2024-02-23 10:51:32, INFO: Skip_connection: True -2024-02-23 10:51:32, INFO: Number of layers: 1 -2024-02-23 10:51:32, INFO: Similarity_func: concatenation -2024-02-23 10:51:32, INFO: Layerwise_graph: False -2024-02-23 10:51:32, INFO: Skip_connection: True -2024-02-23 10:51:32, INFO: Number of layers: 1 -2024-02-23 10:51:32, INFO: Planning depth: 1 -2024-02-23 10:51:32, INFO: Planning width: 10 -2024-02-23 10:51:32, INFO: Sparse search: None -2024-02-23 10:51:32, INFO: human number: 10 -2024-02-23 10:51:32, INFO: Not randomize human's radius and preferred speed -2024-02-23 10:51:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 10:51:32, INFO: Square width: 10, circle width: 4 -2024-02-23 10:51:32, INFO: rotation constraint: 3.141592653589793 -2024-02-23 10:51:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 10:51:35, INFO: Animation.save using -2024-02-23 10:51:42, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:24:52, INFO: Using device: cpu -2024-02-23 11:24:52, INFO: Loaded RL weights with best VAL -2024-02-23 11:24:52, INFO: Similarity_func: concatenation -2024-02-23 11:24:52, INFO: Layerwise_graph: False -2024-02-23 11:24:52, INFO: Skip_connection: True -2024-02-23 11:24:52, INFO: Number of layers: 1 -2024-02-23 11:24:52, INFO: Similarity_func: concatenation -2024-02-23 11:24:52, INFO: Layerwise_graph: False -2024-02-23 11:24:52, INFO: Skip_connection: True -2024-02-23 11:24:52, INFO: Number of layers: 1 -2024-02-23 11:24:52, INFO: Planning depth: 1 -2024-02-23 11:24:52, INFO: Planning width: 10 -2024-02-23 11:24:52, INFO: Sparse search: None -2024-02-23 11:24:55, INFO: human number: 10 -2024-02-23 11:24:55, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:24:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:24:55, INFO: Square width: 10, circle width: 4 -2024-02-23 11:24:55, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:24:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:25:23, INFO: Using device: cpu -2024-02-23 11:25:23, INFO: Loaded RL weights with best VAL -2024-02-23 11:25:23, INFO: Similarity_func: concatenation -2024-02-23 11:25:23, INFO: Layerwise_graph: False -2024-02-23 11:25:23, INFO: Skip_connection: True -2024-02-23 11:25:23, INFO: Number of layers: 1 -2024-02-23 11:25:23, INFO: Similarity_func: concatenation -2024-02-23 11:25:23, INFO: Layerwise_graph: False -2024-02-23 11:25:23, INFO: Skip_connection: True -2024-02-23 11:25:23, INFO: Number of layers: 1 -2024-02-23 11:25:23, INFO: Planning depth: 1 -2024-02-23 11:25:23, INFO: Planning width: 10 -2024-02-23 11:25:23, INFO: Sparse search: None -2024-02-23 11:25:27, INFO: human number: 10 -2024-02-23 11:25:27, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:25:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:25:27, INFO: Square width: 10, circle width: 4 -2024-02-23 11:25:27, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:25:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:27:57, INFO: Using device: cpu -2024-02-23 11:27:57, INFO: Loaded RL weights with best VAL -2024-02-23 11:27:57, INFO: Similarity_func: concatenation -2024-02-23 11:27:57, INFO: Layerwise_graph: False -2024-02-23 11:27:57, INFO: Skip_connection: True -2024-02-23 11:27:57, INFO: Number of layers: 1 -2024-02-23 11:27:57, INFO: Similarity_func: concatenation -2024-02-23 11:27:57, INFO: Layerwise_graph: False -2024-02-23 11:27:57, INFO: Skip_connection: True -2024-02-23 11:27:57, INFO: Number of layers: 1 -2024-02-23 11:27:57, INFO: Planning depth: 1 -2024-02-23 11:27:57, INFO: Planning width: 10 -2024-02-23 11:27:57, INFO: Sparse search: None -2024-02-23 11:28:01, INFO: human number: 10 -2024-02-23 11:28:01, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:28:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:28:01, INFO: Square width: 10, circle width: 4 -2024-02-23 11:28:01, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:28:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:28:38, INFO: Using device: cpu -2024-02-23 11:28:38, INFO: Loaded RL weights with best VAL -2024-02-23 11:28:38, INFO: Similarity_func: concatenation -2024-02-23 11:28:38, INFO: Layerwise_graph: False -2024-02-23 11:28:38, INFO: Skip_connection: True -2024-02-23 11:28:38, INFO: Number of layers: 1 -2024-02-23 11:28:38, INFO: Similarity_func: concatenation -2024-02-23 11:28:38, INFO: Layerwise_graph: False -2024-02-23 11:28:38, INFO: Skip_connection: True -2024-02-23 11:28:38, INFO: Number of layers: 1 -2024-02-23 11:28:38, INFO: Planning depth: 1 -2024-02-23 11:28:38, INFO: Planning width: 10 -2024-02-23 11:28:38, INFO: Sparse search: None -2024-02-23 11:28:42, INFO: human number: 10 -2024-02-23 11:28:42, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:28:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:28:42, INFO: Square width: 10, circle width: 4 -2024-02-23 11:28:42, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:28:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:28:55, INFO: Using device: cpu -2024-02-23 11:28:55, INFO: Loaded RL weights with best VAL -2024-02-23 11:28:55, INFO: Similarity_func: concatenation -2024-02-23 11:28:55, INFO: Layerwise_graph: False -2024-02-23 11:28:55, INFO: Skip_connection: True -2024-02-23 11:28:55, INFO: Number of layers: 1 -2024-02-23 11:28:55, INFO: Similarity_func: concatenation -2024-02-23 11:28:55, INFO: Layerwise_graph: False -2024-02-23 11:28:55, INFO: Skip_connection: True -2024-02-23 11:28:55, INFO: Number of layers: 1 -2024-02-23 11:28:55, INFO: Planning depth: 1 -2024-02-23 11:28:55, INFO: Planning width: 10 -2024-02-23 11:28:55, INFO: Sparse search: None -2024-02-23 11:28:59, INFO: human number: 10 -2024-02-23 11:28:59, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:28:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:28:59, INFO: Square width: 10, circle width: 4 -2024-02-23 11:28:59, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:28:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:30:58, INFO: Using device: cpu -2024-02-23 11:30:58, INFO: Loaded RL weights with best VAL -2024-02-23 11:30:58, INFO: Similarity_func: concatenation -2024-02-23 11:30:58, INFO: Layerwise_graph: False -2024-02-23 11:30:58, INFO: Skip_connection: True -2024-02-23 11:30:58, INFO: Number of layers: 1 -2024-02-23 11:30:58, INFO: Similarity_func: concatenation -2024-02-23 11:30:58, INFO: Layerwise_graph: False -2024-02-23 11:30:58, INFO: Skip_connection: True -2024-02-23 11:30:58, INFO: Number of layers: 1 -2024-02-23 11:30:58, INFO: Planning depth: 1 -2024-02-23 11:30:58, INFO: Planning width: 10 -2024-02-23 11:30:58, INFO: Sparse search: None -2024-02-23 11:31:02, INFO: human number: 10 -2024-02-23 11:31:02, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:31:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:31:02, INFO: Square width: 10, circle width: 4 -2024-02-23 11:31:02, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:31:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:37:01, INFO: Using device: cpu -2024-02-23 11:37:01, INFO: Loaded RL weights with best VAL -2024-02-23 11:37:01, INFO: Similarity_func: concatenation -2024-02-23 11:37:01, INFO: Layerwise_graph: False -2024-02-23 11:37:01, INFO: Skip_connection: True -2024-02-23 11:37:01, INFO: Number of layers: 1 -2024-02-23 11:37:01, INFO: Similarity_func: concatenation -2024-02-23 11:37:01, INFO: Layerwise_graph: False -2024-02-23 11:37:01, INFO: Skip_connection: True -2024-02-23 11:37:01, INFO: Number of layers: 1 -2024-02-23 11:37:01, INFO: Planning depth: 1 -2024-02-23 11:37:01, INFO: Planning width: 10 -2024-02-23 11:37:01, INFO: Sparse search: None -2024-02-23 11:37:13, INFO: Using device: cpu -2024-02-23 11:37:13, INFO: Loaded RL weights with best VAL -2024-02-23 11:37:13, INFO: Similarity_func: concatenation -2024-02-23 11:37:13, INFO: Layerwise_graph: False -2024-02-23 11:37:13, INFO: Skip_connection: True -2024-02-23 11:37:13, INFO: Number of layers: 1 -2024-02-23 11:37:13, INFO: Similarity_func: concatenation -2024-02-23 11:37:13, INFO: Layerwise_graph: False -2024-02-23 11:37:13, INFO: Skip_connection: True -2024-02-23 11:37:13, INFO: Number of layers: 1 -2024-02-23 11:37:13, INFO: Planning depth: 1 -2024-02-23 11:37:13, INFO: Planning width: 10 -2024-02-23 11:37:13, INFO: Sparse search: None -2024-02-23 11:37:17, INFO: human number: 10 -2024-02-23 11:37:17, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:37:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:37:17, INFO: Square width: 10, circle width: 4 -2024-02-23 11:37:17, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:37:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:37:21, INFO: Animation.save using -2024-02-23 11:37:30, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:37:30, INFO: Using device: cpu -2024-02-23 11:37:30, INFO: Loaded RL weights with best VAL -2024-02-23 11:37:30, INFO: Similarity_func: concatenation -2024-02-23 11:37:30, INFO: Layerwise_graph: False -2024-02-23 11:37:30, INFO: Skip_connection: True -2024-02-23 11:37:30, INFO: Number of layers: 1 -2024-02-23 11:37:30, INFO: Similarity_func: concatenation -2024-02-23 11:37:30, INFO: Layerwise_graph: False -2024-02-23 11:37:30, INFO: Skip_connection: True -2024-02-23 11:37:30, INFO: Number of layers: 1 -2024-02-23 11:37:30, INFO: Planning depth: 1 -2024-02-23 11:37:30, INFO: Planning width: 10 -2024-02-23 11:37:30, INFO: Sparse search: None -2024-02-23 11:37:30, INFO: human number: 10 -2024-02-23 11:37:30, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:37:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:37:30, INFO: Square width: 10, circle width: 4 -2024-02-23 11:37:30, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:37:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:37:33, INFO: Animation.save using -2024-02-23 11:37:40, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:39:58, INFO: Using device: cpu -2024-02-23 11:39:58, INFO: Loaded RL weights with best VAL -2024-02-23 11:39:58, INFO: Similarity_func: concatenation -2024-02-23 11:39:58, INFO: Layerwise_graph: False -2024-02-23 11:39:58, INFO: Skip_connection: True -2024-02-23 11:39:58, INFO: Number of layers: 1 -2024-02-23 11:39:58, INFO: Similarity_func: concatenation -2024-02-23 11:39:58, INFO: Layerwise_graph: False -2024-02-23 11:39:58, INFO: Skip_connection: True -2024-02-23 11:39:58, INFO: Number of layers: 1 -2024-02-23 11:39:58, INFO: Planning depth: 1 -2024-02-23 11:39:58, INFO: Planning width: 10 -2024-02-23 11:39:58, INFO: Sparse search: None -2024-02-23 11:40:02, INFO: human number: 10 -2024-02-23 11:40:02, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:40:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:40:02, INFO: Square width: 10, circle width: 4 -2024-02-23 11:40:02, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:40:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:40:05, INFO: Animation.save using -2024-02-23 11:40:12, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:40:12, INFO: Using device: cpu -2024-02-23 11:40:12, INFO: Loaded RL weights with best VAL -2024-02-23 11:40:12, INFO: Similarity_func: concatenation -2024-02-23 11:40:12, INFO: Layerwise_graph: False -2024-02-23 11:40:12, INFO: Skip_connection: True -2024-02-23 11:40:12, INFO: Number of layers: 1 -2024-02-23 11:40:12, INFO: Similarity_func: concatenation -2024-02-23 11:40:12, INFO: Layerwise_graph: False -2024-02-23 11:40:12, INFO: Skip_connection: True -2024-02-23 11:40:12, INFO: Number of layers: 1 -2024-02-23 11:40:12, INFO: Planning depth: 1 -2024-02-23 11:40:12, INFO: Planning width: 10 -2024-02-23 11:40:12, INFO: Sparse search: None -2024-02-23 11:40:12, INFO: human number: 10 -2024-02-23 11:40:12, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:40:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:40:12, INFO: Square width: 10, circle width: 4 -2024-02-23 11:40:12, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:40:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:40:14, INFO: Animation.save using -2024-02-23 11:40:21, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:41:44, INFO: Using device: cpu -2024-02-23 11:41:44, INFO: Loaded RL weights with best VAL -2024-02-23 11:41:44, INFO: Similarity_func: concatenation -2024-02-23 11:41:44, INFO: Layerwise_graph: False -2024-02-23 11:41:44, INFO: Skip_connection: True -2024-02-23 11:41:44, INFO: Number of layers: 1 -2024-02-23 11:41:44, INFO: Similarity_func: concatenation -2024-02-23 11:41:44, INFO: Layerwise_graph: False -2024-02-23 11:41:44, INFO: Skip_connection: True -2024-02-23 11:41:44, INFO: Number of layers: 1 -2024-02-23 11:41:44, INFO: Planning depth: 1 -2024-02-23 11:41:44, INFO: Planning width: 10 -2024-02-23 11:41:44, INFO: Sparse search: None -2024-02-23 11:41:47, INFO: human number: 10 -2024-02-23 11:41:47, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:41:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:41:47, INFO: Square width: 10, circle width: 4 -2024-02-23 11:41:47, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:41:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:41:51, INFO: Animation.save using -2024-02-23 11:41:59, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:41:59, INFO: Using device: cpu -2024-02-23 11:41:59, INFO: Loaded RL weights with best VAL -2024-02-23 11:41:59, INFO: Similarity_func: concatenation -2024-02-23 11:41:59, INFO: Layerwise_graph: False -2024-02-23 11:41:59, INFO: Skip_connection: True -2024-02-23 11:41:59, INFO: Number of layers: 1 -2024-02-23 11:41:59, INFO: Similarity_func: concatenation -2024-02-23 11:41:59, INFO: Layerwise_graph: False -2024-02-23 11:41:59, INFO: Skip_connection: True -2024-02-23 11:41:59, INFO: Number of layers: 1 -2024-02-23 11:41:59, INFO: Planning depth: 1 -2024-02-23 11:41:59, INFO: Planning width: 10 -2024-02-23 11:41:59, INFO: Sparse search: None -2024-02-23 11:41:59, INFO: human number: 10 -2024-02-23 11:41:59, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:41:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:41:59, INFO: Square width: 10, circle width: 4 -2024-02-23 11:41:59, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:41:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:42:02, INFO: Animation.save using -2024-02-23 11:42:09, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:42:32, INFO: Using device: cpu -2024-02-23 11:42:32, INFO: Loaded RL weights with best VAL -2024-02-23 11:42:32, INFO: Similarity_func: concatenation -2024-02-23 11:42:32, INFO: Layerwise_graph: False -2024-02-23 11:42:32, INFO: Skip_connection: True -2024-02-23 11:42:32, INFO: Number of layers: 1 -2024-02-23 11:42:32, INFO: Similarity_func: concatenation -2024-02-23 11:42:32, INFO: Layerwise_graph: False -2024-02-23 11:42:32, INFO: Skip_connection: True -2024-02-23 11:42:32, INFO: Number of layers: 1 -2024-02-23 11:42:32, INFO: Planning depth: 1 -2024-02-23 11:42:32, INFO: Planning width: 10 -2024-02-23 11:42:32, INFO: Sparse search: None -2024-02-23 11:42:35, INFO: human number: 10 -2024-02-23 11:42:35, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:42:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:42:35, INFO: Square width: 10, circle width: 4 -2024-02-23 11:42:35, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:42:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:42:39, INFO: Animation.save using -2024-02-23 11:42:48, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:42:48, INFO: Using device: cpu -2024-02-23 11:42:48, INFO: Loaded RL weights with best VAL -2024-02-23 11:42:48, INFO: Similarity_func: concatenation -2024-02-23 11:42:48, INFO: Layerwise_graph: False -2024-02-23 11:42:48, INFO: Skip_connection: True -2024-02-23 11:42:48, INFO: Number of layers: 1 -2024-02-23 11:42:48, INFO: Similarity_func: concatenation -2024-02-23 11:42:48, INFO: Layerwise_graph: False -2024-02-23 11:42:48, INFO: Skip_connection: True -2024-02-23 11:42:48, INFO: Number of layers: 1 -2024-02-23 11:42:48, INFO: Planning depth: 1 -2024-02-23 11:42:48, INFO: Planning width: 10 -2024-02-23 11:42:48, INFO: Sparse search: None -2024-02-23 11:42:48, INFO: human number: 10 -2024-02-23 11:42:48, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:42:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:42:48, INFO: Square width: 10, circle width: 4 -2024-02-23 11:42:48, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:42:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:42:51, INFO: Animation.save using -2024-02-23 11:42:59, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:46:10, INFO: Using device: cpu -2024-02-23 11:46:10, INFO: Loaded RL weights with best VAL -2024-02-23 11:46:10, INFO: Similarity_func: concatenation -2024-02-23 11:46:10, INFO: Layerwise_graph: False -2024-02-23 11:46:10, INFO: Skip_connection: True -2024-02-23 11:46:10, INFO: Number of layers: 1 -2024-02-23 11:46:10, INFO: Similarity_func: concatenation -2024-02-23 11:46:10, INFO: Layerwise_graph: False -2024-02-23 11:46:10, INFO: Skip_connection: True -2024-02-23 11:46:10, INFO: Number of layers: 1 -2024-02-23 11:46:10, INFO: Planning depth: 1 -2024-02-23 11:46:10, INFO: Planning width: 10 -2024-02-23 11:46:10, INFO: Sparse search: None -2024-02-23 11:46:13, INFO: human number: 10 -2024-02-23 11:46:13, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:46:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:46:13, INFO: Square width: 10, circle width: 4 -2024-02-23 11:46:13, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:46:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:46:17, INFO: Animation.save using -2024-02-23 11:46:24, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:46:24, INFO: Using device: cpu -2024-02-23 11:46:24, INFO: Loaded RL weights with best VAL -2024-02-23 11:46:24, INFO: Similarity_func: concatenation -2024-02-23 11:46:24, INFO: Layerwise_graph: False -2024-02-23 11:46:24, INFO: Skip_connection: True -2024-02-23 11:46:24, INFO: Number of layers: 1 -2024-02-23 11:46:24, INFO: Similarity_func: concatenation -2024-02-23 11:46:24, INFO: Layerwise_graph: False -2024-02-23 11:46:24, INFO: Skip_connection: True -2024-02-23 11:46:24, INFO: Number of layers: 1 -2024-02-23 11:46:24, INFO: Planning depth: 1 -2024-02-23 11:46:24, INFO: Planning width: 10 -2024-02-23 11:46:24, INFO: Sparse search: None -2024-02-23 11:46:24, INFO: human number: 10 -2024-02-23 11:46:24, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:46:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:46:24, INFO: Square width: 10, circle width: 4 -2024-02-23 11:46:24, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:46:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:46:27, INFO: Animation.save using -2024-02-23 11:46:34, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:47:07, INFO: Using device: cpu -2024-02-23 11:47:07, INFO: Loaded RL weights with best VAL -2024-02-23 11:47:07, INFO: Similarity_func: concatenation -2024-02-23 11:47:07, INFO: Layerwise_graph: False -2024-02-23 11:47:07, INFO: Skip_connection: True -2024-02-23 11:47:07, INFO: Number of layers: 1 -2024-02-23 11:47:07, INFO: Similarity_func: concatenation -2024-02-23 11:47:07, INFO: Layerwise_graph: False -2024-02-23 11:47:07, INFO: Skip_connection: True -2024-02-23 11:47:07, INFO: Number of layers: 1 -2024-02-23 11:47:07, INFO: Planning depth: 1 -2024-02-23 11:47:07, INFO: Planning width: 10 -2024-02-23 11:47:07, INFO: Sparse search: None -2024-02-23 11:47:11, INFO: human number: 10 -2024-02-23 11:47:11, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:47:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:47:11, INFO: Square width: 10, circle width: 4 -2024-02-23 11:47:11, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:47:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:47:14, INFO: Animation.save using -2024-02-23 11:47:21, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:47:21, INFO: Using device: cpu -2024-02-23 11:47:21, INFO: Loaded RL weights with best VAL -2024-02-23 11:47:21, INFO: Similarity_func: concatenation -2024-02-23 11:47:21, INFO: Layerwise_graph: False -2024-02-23 11:47:21, INFO: Skip_connection: True -2024-02-23 11:47:21, INFO: Number of layers: 1 -2024-02-23 11:47:21, INFO: Similarity_func: concatenation -2024-02-23 11:47:21, INFO: Layerwise_graph: False -2024-02-23 11:47:21, INFO: Skip_connection: True -2024-02-23 11:47:21, INFO: Number of layers: 1 -2024-02-23 11:47:21, INFO: Planning depth: 1 -2024-02-23 11:47:21, INFO: Planning width: 10 -2024-02-23 11:47:21, INFO: Sparse search: None -2024-02-23 11:47:21, INFO: human number: 10 -2024-02-23 11:47:21, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:47:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:47:21, INFO: Square width: 10, circle width: 4 -2024-02-23 11:47:21, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:47:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:47:23, INFO: Animation.save using -2024-02-23 11:47:30, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:47:40, INFO: Using device: cpu -2024-02-23 11:47:40, INFO: Loaded RL weights with best VAL -2024-02-23 11:47:40, INFO: Similarity_func: concatenation -2024-02-23 11:47:40, INFO: Layerwise_graph: False -2024-02-23 11:47:40, INFO: Skip_connection: True -2024-02-23 11:47:40, INFO: Number of layers: 1 -2024-02-23 11:47:40, INFO: Similarity_func: concatenation -2024-02-23 11:47:40, INFO: Layerwise_graph: False -2024-02-23 11:47:40, INFO: Skip_connection: True -2024-02-23 11:47:40, INFO: Number of layers: 1 -2024-02-23 11:47:40, INFO: Planning depth: 1 -2024-02-23 11:47:40, INFO: Planning width: 10 -2024-02-23 11:47:40, INFO: Sparse search: None -2024-02-23 11:47:44, INFO: human number: 10 -2024-02-23 11:47:44, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:47:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:47:44, INFO: Square width: 10, circle width: 4 -2024-02-23 11:47:44, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:47:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:47:48, INFO: Animation.save using -2024-02-23 11:47:57, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:47:57, INFO: Using device: cpu -2024-02-23 11:47:57, INFO: Loaded RL weights with best VAL -2024-02-23 11:47:57, INFO: Similarity_func: concatenation -2024-02-23 11:47:57, INFO: Layerwise_graph: False -2024-02-23 11:47:57, INFO: Skip_connection: True -2024-02-23 11:47:57, INFO: Number of layers: 1 -2024-02-23 11:47:57, INFO: Similarity_func: concatenation -2024-02-23 11:47:57, INFO: Layerwise_graph: False -2024-02-23 11:47:57, INFO: Skip_connection: True -2024-02-23 11:47:57, INFO: Number of layers: 1 -2024-02-23 11:47:57, INFO: Planning depth: 1 -2024-02-23 11:47:57, INFO: Planning width: 10 -2024-02-23 11:47:57, INFO: Sparse search: None -2024-02-23 11:47:57, INFO: human number: 10 -2024-02-23 11:47:57, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:47:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:47:57, INFO: Square width: 10, circle width: 4 -2024-02-23 11:47:57, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:47:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:48:01, INFO: Animation.save using -2024-02-23 11:48:10, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:48:22, INFO: Using device: cpu -2024-02-23 11:48:22, INFO: Loaded RL weights with best VAL -2024-02-23 11:48:22, INFO: Similarity_func: concatenation -2024-02-23 11:48:22, INFO: Layerwise_graph: False -2024-02-23 11:48:22, INFO: Skip_connection: True -2024-02-23 11:48:22, INFO: Number of layers: 1 -2024-02-23 11:48:22, INFO: Similarity_func: concatenation -2024-02-23 11:48:22, INFO: Layerwise_graph: False -2024-02-23 11:48:22, INFO: Skip_connection: True -2024-02-23 11:48:22, INFO: Number of layers: 1 -2024-02-23 11:48:22, INFO: Planning depth: 1 -2024-02-23 11:48:22, INFO: Planning width: 10 -2024-02-23 11:48:22, INFO: Sparse search: None -2024-02-23 11:48:26, INFO: human number: 10 -2024-02-23 11:48:26, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:48:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:48:26, INFO: Square width: 10, circle width: 4 -2024-02-23 11:48:26, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:48:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:48:30, INFO: Animation.save using -2024-02-23 11:48:37, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:48:37, INFO: Using device: cpu -2024-02-23 11:48:37, INFO: Loaded RL weights with best VAL -2024-02-23 11:48:37, INFO: Similarity_func: concatenation -2024-02-23 11:48:37, INFO: Layerwise_graph: False -2024-02-23 11:48:37, INFO: Skip_connection: True -2024-02-23 11:48:37, INFO: Number of layers: 1 -2024-02-23 11:48:37, INFO: Similarity_func: concatenation -2024-02-23 11:48:37, INFO: Layerwise_graph: False -2024-02-23 11:48:37, INFO: Skip_connection: True -2024-02-23 11:48:37, INFO: Number of layers: 1 -2024-02-23 11:48:37, INFO: Planning depth: 1 -2024-02-23 11:48:37, INFO: Planning width: 10 -2024-02-23 11:48:37, INFO: Sparse search: None -2024-02-23 11:48:37, INFO: human number: 10 -2024-02-23 11:48:37, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:48:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:48:37, INFO: Square width: 10, circle width: 4 -2024-02-23 11:48:37, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:48:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:48:39, INFO: Animation.save using -2024-02-23 11:48:46, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:49:06, INFO: Using device: cpu -2024-02-23 11:49:06, INFO: Loaded RL weights with best VAL -2024-02-23 11:49:06, INFO: Similarity_func: concatenation -2024-02-23 11:49:06, INFO: Layerwise_graph: False -2024-02-23 11:49:06, INFO: Skip_connection: True -2024-02-23 11:49:06, INFO: Number of layers: 1 -2024-02-23 11:49:06, INFO: Similarity_func: concatenation -2024-02-23 11:49:06, INFO: Layerwise_graph: False -2024-02-23 11:49:06, INFO: Skip_connection: True -2024-02-23 11:49:06, INFO: Number of layers: 1 -2024-02-23 11:49:06, INFO: Planning depth: 1 -2024-02-23 11:49:06, INFO: Planning width: 10 -2024-02-23 11:49:06, INFO: Sparse search: None -2024-02-23 11:49:10, INFO: human number: 10 -2024-02-23 11:49:10, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:49:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:49:10, INFO: Square width: 10, circle width: 4 -2024-02-23 11:49:10, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:49:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:49:13, INFO: Animation.save using -2024-02-23 11:49:20, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:49:20, INFO: Using device: cpu -2024-02-23 11:49:20, INFO: Loaded RL weights with best VAL -2024-02-23 11:49:20, INFO: Similarity_func: concatenation -2024-02-23 11:49:20, INFO: Layerwise_graph: False -2024-02-23 11:49:20, INFO: Skip_connection: True -2024-02-23 11:49:20, INFO: Number of layers: 1 -2024-02-23 11:49:20, INFO: Similarity_func: concatenation -2024-02-23 11:49:20, INFO: Layerwise_graph: False -2024-02-23 11:49:20, INFO: Skip_connection: True -2024-02-23 11:49:20, INFO: Number of layers: 1 -2024-02-23 11:49:20, INFO: Planning depth: 1 -2024-02-23 11:49:20, INFO: Planning width: 10 -2024-02-23 11:49:20, INFO: Sparse search: None -2024-02-23 11:49:20, INFO: human number: 10 -2024-02-23 11:49:20, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:49:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:49:20, INFO: Square width: 10, circle width: 4 -2024-02-23 11:49:20, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:49:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:49:22, INFO: Animation.save using -2024-02-23 11:49:29, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:49:38, INFO: Using device: cpu -2024-02-23 11:49:38, INFO: Loaded RL weights with best VAL -2024-02-23 11:49:38, INFO: Similarity_func: concatenation -2024-02-23 11:49:38, INFO: Layerwise_graph: False -2024-02-23 11:49:38, INFO: Skip_connection: True -2024-02-23 11:49:38, INFO: Number of layers: 1 -2024-02-23 11:49:38, INFO: Similarity_func: concatenation -2024-02-23 11:49:38, INFO: Layerwise_graph: False -2024-02-23 11:49:38, INFO: Skip_connection: True -2024-02-23 11:49:38, INFO: Number of layers: 1 -2024-02-23 11:49:38, INFO: Planning depth: 1 -2024-02-23 11:49:38, INFO: Planning width: 10 -2024-02-23 11:49:38, INFO: Sparse search: None -2024-02-23 11:49:42, INFO: human number: 10 -2024-02-23 11:49:42, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:49:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:49:42, INFO: Square width: 10, circle width: 4 -2024-02-23 11:49:42, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:49:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:49:46, INFO: Animation.save using -2024-02-23 11:49:53, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:49:53, INFO: Using device: cpu -2024-02-23 11:49:53, INFO: Loaded RL weights with best VAL -2024-02-23 11:49:53, INFO: Similarity_func: concatenation -2024-02-23 11:49:53, INFO: Layerwise_graph: False -2024-02-23 11:49:53, INFO: Skip_connection: True -2024-02-23 11:49:53, INFO: Number of layers: 1 -2024-02-23 11:49:53, INFO: Similarity_func: concatenation -2024-02-23 11:49:53, INFO: Layerwise_graph: False -2024-02-23 11:49:53, INFO: Skip_connection: True -2024-02-23 11:49:53, INFO: Number of layers: 1 -2024-02-23 11:49:53, INFO: Planning depth: 1 -2024-02-23 11:49:53, INFO: Planning width: 10 -2024-02-23 11:49:53, INFO: Sparse search: None -2024-02-23 11:49:53, INFO: human number: 10 -2024-02-23 11:49:53, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:49:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:49:53, INFO: Square width: 10, circle width: 4 -2024-02-23 11:49:53, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:49:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:49:56, INFO: Animation.save using -2024-02-23 11:50:03, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:50:30, INFO: Using device: cpu -2024-02-23 11:50:30, INFO: Loaded RL weights with best VAL -2024-02-23 11:50:31, INFO: Similarity_func: concatenation -2024-02-23 11:50:31, INFO: Layerwise_graph: False -2024-02-23 11:50:31, INFO: Skip_connection: True -2024-02-23 11:50:31, INFO: Number of layers: 1 -2024-02-23 11:50:31, INFO: Similarity_func: concatenation -2024-02-23 11:50:31, INFO: Layerwise_graph: False -2024-02-23 11:50:31, INFO: Skip_connection: True -2024-02-23 11:50:31, INFO: Number of layers: 1 -2024-02-23 11:50:31, INFO: Planning depth: 1 -2024-02-23 11:50:31, INFO: Planning width: 10 -2024-02-23 11:50:31, INFO: Sparse search: None -2024-02-23 11:50:34, INFO: human number: 10 -2024-02-23 11:50:34, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:50:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:50:34, INFO: Square width: 10, circle width: 4 -2024-02-23 11:50:34, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:50:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:50:58, INFO: Using device: cpu -2024-02-23 11:50:58, INFO: Loaded RL weights with best VAL -2024-02-23 11:50:58, INFO: Similarity_func: concatenation -2024-02-23 11:50:58, INFO: Layerwise_graph: False -2024-02-23 11:50:58, INFO: Skip_connection: True -2024-02-23 11:50:58, INFO: Number of layers: 1 -2024-02-23 11:50:58, INFO: Similarity_func: concatenation -2024-02-23 11:50:58, INFO: Layerwise_graph: False -2024-02-23 11:50:58, INFO: Skip_connection: True -2024-02-23 11:50:58, INFO: Number of layers: 1 -2024-02-23 11:50:58, INFO: Planning depth: 1 -2024-02-23 11:50:58, INFO: Planning width: 10 -2024-02-23 11:50:58, INFO: Sparse search: None -2024-02-23 11:51:02, INFO: human number: 10 -2024-02-23 11:51:02, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:51:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:51:02, INFO: Square width: 10, circle width: 4 -2024-02-23 11:51:02, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:51:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:51:05, INFO: Animation.save using -2024-02-23 11:51:14, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:51:14, INFO: Using device: cpu -2024-02-23 11:51:14, INFO: Loaded RL weights with best VAL -2024-02-23 11:51:14, INFO: Similarity_func: concatenation -2024-02-23 11:51:14, INFO: Layerwise_graph: False -2024-02-23 11:51:14, INFO: Skip_connection: True -2024-02-23 11:51:14, INFO: Number of layers: 1 -2024-02-23 11:51:14, INFO: Similarity_func: concatenation -2024-02-23 11:51:14, INFO: Layerwise_graph: False -2024-02-23 11:51:14, INFO: Skip_connection: True -2024-02-23 11:51:14, INFO: Number of layers: 1 -2024-02-23 11:51:14, INFO: Planning depth: 1 -2024-02-23 11:51:14, INFO: Planning width: 10 -2024-02-23 11:51:14, INFO: Sparse search: None -2024-02-23 11:51:14, INFO: human number: 10 -2024-02-23 11:51:14, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:51:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:51:14, INFO: Square width: 10, circle width: 4 -2024-02-23 11:51:14, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:51:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:51:17, INFO: Animation.save using -2024-02-23 11:51:24, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 11:53:28, INFO: Using device: cpu -2024-02-23 11:53:28, INFO: Loaded RL weights with best VAL -2024-02-23 11:53:28, INFO: Similarity_func: concatenation -2024-02-23 11:53:28, INFO: Layerwise_graph: False -2024-02-23 11:53:28, INFO: Skip_connection: True -2024-02-23 11:53:28, INFO: Number of layers: 1 -2024-02-23 11:53:28, INFO: Similarity_func: concatenation -2024-02-23 11:53:28, INFO: Layerwise_graph: False -2024-02-23 11:53:28, INFO: Skip_connection: True -2024-02-23 11:53:28, INFO: Number of layers: 1 -2024-02-23 11:53:28, INFO: Planning depth: 1 -2024-02-23 11:53:28, INFO: Planning width: 10 -2024-02-23 11:53:28, INFO: Sparse search: None -2024-02-23 11:53:32, INFO: human number: 10 -2024-02-23 11:53:32, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:53:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:53:32, INFO: Square width: 10, circle width: 4 -2024-02-23 11:53:32, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:53:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:53:36, INFO: Animation.save using -2024-02-23 11:54:17, INFO: Using device: cpu -2024-02-23 11:54:17, INFO: Loaded RL weights with best VAL -2024-02-23 11:54:17, INFO: Similarity_func: concatenation -2024-02-23 11:54:17, INFO: Layerwise_graph: False -2024-02-23 11:54:17, INFO: Skip_connection: True -2024-02-23 11:54:17, INFO: Number of layers: 1 -2024-02-23 11:54:17, INFO: Similarity_func: concatenation -2024-02-23 11:54:17, INFO: Layerwise_graph: False -2024-02-23 11:54:17, INFO: Skip_connection: True -2024-02-23 11:54:17, INFO: Number of layers: 1 -2024-02-23 11:54:17, INFO: Planning depth: 1 -2024-02-23 11:54:17, INFO: Planning width: 10 -2024-02-23 11:54:17, INFO: Sparse search: None -2024-02-23 11:54:21, INFO: human number: 10 -2024-02-23 11:54:21, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:54:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:54:21, INFO: Square width: 10, circle width: 4 -2024-02-23 11:54:21, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:54:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:54:24, INFO: Animation.save using -2024-02-23 11:54:51, INFO: Using device: cpu -2024-02-23 11:54:51, INFO: Loaded RL weights with best VAL -2024-02-23 11:54:51, INFO: Similarity_func: concatenation -2024-02-23 11:54:51, INFO: Layerwise_graph: False -2024-02-23 11:54:51, INFO: Skip_connection: True -2024-02-23 11:54:51, INFO: Number of layers: 1 -2024-02-23 11:54:51, INFO: Similarity_func: concatenation -2024-02-23 11:54:51, INFO: Layerwise_graph: False -2024-02-23 11:54:51, INFO: Skip_connection: True -2024-02-23 11:54:51, INFO: Number of layers: 1 -2024-02-23 11:54:51, INFO: Planning depth: 1 -2024-02-23 11:54:51, INFO: Planning width: 10 -2024-02-23 11:54:51, INFO: Sparse search: None -2024-02-23 11:54:55, INFO: human number: 10 -2024-02-23 11:54:55, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:54:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:54:55, INFO: Square width: 10, circle width: 4 -2024-02-23 11:54:55, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:54:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:54:58, INFO: Animation.save using -2024-02-23 11:57:13, INFO: Using device: cpu -2024-02-23 11:57:13, INFO: Loaded RL weights with best VAL -2024-02-23 11:57:13, INFO: Similarity_func: concatenation -2024-02-23 11:57:13, INFO: Layerwise_graph: False -2024-02-23 11:57:13, INFO: Skip_connection: True -2024-02-23 11:57:13, INFO: Number of layers: 1 -2024-02-23 11:57:13, INFO: Similarity_func: concatenation -2024-02-23 11:57:13, INFO: Layerwise_graph: False -2024-02-23 11:57:13, INFO: Skip_connection: True -2024-02-23 11:57:13, INFO: Number of layers: 1 -2024-02-23 11:57:14, INFO: Planning depth: 1 -2024-02-23 11:57:14, INFO: Planning width: 10 -2024-02-23 11:57:14, INFO: Sparse search: None -2024-02-23 11:57:17, INFO: human number: 10 -2024-02-23 11:57:17, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:57:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:57:17, INFO: Square width: 10, circle width: 4 -2024-02-23 11:57:17, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:57:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:58:28, INFO: Using device: cpu -2024-02-23 11:58:28, INFO: Loaded RL weights with best VAL -2024-02-23 11:58:28, INFO: Similarity_func: concatenation -2024-02-23 11:58:28, INFO: Layerwise_graph: False -2024-02-23 11:58:28, INFO: Skip_connection: True -2024-02-23 11:58:28, INFO: Number of layers: 1 -2024-02-23 11:58:28, INFO: Similarity_func: concatenation -2024-02-23 11:58:28, INFO: Layerwise_graph: False -2024-02-23 11:58:28, INFO: Skip_connection: True -2024-02-23 11:58:28, INFO: Number of layers: 1 -2024-02-23 11:58:28, INFO: Planning depth: 1 -2024-02-23 11:58:28, INFO: Planning width: 10 -2024-02-23 11:58:28, INFO: Sparse search: None -2024-02-23 11:58:32, INFO: human number: 10 -2024-02-23 11:58:32, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:58:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:58:32, INFO: Square width: 10, circle width: 4 -2024-02-23 11:58:32, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:58:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 11:59:18, INFO: Using device: cpu -2024-02-23 11:59:18, INFO: Loaded RL weights with best VAL -2024-02-23 11:59:18, INFO: Similarity_func: concatenation -2024-02-23 11:59:18, INFO: Layerwise_graph: False -2024-02-23 11:59:18, INFO: Skip_connection: True -2024-02-23 11:59:18, INFO: Number of layers: 1 -2024-02-23 11:59:18, INFO: Similarity_func: concatenation -2024-02-23 11:59:18, INFO: Layerwise_graph: False -2024-02-23 11:59:18, INFO: Skip_connection: True -2024-02-23 11:59:18, INFO: Number of layers: 1 -2024-02-23 11:59:18, INFO: Planning depth: 1 -2024-02-23 11:59:18, INFO: Planning width: 10 -2024-02-23 11:59:18, INFO: Sparse search: None -2024-02-23 11:59:21, INFO: human number: 10 -2024-02-23 11:59:21, INFO: Not randomize human's radius and preferred speed -2024-02-23 11:59:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 11:59:21, INFO: Square width: 10, circle width: 4 -2024-02-23 11:59:21, INFO: rotation constraint: 3.141592653589793 -2024-02-23 11:59:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:02:35, INFO: Using device: cpu -2024-02-23 12:02:35, INFO: Loaded RL weights with best VAL -2024-02-23 12:02:35, INFO: Similarity_func: concatenation -2024-02-23 12:02:35, INFO: Layerwise_graph: False -2024-02-23 12:02:35, INFO: Skip_connection: True -2024-02-23 12:02:35, INFO: Number of layers: 1 -2024-02-23 12:02:35, INFO: Similarity_func: concatenation -2024-02-23 12:02:35, INFO: Layerwise_graph: False -2024-02-23 12:02:35, INFO: Skip_connection: True -2024-02-23 12:02:35, INFO: Number of layers: 1 -2024-02-23 12:02:35, INFO: Planning depth: 1 -2024-02-23 12:02:35, INFO: Planning width: 10 -2024-02-23 12:02:35, INFO: Sparse search: None -2024-02-23 12:02:39, INFO: human number: 10 -2024-02-23 12:02:39, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:02:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:02:39, INFO: Square width: 10, circle width: 4 -2024-02-23 12:02:39, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:02:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:02:43, INFO: Animation.save using -2024-02-23 12:02:50, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:02:50, INFO: Using device: cpu -2024-02-23 12:02:50, INFO: Loaded RL weights with best VAL -2024-02-23 12:02:50, INFO: Similarity_func: concatenation -2024-02-23 12:02:50, INFO: Layerwise_graph: False -2024-02-23 12:02:50, INFO: Skip_connection: True -2024-02-23 12:02:50, INFO: Number of layers: 1 -2024-02-23 12:02:50, INFO: Similarity_func: concatenation -2024-02-23 12:02:50, INFO: Layerwise_graph: False -2024-02-23 12:02:50, INFO: Skip_connection: True -2024-02-23 12:02:50, INFO: Number of layers: 1 -2024-02-23 12:02:50, INFO: Planning depth: 1 -2024-02-23 12:02:50, INFO: Planning width: 10 -2024-02-23 12:02:50, INFO: Sparse search: None -2024-02-23 12:02:50, INFO: human number: 10 -2024-02-23 12:02:50, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:02:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:02:50, INFO: Square width: 10, circle width: 4 -2024-02-23 12:02:50, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:02:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:02:53, INFO: Animation.save using -2024-02-23 12:03:00, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:04:16, INFO: Using device: cpu -2024-02-23 12:04:16, INFO: Loaded RL weights with best VAL -2024-02-23 12:04:16, INFO: Similarity_func: concatenation -2024-02-23 12:04:16, INFO: Layerwise_graph: False -2024-02-23 12:04:16, INFO: Skip_connection: True -2024-02-23 12:04:16, INFO: Number of layers: 1 -2024-02-23 12:04:16, INFO: Similarity_func: concatenation -2024-02-23 12:04:16, INFO: Layerwise_graph: False -2024-02-23 12:04:16, INFO: Skip_connection: True -2024-02-23 12:04:16, INFO: Number of layers: 1 -2024-02-23 12:04:16, INFO: Planning depth: 1 -2024-02-23 12:04:16, INFO: Planning width: 10 -2024-02-23 12:04:16, INFO: Sparse search: None -2024-02-23 12:04:20, INFO: human number: 10 -2024-02-23 12:04:20, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:04:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:04:20, INFO: Square width: 10, circle width: 4 -2024-02-23 12:04:20, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:04:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:04:23, INFO: Animation.save using -2024-02-23 12:04:30, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:04:30, INFO: Using device: cpu -2024-02-23 12:04:30, INFO: Loaded RL weights with best VAL -2024-02-23 12:04:30, INFO: Similarity_func: concatenation -2024-02-23 12:04:30, INFO: Layerwise_graph: False -2024-02-23 12:04:30, INFO: Skip_connection: True -2024-02-23 12:04:30, INFO: Number of layers: 1 -2024-02-23 12:04:30, INFO: Similarity_func: concatenation -2024-02-23 12:04:30, INFO: Layerwise_graph: False -2024-02-23 12:04:30, INFO: Skip_connection: True -2024-02-23 12:04:30, INFO: Number of layers: 1 -2024-02-23 12:04:30, INFO: Planning depth: 1 -2024-02-23 12:04:30, INFO: Planning width: 10 -2024-02-23 12:04:30, INFO: Sparse search: None -2024-02-23 12:04:30, INFO: human number: 10 -2024-02-23 12:04:30, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:04:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:04:30, INFO: Square width: 10, circle width: 4 -2024-02-23 12:04:30, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:04:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:04:32, INFO: Animation.save using -2024-02-23 12:04:39, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:05:00, INFO: Using device: cpu -2024-02-23 12:05:00, INFO: Loaded RL weights with best VAL -2024-02-23 12:05:00, INFO: Similarity_func: concatenation -2024-02-23 12:05:00, INFO: Layerwise_graph: False -2024-02-23 12:05:00, INFO: Skip_connection: True -2024-02-23 12:05:00, INFO: Number of layers: 1 -2024-02-23 12:05:00, INFO: Similarity_func: concatenation -2024-02-23 12:05:00, INFO: Layerwise_graph: False -2024-02-23 12:05:00, INFO: Skip_connection: True -2024-02-23 12:05:00, INFO: Number of layers: 1 -2024-02-23 12:05:00, INFO: Planning depth: 1 -2024-02-23 12:05:00, INFO: Planning width: 10 -2024-02-23 12:05:00, INFO: Sparse search: None -2024-02-23 12:05:04, INFO: human number: 10 -2024-02-23 12:05:04, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:05:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:05:04, INFO: Square width: 10, circle width: 4 -2024-02-23 12:05:04, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:05:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:05:07, INFO: Animation.save using -2024-02-23 12:05:14, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:05:14, INFO: Using device: cpu -2024-02-23 12:05:14, INFO: Loaded RL weights with best VAL -2024-02-23 12:05:14, INFO: Similarity_func: concatenation -2024-02-23 12:05:14, INFO: Layerwise_graph: False -2024-02-23 12:05:14, INFO: Skip_connection: True -2024-02-23 12:05:14, INFO: Number of layers: 1 -2024-02-23 12:05:14, INFO: Similarity_func: concatenation -2024-02-23 12:05:14, INFO: Layerwise_graph: False -2024-02-23 12:05:14, INFO: Skip_connection: True -2024-02-23 12:05:14, INFO: Number of layers: 1 -2024-02-23 12:05:14, INFO: Planning depth: 1 -2024-02-23 12:05:14, INFO: Planning width: 10 -2024-02-23 12:05:14, INFO: Sparse search: None -2024-02-23 12:05:14, INFO: human number: 10 -2024-02-23 12:05:14, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:05:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:05:14, INFO: Square width: 10, circle width: 4 -2024-02-23 12:05:14, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:05:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:05:17, INFO: Animation.save using -2024-02-23 12:05:24, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:05:41, INFO: Using device: cpu -2024-02-23 12:05:41, INFO: Loaded RL weights with best VAL -2024-02-23 12:05:41, INFO: Similarity_func: concatenation -2024-02-23 12:05:41, INFO: Layerwise_graph: False -2024-02-23 12:05:41, INFO: Skip_connection: True -2024-02-23 12:05:41, INFO: Number of layers: 1 -2024-02-23 12:05:41, INFO: Similarity_func: concatenation -2024-02-23 12:05:41, INFO: Layerwise_graph: False -2024-02-23 12:05:41, INFO: Skip_connection: True -2024-02-23 12:05:41, INFO: Number of layers: 1 -2024-02-23 12:05:41, INFO: Planning depth: 1 -2024-02-23 12:05:41, INFO: Planning width: 10 -2024-02-23 12:05:41, INFO: Sparse search: None -2024-02-23 12:05:44, INFO: human number: 10 -2024-02-23 12:05:44, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:05:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:05:44, INFO: Square width: 10, circle width: 4 -2024-02-23 12:05:44, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:05:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:05:47, INFO: Animation.save using -2024-02-23 12:05:55, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:05:55, INFO: Using device: cpu -2024-02-23 12:05:55, INFO: Loaded RL weights with best VAL -2024-02-23 12:05:55, INFO: Similarity_func: concatenation -2024-02-23 12:05:55, INFO: Layerwise_graph: False -2024-02-23 12:05:55, INFO: Skip_connection: True -2024-02-23 12:05:55, INFO: Number of layers: 1 -2024-02-23 12:05:55, INFO: Similarity_func: concatenation -2024-02-23 12:05:55, INFO: Layerwise_graph: False -2024-02-23 12:05:55, INFO: Skip_connection: True -2024-02-23 12:05:55, INFO: Number of layers: 1 -2024-02-23 12:05:55, INFO: Planning depth: 1 -2024-02-23 12:05:55, INFO: Planning width: 10 -2024-02-23 12:05:55, INFO: Sparse search: None -2024-02-23 12:05:55, INFO: human number: 10 -2024-02-23 12:05:55, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:05:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:05:55, INFO: Square width: 10, circle width: 4 -2024-02-23 12:05:55, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:05:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:05:57, INFO: Animation.save using -2024-02-23 12:06:04, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:06:17, INFO: Using device: cpu -2024-02-23 12:06:17, INFO: Loaded RL weights with best VAL -2024-02-23 12:06:17, INFO: Similarity_func: concatenation -2024-02-23 12:06:17, INFO: Layerwise_graph: False -2024-02-23 12:06:17, INFO: Skip_connection: True -2024-02-23 12:06:17, INFO: Number of layers: 1 -2024-02-23 12:06:17, INFO: Similarity_func: concatenation -2024-02-23 12:06:17, INFO: Layerwise_graph: False -2024-02-23 12:06:17, INFO: Skip_connection: True -2024-02-23 12:06:17, INFO: Number of layers: 1 -2024-02-23 12:06:17, INFO: Planning depth: 1 -2024-02-23 12:06:17, INFO: Planning width: 10 -2024-02-23 12:06:17, INFO: Sparse search: None -2024-02-23 12:06:21, INFO: human number: 10 -2024-02-23 12:06:21, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:06:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:06:21, INFO: Square width: 10, circle width: 4 -2024-02-23 12:06:21, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:06:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:06:25, INFO: Animation.save using -2024-02-23 12:06:32, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:06:32, INFO: Using device: cpu -2024-02-23 12:06:32, INFO: Loaded RL weights with best VAL -2024-02-23 12:06:32, INFO: Similarity_func: concatenation -2024-02-23 12:06:32, INFO: Layerwise_graph: False -2024-02-23 12:06:32, INFO: Skip_connection: True -2024-02-23 12:06:32, INFO: Number of layers: 1 -2024-02-23 12:06:32, INFO: Similarity_func: concatenation -2024-02-23 12:06:32, INFO: Layerwise_graph: False -2024-02-23 12:06:32, INFO: Skip_connection: True -2024-02-23 12:06:32, INFO: Number of layers: 1 -2024-02-23 12:06:32, INFO: Planning depth: 1 -2024-02-23 12:06:32, INFO: Planning width: 10 -2024-02-23 12:06:32, INFO: Sparse search: None -2024-02-23 12:06:32, INFO: human number: 10 -2024-02-23 12:06:32, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:06:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:06:32, INFO: Square width: 10, circle width: 4 -2024-02-23 12:06:32, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:06:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:06:34, INFO: Animation.save using -2024-02-23 12:06:41, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:07:10, INFO: Using device: cpu -2024-02-23 12:07:10, INFO: Loaded RL weights with best VAL -2024-02-23 12:07:10, INFO: Similarity_func: concatenation -2024-02-23 12:07:10, INFO: Layerwise_graph: False -2024-02-23 12:07:10, INFO: Skip_connection: True -2024-02-23 12:07:10, INFO: Number of layers: 1 -2024-02-23 12:07:10, INFO: Similarity_func: concatenation -2024-02-23 12:07:10, INFO: Layerwise_graph: False -2024-02-23 12:07:10, INFO: Skip_connection: True -2024-02-23 12:07:10, INFO: Number of layers: 1 -2024-02-23 12:07:10, INFO: Planning depth: 1 -2024-02-23 12:07:10, INFO: Planning width: 10 -2024-02-23 12:07:10, INFO: Sparse search: None -2024-02-23 12:07:14, INFO: human number: 10 -2024-02-23 12:07:14, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:07:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:07:14, INFO: Square width: 10, circle width: 4 -2024-02-23 12:07:14, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:07:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:07:17, INFO: Animation.save using -2024-02-23 12:07:24, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:07:24, INFO: Using device: cpu -2024-02-23 12:07:24, INFO: Loaded RL weights with best VAL -2024-02-23 12:07:24, INFO: Similarity_func: concatenation -2024-02-23 12:07:24, INFO: Layerwise_graph: False -2024-02-23 12:07:24, INFO: Skip_connection: True -2024-02-23 12:07:24, INFO: Number of layers: 1 -2024-02-23 12:07:24, INFO: Similarity_func: concatenation -2024-02-23 12:07:24, INFO: Layerwise_graph: False -2024-02-23 12:07:24, INFO: Skip_connection: True -2024-02-23 12:07:24, INFO: Number of layers: 1 -2024-02-23 12:07:24, INFO: Planning depth: 1 -2024-02-23 12:07:24, INFO: Planning width: 10 -2024-02-23 12:07:24, INFO: Sparse search: None -2024-02-23 12:07:24, INFO: human number: 10 -2024-02-23 12:07:24, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:07:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:07:24, INFO: Square width: 10, circle width: 4 -2024-02-23 12:07:24, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:07:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:07:26, INFO: Animation.save using -2024-02-23 12:07:33, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:07:48, INFO: Using device: cpu -2024-02-23 12:07:48, INFO: Loaded RL weights with best VAL -2024-02-23 12:07:48, INFO: Similarity_func: concatenation -2024-02-23 12:07:48, INFO: Layerwise_graph: False -2024-02-23 12:07:48, INFO: Skip_connection: True -2024-02-23 12:07:48, INFO: Number of layers: 1 -2024-02-23 12:07:48, INFO: Similarity_func: concatenation -2024-02-23 12:07:48, INFO: Layerwise_graph: False -2024-02-23 12:07:48, INFO: Skip_connection: True -2024-02-23 12:07:48, INFO: Number of layers: 1 -2024-02-23 12:07:48, INFO: Planning depth: 1 -2024-02-23 12:07:48, INFO: Planning width: 10 -2024-02-23 12:07:48, INFO: Sparse search: None -2024-02-23 12:07:52, INFO: human number: 10 -2024-02-23 12:07:52, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:07:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:07:52, INFO: Square width: 10, circle width: 4 -2024-02-23 12:07:52, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:07:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:07:55, INFO: Animation.save using -2024-02-23 12:08:02, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:08:02, INFO: Using device: cpu -2024-02-23 12:08:02, INFO: Loaded RL weights with best VAL -2024-02-23 12:08:03, INFO: Similarity_func: concatenation -2024-02-23 12:08:03, INFO: Layerwise_graph: False -2024-02-23 12:08:03, INFO: Skip_connection: True -2024-02-23 12:08:03, INFO: Number of layers: 1 -2024-02-23 12:08:03, INFO: Similarity_func: concatenation -2024-02-23 12:08:03, INFO: Layerwise_graph: False -2024-02-23 12:08:03, INFO: Skip_connection: True -2024-02-23 12:08:03, INFO: Number of layers: 1 -2024-02-23 12:08:03, INFO: Planning depth: 1 -2024-02-23 12:08:03, INFO: Planning width: 10 -2024-02-23 12:08:03, INFO: Sparse search: None -2024-02-23 12:08:03, INFO: human number: 10 -2024-02-23 12:08:03, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:08:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:08:03, INFO: Square width: 10, circle width: 4 -2024-02-23 12:08:03, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:08:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:08:05, INFO: Animation.save using -2024-02-23 12:08:12, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:08:39, INFO: Using device: cpu -2024-02-23 12:08:39, INFO: Loaded RL weights with best VAL -2024-02-23 12:08:39, INFO: Similarity_func: concatenation -2024-02-23 12:08:39, INFO: Layerwise_graph: False -2024-02-23 12:08:39, INFO: Skip_connection: True -2024-02-23 12:08:39, INFO: Number of layers: 1 -2024-02-23 12:08:39, INFO: Similarity_func: concatenation -2024-02-23 12:08:39, INFO: Layerwise_graph: False -2024-02-23 12:08:39, INFO: Skip_connection: True -2024-02-23 12:08:39, INFO: Number of layers: 1 -2024-02-23 12:08:39, INFO: Planning depth: 1 -2024-02-23 12:08:39, INFO: Planning width: 10 -2024-02-23 12:08:39, INFO: Sparse search: None -2024-02-23 12:08:43, INFO: human number: 10 -2024-02-23 12:08:43, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:08:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:08:43, INFO: Square width: 10, circle width: 4 -2024-02-23 12:08:43, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:08:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:08:46, INFO: Animation.save using -2024-02-23 12:08:53, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:08:53, INFO: Using device: cpu -2024-02-23 12:08:53, INFO: Loaded RL weights with best VAL -2024-02-23 12:08:53, INFO: Similarity_func: concatenation -2024-02-23 12:08:53, INFO: Layerwise_graph: False -2024-02-23 12:08:53, INFO: Skip_connection: True -2024-02-23 12:08:53, INFO: Number of layers: 1 -2024-02-23 12:08:53, INFO: Similarity_func: concatenation -2024-02-23 12:08:53, INFO: Layerwise_graph: False -2024-02-23 12:08:53, INFO: Skip_connection: True -2024-02-23 12:08:53, INFO: Number of layers: 1 -2024-02-23 12:08:53, INFO: Planning depth: 1 -2024-02-23 12:08:53, INFO: Planning width: 10 -2024-02-23 12:08:53, INFO: Sparse search: None -2024-02-23 12:08:53, INFO: human number: 10 -2024-02-23 12:08:53, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:08:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:08:53, INFO: Square width: 10, circle width: 4 -2024-02-23 12:08:53, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:08:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:08:55, INFO: Animation.save using -2024-02-23 12:09:02, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:09:15, INFO: Using device: cpu -2024-02-23 12:09:15, INFO: Loaded RL weights with best VAL -2024-02-23 12:09:15, INFO: Similarity_func: concatenation -2024-02-23 12:09:15, INFO: Layerwise_graph: False -2024-02-23 12:09:15, INFO: Skip_connection: True -2024-02-23 12:09:15, INFO: Number of layers: 1 -2024-02-23 12:09:15, INFO: Similarity_func: concatenation -2024-02-23 12:09:15, INFO: Layerwise_graph: False -2024-02-23 12:09:15, INFO: Skip_connection: True -2024-02-23 12:09:15, INFO: Number of layers: 1 -2024-02-23 12:09:15, INFO: Planning depth: 1 -2024-02-23 12:09:15, INFO: Planning width: 10 -2024-02-23 12:09:15, INFO: Sparse search: None -2024-02-23 12:09:18, INFO: human number: 10 -2024-02-23 12:09:18, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:09:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:09:18, INFO: Square width: 10, circle width: 4 -2024-02-23 12:09:18, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:09:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:09:22, INFO: Animation.save using -2024-02-23 12:09:29, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:09:29, INFO: Using device: cpu -2024-02-23 12:09:29, INFO: Loaded RL weights with best VAL -2024-02-23 12:09:29, INFO: Similarity_func: concatenation -2024-02-23 12:09:29, INFO: Layerwise_graph: False -2024-02-23 12:09:29, INFO: Skip_connection: True -2024-02-23 12:09:29, INFO: Number of layers: 1 -2024-02-23 12:09:29, INFO: Similarity_func: concatenation -2024-02-23 12:09:29, INFO: Layerwise_graph: False -2024-02-23 12:09:29, INFO: Skip_connection: True -2024-02-23 12:09:29, INFO: Number of layers: 1 -2024-02-23 12:09:29, INFO: Planning depth: 1 -2024-02-23 12:09:29, INFO: Planning width: 10 -2024-02-23 12:09:29, INFO: Sparse search: None -2024-02-23 12:09:29, INFO: human number: 10 -2024-02-23 12:09:29, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:09:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:09:29, INFO: Square width: 10, circle width: 4 -2024-02-23 12:09:29, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:09:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:09:32, INFO: Animation.save using -2024-02-23 12:09:39, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:10:22, INFO: Using device: cpu -2024-02-23 12:10:22, INFO: Loaded RL weights with best VAL -2024-02-23 12:10:22, INFO: Similarity_func: concatenation -2024-02-23 12:10:22, INFO: Layerwise_graph: False -2024-02-23 12:10:22, INFO: Skip_connection: True -2024-02-23 12:10:22, INFO: Number of layers: 1 -2024-02-23 12:10:22, INFO: Similarity_func: concatenation -2024-02-23 12:10:22, INFO: Layerwise_graph: False -2024-02-23 12:10:22, INFO: Skip_connection: True -2024-02-23 12:10:22, INFO: Number of layers: 1 -2024-02-23 12:10:22, INFO: Planning depth: 1 -2024-02-23 12:10:22, INFO: Planning width: 10 -2024-02-23 12:10:22, INFO: Sparse search: None -2024-02-23 12:10:26, INFO: human number: 10 -2024-02-23 12:10:26, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:10:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:10:26, INFO: Square width: 10, circle width: 4 -2024-02-23 12:10:26, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:10:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:10:29, INFO: Animation.save using -2024-02-23 12:10:36, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:10:36, INFO: Using device: cpu -2024-02-23 12:10:36, INFO: Loaded RL weights with best VAL -2024-02-23 12:10:36, INFO: Similarity_func: concatenation -2024-02-23 12:10:36, INFO: Layerwise_graph: False -2024-02-23 12:10:36, INFO: Skip_connection: True -2024-02-23 12:10:36, INFO: Number of layers: 1 -2024-02-23 12:10:36, INFO: Similarity_func: concatenation -2024-02-23 12:10:36, INFO: Layerwise_graph: False -2024-02-23 12:10:36, INFO: Skip_connection: True -2024-02-23 12:10:36, INFO: Number of layers: 1 -2024-02-23 12:10:36, INFO: Planning depth: 1 -2024-02-23 12:10:36, INFO: Planning width: 10 -2024-02-23 12:10:36, INFO: Sparse search: None -2024-02-23 12:10:36, INFO: human number: 10 -2024-02-23 12:10:36, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:10:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:10:36, INFO: Square width: 10, circle width: 4 -2024-02-23 12:10:36, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:10:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:10:39, INFO: Animation.save using -2024-02-23 12:10:46, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:40:02, INFO: Using device: cpu -2024-02-23 12:40:02, INFO: Loaded RL weights with best VAL -2024-02-23 12:40:02, INFO: Similarity_func: concatenation -2024-02-23 12:40:02, INFO: Layerwise_graph: False -2024-02-23 12:40:02, INFO: Skip_connection: True -2024-02-23 12:40:02, INFO: Number of layers: 1 -2024-02-23 12:40:02, INFO: Similarity_func: concatenation -2024-02-23 12:40:02, INFO: Layerwise_graph: False -2024-02-23 12:40:02, INFO: Skip_connection: True -2024-02-23 12:40:02, INFO: Number of layers: 1 -2024-02-23 12:40:02, INFO: Planning depth: 1 -2024-02-23 12:40:02, INFO: Planning width: 10 -2024-02-23 12:40:02, INFO: Sparse search: None -2024-02-23 12:40:06, INFO: human number: 10 -2024-02-23 12:40:06, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:40:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:40:06, INFO: Square width: 10, circle width: 4 -2024-02-23 12:40:06, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:40:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:40:10, INFO: Animation.save using -2024-02-23 12:40:19, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:40:19, INFO: Using device: cpu -2024-02-23 12:40:19, INFO: Loaded RL weights with best VAL -2024-02-23 12:40:19, INFO: Similarity_func: concatenation -2024-02-23 12:40:19, INFO: Layerwise_graph: False -2024-02-23 12:40:19, INFO: Skip_connection: True -2024-02-23 12:40:19, INFO: Number of layers: 1 -2024-02-23 12:40:19, INFO: Similarity_func: concatenation -2024-02-23 12:40:19, INFO: Layerwise_graph: False -2024-02-23 12:40:19, INFO: Skip_connection: True -2024-02-23 12:40:19, INFO: Number of layers: 1 -2024-02-23 12:40:19, INFO: Planning depth: 1 -2024-02-23 12:40:19, INFO: Planning width: 10 -2024-02-23 12:40:19, INFO: Sparse search: None -2024-02-23 12:40:19, INFO: human number: 10 -2024-02-23 12:40:19, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:40:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:40:19, INFO: Square width: 10, circle width: 4 -2024-02-23 12:40:19, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:40:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:40:22, INFO: Animation.save using -2024-02-23 12:40:29, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:41:16, INFO: Using device: cpu -2024-02-23 12:41:16, INFO: Loaded RL weights with best VAL -2024-02-23 12:41:16, INFO: Similarity_func: concatenation -2024-02-23 12:41:16, INFO: Layerwise_graph: False -2024-02-23 12:41:16, INFO: Skip_connection: True -2024-02-23 12:41:16, INFO: Number of layers: 1 -2024-02-23 12:41:16, INFO: Similarity_func: concatenation -2024-02-23 12:41:16, INFO: Layerwise_graph: False -2024-02-23 12:41:16, INFO: Skip_connection: True -2024-02-23 12:41:16, INFO: Number of layers: 1 -2024-02-23 12:41:16, INFO: Planning depth: 1 -2024-02-23 12:41:16, INFO: Planning width: 10 -2024-02-23 12:41:16, INFO: Sparse search: None -2024-02-23 12:41:20, INFO: human number: 10 -2024-02-23 12:41:20, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:41:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:41:20, INFO: Square width: 10, circle width: 4 -2024-02-23 12:41:20, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:41:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:41:23, INFO: Animation.save using -2024-02-23 12:41:30, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:41:31, INFO: Using device: cpu -2024-02-23 12:41:31, INFO: Loaded RL weights with best VAL -2024-02-23 12:41:31, INFO: Similarity_func: concatenation -2024-02-23 12:41:31, INFO: Layerwise_graph: False -2024-02-23 12:41:31, INFO: Skip_connection: True -2024-02-23 12:41:31, INFO: Number of layers: 1 -2024-02-23 12:41:31, INFO: Similarity_func: concatenation -2024-02-23 12:41:31, INFO: Layerwise_graph: False -2024-02-23 12:41:31, INFO: Skip_connection: True -2024-02-23 12:41:31, INFO: Number of layers: 1 -2024-02-23 12:41:31, INFO: Planning depth: 1 -2024-02-23 12:41:31, INFO: Planning width: 10 -2024-02-23 12:41:31, INFO: Sparse search: None -2024-02-23 12:41:31, INFO: human number: 10 -2024-02-23 12:41:31, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:41:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:41:31, INFO: Square width: 10, circle width: 4 -2024-02-23 12:41:31, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:41:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:41:34, INFO: Animation.save using -2024-02-23 12:41:41, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:45:01, INFO: Using device: cpu -2024-02-23 12:45:01, INFO: Loaded RL weights with best VAL -2024-02-23 12:45:01, INFO: Similarity_func: concatenation -2024-02-23 12:45:01, INFO: Layerwise_graph: False -2024-02-23 12:45:01, INFO: Skip_connection: True -2024-02-23 12:45:01, INFO: Number of layers: 1 -2024-02-23 12:45:01, INFO: Similarity_func: concatenation -2024-02-23 12:45:01, INFO: Layerwise_graph: False -2024-02-23 12:45:01, INFO: Skip_connection: True -2024-02-23 12:45:01, INFO: Number of layers: 1 -2024-02-23 12:45:01, INFO: Planning depth: 1 -2024-02-23 12:45:01, INFO: Planning width: 10 -2024-02-23 12:45:01, INFO: Sparse search: None -2024-02-23 12:45:05, INFO: human number: 10 -2024-02-23 12:45:05, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:45:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:45:05, INFO: Square width: 10, circle width: 4 -2024-02-23 12:45:05, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:45:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:45:08, INFO: Animation.save using -2024-02-23 12:45:17, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:45:17, INFO: Using device: cpu -2024-02-23 12:45:17, INFO: Loaded RL weights with best VAL -2024-02-23 12:45:17, INFO: Similarity_func: concatenation -2024-02-23 12:45:17, INFO: Layerwise_graph: False -2024-02-23 12:45:17, INFO: Skip_connection: True -2024-02-23 12:45:17, INFO: Number of layers: 1 -2024-02-23 12:45:17, INFO: Similarity_func: concatenation -2024-02-23 12:45:17, INFO: Layerwise_graph: False -2024-02-23 12:45:17, INFO: Skip_connection: True -2024-02-23 12:45:17, INFO: Number of layers: 1 -2024-02-23 12:45:17, INFO: Planning depth: 1 -2024-02-23 12:45:17, INFO: Planning width: 10 -2024-02-23 12:45:17, INFO: Sparse search: None -2024-02-23 12:45:17, INFO: human number: 10 -2024-02-23 12:45:17, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:45:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:45:17, INFO: Square width: 10, circle width: 4 -2024-02-23 12:45:17, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:45:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:45:21, INFO: Animation.save using -2024-02-23 12:45:28, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-02-23 12:54:59, INFO: Using device: cpu -2024-02-23 12:54:59, INFO: Loaded RL weights with best VAL -2024-02-23 12:54:59, INFO: Similarity_func: concatenation -2024-02-23 12:54:59, INFO: Layerwise_graph: False -2024-02-23 12:54:59, INFO: Skip_connection: True -2024-02-23 12:54:59, INFO: Number of layers: 1 -2024-02-23 12:54:59, INFO: Similarity_func: concatenation -2024-02-23 12:54:59, INFO: Layerwise_graph: False -2024-02-23 12:54:59, INFO: Skip_connection: True -2024-02-23 12:54:59, INFO: Number of layers: 1 -2024-02-23 12:54:59, INFO: Planning depth: 1 -2024-02-23 12:54:59, INFO: Planning width: 10 -2024-02-23 12:54:59, INFO: Sparse search: None -2024-02-23 12:55:03, INFO: human number: 10 -2024-02-23 12:55:03, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:55:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:55:03, INFO: Square width: 10, circle width: 4 -2024-02-23 12:55:03, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:55:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:55:07, INFO: Animation.save using -2024-02-23 12:55:14, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-23 12:55:14, INFO: Using device: cpu -2024-02-23 12:55:14, INFO: Loaded RL weights with best VAL -2024-02-23 12:55:14, INFO: Similarity_func: concatenation -2024-02-23 12:55:14, INFO: Layerwise_graph: False -2024-02-23 12:55:14, INFO: Skip_connection: True -2024-02-23 12:55:14, INFO: Number of layers: 1 -2024-02-23 12:55:14, INFO: Similarity_func: concatenation -2024-02-23 12:55:14, INFO: Layerwise_graph: False -2024-02-23 12:55:14, INFO: Skip_connection: True -2024-02-23 12:55:14, INFO: Number of layers: 1 -2024-02-23 12:55:14, INFO: Planning depth: 1 -2024-02-23 12:55:14, INFO: Planning width: 10 -2024-02-23 12:55:14, INFO: Sparse search: None -2024-02-23 12:55:14, INFO: human number: 10 -2024-02-23 12:55:14, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:55:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:55:14, INFO: Square width: 10, circle width: 4 -2024-02-23 12:55:14, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:55:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:55:17, INFO: Animation.save using -2024-02-23 12:55:24, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-02-23 12:57:11, INFO: Using device: cpu -2024-02-23 12:57:11, INFO: Loaded RL weights with best VAL -2024-02-23 12:57:11, INFO: Similarity_func: concatenation -2024-02-23 12:57:11, INFO: Layerwise_graph: False -2024-02-23 12:57:11, INFO: Skip_connection: True -2024-02-23 12:57:11, INFO: Number of layers: 1 -2024-02-23 12:57:11, INFO: Similarity_func: concatenation -2024-02-23 12:57:11, INFO: Layerwise_graph: False -2024-02-23 12:57:11, INFO: Skip_connection: True -2024-02-23 12:57:11, INFO: Number of layers: 1 -2024-02-23 12:57:11, INFO: Planning depth: 1 -2024-02-23 12:57:11, INFO: Planning width: 10 -2024-02-23 12:57:11, INFO: Sparse search: None -2024-02-23 12:57:15, INFO: human number: 10 -2024-02-23 12:57:15, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:57:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:57:15, INFO: Square width: 10, circle width: 4 -2024-02-23 12:57:15, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:57:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:57:17, INFO: Animation.save using -2024-02-23 12:57:21, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-23 12:57:22, INFO: Using device: cpu -2024-02-23 12:57:22, INFO: Loaded RL weights with best VAL -2024-02-23 12:57:22, INFO: Similarity_func: concatenation -2024-02-23 12:57:22, INFO: Layerwise_graph: False -2024-02-23 12:57:22, INFO: Skip_connection: True -2024-02-23 12:57:22, INFO: Number of layers: 1 -2024-02-23 12:57:22, INFO: Similarity_func: concatenation -2024-02-23 12:57:22, INFO: Layerwise_graph: False -2024-02-23 12:57:22, INFO: Skip_connection: True -2024-02-23 12:57:22, INFO: Number of layers: 1 -2024-02-23 12:57:22, INFO: Planning depth: 1 -2024-02-23 12:57:22, INFO: Planning width: 10 -2024-02-23 12:57:22, INFO: Sparse search: None -2024-02-23 12:57:22, INFO: human number: 10 -2024-02-23 12:57:22, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:57:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:57:22, INFO: Square width: 10, circle width: 4 -2024-02-23 12:57:22, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:57:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:57:23, INFO: Animation.save using -2024-02-23 12:57:28, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-23 12:58:13, INFO: Using device: cpu -2024-02-23 12:58:13, INFO: Loaded RL weights with best VAL -2024-02-23 12:58:13, INFO: Similarity_func: concatenation -2024-02-23 12:58:13, INFO: Layerwise_graph: False -2024-02-23 12:58:13, INFO: Skip_connection: True -2024-02-23 12:58:13, INFO: Number of layers: 1 -2024-02-23 12:58:13, INFO: Similarity_func: concatenation -2024-02-23 12:58:13, INFO: Layerwise_graph: False -2024-02-23 12:58:13, INFO: Skip_connection: True -2024-02-23 12:58:13, INFO: Number of layers: 1 -2024-02-23 12:58:13, INFO: Planning depth: 1 -2024-02-23 12:58:13, INFO: Planning width: 10 -2024-02-23 12:58:13, INFO: Sparse search: None -2024-02-23 12:58:17, INFO: human number: 10 -2024-02-23 12:58:17, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:58:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:58:17, INFO: Square width: 10, circle width: 4 -2024-02-23 12:58:17, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:58:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:58:19, INFO: Animation.save using -2024-02-23 12:58:24, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-23 12:58:24, INFO: Using device: cpu -2024-02-23 12:58:24, INFO: Loaded RL weights with best VAL -2024-02-23 12:58:24, INFO: Similarity_func: concatenation -2024-02-23 12:58:24, INFO: Layerwise_graph: False -2024-02-23 12:58:24, INFO: Skip_connection: True -2024-02-23 12:58:24, INFO: Number of layers: 1 -2024-02-23 12:58:24, INFO: Similarity_func: concatenation -2024-02-23 12:58:24, INFO: Layerwise_graph: False -2024-02-23 12:58:24, INFO: Skip_connection: True -2024-02-23 12:58:24, INFO: Number of layers: 1 -2024-02-23 12:58:24, INFO: Planning depth: 1 -2024-02-23 12:58:24, INFO: Planning width: 10 -2024-02-23 12:58:24, INFO: Sparse search: None -2024-02-23 12:58:24, INFO: human number: 10 -2024-02-23 12:58:24, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:58:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:58:24, INFO: Square width: 10, circle width: 4 -2024-02-23 12:58:24, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:58:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:58:25, INFO: Animation.save using -2024-02-23 12:58:30, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.074703 -2024-02-23 12:59:19, INFO: Using device: cpu -2024-02-23 12:59:19, INFO: Loaded RL weights with best VAL -2024-02-23 12:59:19, INFO: Similarity_func: concatenation -2024-02-23 12:59:19, INFO: Layerwise_graph: False -2024-02-23 12:59:19, INFO: Skip_connection: True -2024-02-23 12:59:19, INFO: Number of layers: 1 -2024-02-23 12:59:19, INFO: Similarity_func: concatenation -2024-02-23 12:59:19, INFO: Layerwise_graph: False -2024-02-23 12:59:19, INFO: Skip_connection: True -2024-02-23 12:59:19, INFO: Number of layers: 1 -2024-02-23 12:59:19, INFO: Planning depth: 1 -2024-02-23 12:59:19, INFO: Planning width: 10 -2024-02-23 12:59:19, INFO: Sparse search: None -2024-02-23 12:59:22, INFO: human number: 10 -2024-02-23 12:59:22, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:59:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:59:22, INFO: Square width: 10, circle width: 4 -2024-02-23 12:59:22, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:59:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:59:25, INFO: Animation.save using -2024-02-23 12:59:32, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-23 12:59:33, INFO: Using device: cpu -2024-02-23 12:59:33, INFO: Loaded RL weights with best VAL -2024-02-23 12:59:33, INFO: Similarity_func: concatenation -2024-02-23 12:59:33, INFO: Layerwise_graph: False -2024-02-23 12:59:33, INFO: Skip_connection: True -2024-02-23 12:59:33, INFO: Number of layers: 1 -2024-02-23 12:59:33, INFO: Similarity_func: concatenation -2024-02-23 12:59:33, INFO: Layerwise_graph: False -2024-02-23 12:59:33, INFO: Skip_connection: True -2024-02-23 12:59:33, INFO: Number of layers: 1 -2024-02-23 12:59:33, INFO: Planning depth: 1 -2024-02-23 12:59:33, INFO: Planning width: 10 -2024-02-23 12:59:33, INFO: Sparse search: None -2024-02-23 12:59:33, INFO: human number: 10 -2024-02-23 12:59:33, INFO: Not randomize human's radius and preferred speed -2024-02-23 12:59:33, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 12:59:33, INFO: Square width: 10, circle width: 4 -2024-02-23 12:59:33, INFO: rotation constraint: 3.141592653589793 -2024-02-23 12:59:33, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 12:59:35, INFO: Animation.save using -2024-02-23 12:59:42, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822919 -2024-02-23 13:00:39, INFO: Using device: cpu -2024-02-23 13:00:39, INFO: Loaded RL weights with best VAL -2024-02-23 13:00:39, INFO: Similarity_func: concatenation -2024-02-23 13:00:39, INFO: Layerwise_graph: False -2024-02-23 13:00:39, INFO: Skip_connection: True -2024-02-23 13:00:39, INFO: Number of layers: 1 -2024-02-23 13:00:39, INFO: Similarity_func: concatenation -2024-02-23 13:00:39, INFO: Layerwise_graph: False -2024-02-23 13:00:39, INFO: Skip_connection: True -2024-02-23 13:00:39, INFO: Number of layers: 1 -2024-02-23 13:00:39, INFO: Planning depth: 1 -2024-02-23 13:00:39, INFO: Planning width: 10 -2024-02-23 13:00:39, INFO: Sparse search: None -2024-02-23 13:00:43, INFO: human number: 10 -2024-02-23 13:00:43, INFO: Not randomize human's radius and preferred speed -2024-02-23 13:00:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 13:00:43, INFO: Square width: 10, circle width: 4 -2024-02-23 13:00:43, INFO: rotation constraint: 3.141592653589793 -2024-02-23 13:00:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 13:00:46, INFO: Animation.save using -2024-02-23 13:00:53, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-02-23 13:00:53, INFO: Using device: cpu -2024-02-23 13:00:53, INFO: Loaded RL weights with best VAL -2024-02-23 13:00:53, INFO: Similarity_func: concatenation -2024-02-23 13:00:53, INFO: Layerwise_graph: False -2024-02-23 13:00:53, INFO: Skip_connection: True -2024-02-23 13:00:53, INFO: Number of layers: 1 -2024-02-23 13:00:53, INFO: Similarity_func: concatenation -2024-02-23 13:00:53, INFO: Layerwise_graph: False -2024-02-23 13:00:53, INFO: Skip_connection: True -2024-02-23 13:00:53, INFO: Number of layers: 1 -2024-02-23 13:00:53, INFO: Planning depth: 1 -2024-02-23 13:00:53, INFO: Planning width: 10 -2024-02-23 13:00:53, INFO: Sparse search: None -2024-02-23 13:00:53, INFO: human number: 10 -2024-02-23 13:00:53, INFO: Not randomize human's radius and preferred speed -2024-02-23 13:00:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-23 13:00:53, INFO: Square width: 10, circle width: 4 -2024-02-23 13:00:53, INFO: rotation constraint: 3.141592653589793 -2024-02-23 13:00:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-23 13:00:55, INFO: Animation.save using -2024-02-23 13:01:01, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -<<<<<<< HEAD ->>>>>>> 793c926be6a79e5a9a0f58f3a8c9a538b6bf7a49 -======= -2024-02-27 13:34:20, INFO: Using device: cpu -2024-02-27 13:34:20, INFO: Loaded RL weights with best VAL -2024-02-27 13:34:20, INFO: Similarity_func: concatenation -2024-02-27 13:34:20, INFO: Layerwise_graph: False -2024-02-27 13:34:20, INFO: Skip_connection: True -2024-02-27 13:34:20, INFO: Number of layers: 1 -2024-02-27 13:34:20, INFO: Similarity_func: concatenation -2024-02-27 13:34:20, INFO: Layerwise_graph: False -2024-02-27 13:34:20, INFO: Skip_connection: True -2024-02-27 13:34:20, INFO: Number of layers: 1 -2024-02-27 13:34:20, INFO: Planning depth: 1 -2024-02-27 13:34:20, INFO: Planning width: 10 -2024-02-27 13:34:20, INFO: Sparse search: None -2024-02-27 13:34:33, INFO: Using device: cpu -2024-02-27 13:34:33, INFO: Loaded RL weights with best VAL -2024-02-27 13:34:33, INFO: Similarity_func: concatenation -2024-02-27 13:34:33, INFO: Layerwise_graph: False -2024-02-27 13:34:33, INFO: Skip_connection: True -2024-02-27 13:34:33, INFO: Number of layers: 1 -2024-02-27 13:34:33, INFO: Similarity_func: concatenation -2024-02-27 13:34:33, INFO: Layerwise_graph: False -2024-02-27 13:34:33, INFO: Skip_connection: True -2024-02-27 13:34:33, INFO: Number of layers: 1 -2024-02-27 13:34:33, INFO: Planning depth: 1 -2024-02-27 13:34:33, INFO: Planning width: 10 -2024-02-27 13:34:33, INFO: Sparse search: None -2024-02-27 13:34:36, INFO: human number: 10 -2024-02-27 13:34:36, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:34:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:34:36, INFO: Square width: 10, circle width: 4 -2024-02-27 13:34:36, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:34:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-27 13:35:05, INFO: Using device: cpu -2024-02-27 13:35:05, INFO: Loaded RL weights with best VAL -2024-02-27 13:35:05, INFO: Similarity_func: concatenation -2024-02-27 13:35:05, INFO: Layerwise_graph: False -2024-02-27 13:35:05, INFO: Skip_connection: True -2024-02-27 13:35:05, INFO: Number of layers: 1 -2024-02-27 13:35:05, INFO: Similarity_func: concatenation -2024-02-27 13:35:05, INFO: Layerwise_graph: False -2024-02-27 13:35:05, INFO: Skip_connection: True -2024-02-27 13:35:05, INFO: Number of layers: 1 -2024-02-27 13:35:05, INFO: Planning depth: 1 -2024-02-27 13:35:05, INFO: Planning width: 10 -2024-02-27 13:35:05, INFO: Sparse search: None -2024-02-27 13:35:09, INFO: human number: 10 -2024-02-27 13:35:09, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:35:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:35:09, INFO: Square width: 10, circle width: 4 -2024-02-27 13:35:09, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:35:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-27 13:35:26, INFO: Using device: cpu -2024-02-27 13:35:26, INFO: Loaded RL weights with best VAL -2024-02-27 13:35:26, INFO: Similarity_func: concatenation -2024-02-27 13:35:26, INFO: Layerwise_graph: False -2024-02-27 13:35:26, INFO: Skip_connection: True -2024-02-27 13:35:26, INFO: Number of layers: 1 -2024-02-27 13:35:26, INFO: Similarity_func: concatenation -2024-02-27 13:35:26, INFO: Layerwise_graph: False -2024-02-27 13:35:26, INFO: Skip_connection: True -2024-02-27 13:35:26, INFO: Number of layers: 1 -2024-02-27 13:35:26, INFO: Planning depth: 1 -2024-02-27 13:35:26, INFO: Planning width: 10 -2024-02-27 13:35:26, INFO: Sparse search: None -2024-02-27 13:35:30, INFO: human number: 10 -2024-02-27 13:35:30, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:35:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:35:30, INFO: Square width: 10, circle width: 4 -2024-02-27 13:35:30, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:35:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-27 13:35:44, INFO: Using device: cpu -2024-02-27 13:35:44, INFO: Loaded RL weights with best VAL -2024-02-27 13:35:44, INFO: Similarity_func: concatenation -2024-02-27 13:35:44, INFO: Layerwise_graph: False -2024-02-27 13:35:44, INFO: Skip_connection: True -2024-02-27 13:35:44, INFO: Number of layers: 1 -2024-02-27 13:35:44, INFO: Similarity_func: concatenation -2024-02-27 13:35:44, INFO: Layerwise_graph: False -2024-02-27 13:35:44, INFO: Skip_connection: True -2024-02-27 13:35:44, INFO: Number of layers: 1 -2024-02-27 13:35:44, INFO: Planning depth: 1 -2024-02-27 13:35:44, INFO: Planning width: 10 -2024-02-27 13:35:44, INFO: Sparse search: None -2024-02-27 13:35:48, INFO: human number: 10 -2024-02-27 13:35:48, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:35:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:35:48, INFO: Square width: 10, circle width: 4 -2024-02-27 13:35:48, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:35:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-27 13:36:01, INFO: Using device: cpu -2024-02-27 13:36:01, INFO: Loaded RL weights with best VAL -2024-02-27 13:36:01, INFO: Similarity_func: concatenation -2024-02-27 13:36:01, INFO: Layerwise_graph: False -2024-02-27 13:36:01, INFO: Skip_connection: True -2024-02-27 13:36:01, INFO: Number of layers: 1 -2024-02-27 13:36:01, INFO: Similarity_func: concatenation -2024-02-27 13:36:01, INFO: Layerwise_graph: False -2024-02-27 13:36:01, INFO: Skip_connection: True -2024-02-27 13:36:01, INFO: Number of layers: 1 -2024-02-27 13:36:01, INFO: Planning depth: 1 -2024-02-27 13:36:01, INFO: Planning width: 10 -2024-02-27 13:36:01, INFO: Sparse search: None -2024-02-27 13:36:05, INFO: human number: 10 -2024-02-27 13:36:05, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:36:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:36:05, INFO: Square width: 10, circle width: 4 -2024-02-27 13:36:05, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:36:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-02-27 13:36:37, INFO: Using device: cpu -2024-02-27 13:36:37, INFO: Loaded RL weights with best VAL -2024-02-27 13:36:37, INFO: Similarity_func: concatenation -2024-02-27 13:36:37, INFO: Layerwise_graph: False -2024-02-27 13:36:37, INFO: Skip_connection: True -2024-02-27 13:36:37, INFO: Number of layers: 1 -2024-02-27 13:36:37, INFO: Similarity_func: concatenation -2024-02-27 13:36:37, INFO: Layerwise_graph: False -2024-02-27 13:36:37, INFO: Skip_connection: True -2024-02-27 13:36:37, INFO: Number of layers: 1 -2024-02-27 13:36:37, INFO: Planning depth: 1 -2024-02-27 13:36:37, INFO: Planning width: 10 -2024-02-27 13:36:37, INFO: Sparse search: None -2024-02-27 13:36:41, INFO: human number: 10 -2024-02-27 13:36:41, INFO: Not randomize human's radius and preferred speed -2024-02-27 13:36:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-02-27 13:36:41, INFO: Square width: 10, circle width: 4 -2024-02-27 13:36:41, INFO: rotation constraint: 3.141592653589793 -2024-02-27 13:36:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:10:27, INFO: Using device: cpu -2024-03-20 16:10:27, INFO: Loaded RL weights with best VAL -2024-03-20 16:10:27, INFO: Similarity_func: concatenation -2024-03-20 16:10:27, INFO: Layerwise_graph: False -2024-03-20 16:10:27, INFO: Skip_connection: True -2024-03-20 16:10:27, INFO: Number of layers: 1 -2024-03-20 16:10:27, INFO: Similarity_func: concatenation -2024-03-20 16:10:27, INFO: Layerwise_graph: False -2024-03-20 16:10:27, INFO: Skip_connection: True -2024-03-20 16:10:27, INFO: Number of layers: 1 -2024-03-20 16:10:27, INFO: Planning depth: 1 -2024-03-20 16:10:27, INFO: Planning width: 10 -2024-03-20 16:10:27, INFO: Sparse search: None -2024-03-20 16:10:31, INFO: human number: 10 -2024-03-20 16:10:31, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:10:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:10:31, INFO: Square width: 10, circle width: 4 -2024-03-20 16:10:31, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:10:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:10:33, INFO: Animation.save using -2024-03-20 16:10:38, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:10:38, INFO: Using device: cpu -2024-03-20 16:10:38, INFO: Loaded RL weights with best VAL -2024-03-20 16:10:38, INFO: Similarity_func: concatenation -2024-03-20 16:10:38, INFO: Layerwise_graph: False -2024-03-20 16:10:38, INFO: Skip_connection: True -2024-03-20 16:10:38, INFO: Number of layers: 1 -2024-03-20 16:10:38, INFO: Similarity_func: concatenation -2024-03-20 16:10:38, INFO: Layerwise_graph: False -2024-03-20 16:10:38, INFO: Skip_connection: True -2024-03-20 16:10:38, INFO: Number of layers: 1 -2024-03-20 16:10:38, INFO: Planning depth: 1 -2024-03-20 16:10:38, INFO: Planning width: 10 -2024-03-20 16:10:38, INFO: Sparse search: None -2024-03-20 16:10:38, INFO: human number: 10 -2024-03-20 16:10:38, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:10:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:10:38, INFO: Square width: 10, circle width: 4 -2024-03-20 16:10:38, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:10:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:10:40, INFO: Animation.save using -2024-03-20 16:10:45, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:10:49, INFO: Using device: cpu -2024-03-20 16:10:49, INFO: Loaded RL weights with best VAL -2024-03-20 16:10:49, INFO: Similarity_func: concatenation -2024-03-20 16:10:49, INFO: Layerwise_graph: False -2024-03-20 16:10:49, INFO: Skip_connection: True -2024-03-20 16:10:49, INFO: Number of layers: 1 -2024-03-20 16:10:49, INFO: Similarity_func: concatenation -2024-03-20 16:10:49, INFO: Layerwise_graph: False -2024-03-20 16:10:49, INFO: Skip_connection: True -2024-03-20 16:10:49, INFO: Number of layers: 1 -2024-03-20 16:10:49, INFO: Planning depth: 1 -2024-03-20 16:10:49, INFO: Planning width: 10 -2024-03-20 16:10:49, INFO: Sparse search: None -2024-03-20 16:10:52, INFO: human number: 10 -2024-03-20 16:10:52, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:10:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:10:52, INFO: Square width: 10, circle width: 4 -2024-03-20 16:10:52, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:10:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:10:56, INFO: Animation.save using -2024-03-20 16:11:03, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-20 16:11:03, INFO: Using device: cpu -2024-03-20 16:11:03, INFO: Loaded RL weights with best VAL -2024-03-20 16:11:03, INFO: Similarity_func: concatenation -2024-03-20 16:11:03, INFO: Layerwise_graph: False -2024-03-20 16:11:03, INFO: Skip_connection: True -2024-03-20 16:11:03, INFO: Number of layers: 1 -2024-03-20 16:11:03, INFO: Similarity_func: concatenation -2024-03-20 16:11:03, INFO: Layerwise_graph: False -2024-03-20 16:11:03, INFO: Skip_connection: True -2024-03-20 16:11:03, INFO: Number of layers: 1 -2024-03-20 16:11:03, INFO: Planning depth: 1 -2024-03-20 16:11:03, INFO: Planning width: 10 -2024-03-20 16:11:03, INFO: Sparse search: None -2024-03-20 16:11:03, INFO: human number: 10 -2024-03-20 16:11:03, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:11:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:11:03, INFO: Square width: 10, circle width: 4 -2024-03-20 16:11:03, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:11:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:11:05, INFO: Animation.save using -2024-03-20 16:11:12, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-20 16:11:16, INFO: Using device: cpu -2024-03-20 16:11:16, INFO: Loaded RL weights with best VAL -2024-03-20 16:11:16, INFO: Similarity_func: concatenation -2024-03-20 16:11:16, INFO: Layerwise_graph: False -2024-03-20 16:11:16, INFO: Skip_connection: True -2024-03-20 16:11:16, INFO: Number of layers: 1 -2024-03-20 16:11:16, INFO: Similarity_func: concatenation -2024-03-20 16:11:16, INFO: Layerwise_graph: False -2024-03-20 16:11:16, INFO: Skip_connection: True -2024-03-20 16:11:16, INFO: Number of layers: 1 -2024-03-20 16:11:16, INFO: Planning depth: 1 -2024-03-20 16:11:16, INFO: Planning width: 10 -2024-03-20 16:11:16, INFO: Sparse search: None -2024-03-20 16:11:19, INFO: human number: 10 -2024-03-20 16:11:19, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:11:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:11:19, INFO: Square width: 10, circle width: 4 -2024-03-20 16:11:19, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:11:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:11:22, INFO: Animation.save using -2024-03-20 16:11:27, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.086464 -2024-03-20 16:11:27, INFO: Using device: cpu -2024-03-20 16:11:27, INFO: Loaded RL weights with best VAL -2024-03-20 16:11:27, INFO: Similarity_func: concatenation -2024-03-20 16:11:27, INFO: Layerwise_graph: False -2024-03-20 16:11:27, INFO: Skip_connection: True -2024-03-20 16:11:27, INFO: Number of layers: 1 -2024-03-20 16:11:27, INFO: Similarity_func: concatenation -2024-03-20 16:11:27, INFO: Layerwise_graph: False -2024-03-20 16:11:27, INFO: Skip_connection: True -2024-03-20 16:11:27, INFO: Number of layers: 1 -2024-03-20 16:11:27, INFO: Planning depth: 1 -2024-03-20 16:11:27, INFO: Planning width: 10 -2024-03-20 16:11:27, INFO: Sparse search: None -2024-03-20 16:11:27, INFO: human number: 10 -2024-03-20 16:11:27, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:11:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:11:27, INFO: Square width: 10, circle width: 4 -2024-03-20 16:11:27, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:11:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:11:29, INFO: Animation.save using -2024-03-20 16:11:34, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.086464 -2024-03-20 16:11:37, INFO: Using device: cpu -2024-03-20 16:11:37, INFO: Loaded RL weights with best VAL -2024-03-20 16:11:37, INFO: Similarity_func: concatenation -2024-03-20 16:11:37, INFO: Layerwise_graph: False -2024-03-20 16:11:37, INFO: Skip_connection: True -2024-03-20 16:11:37, INFO: Number of layers: 1 -2024-03-20 16:11:37, INFO: Similarity_func: concatenation -2024-03-20 16:11:37, INFO: Layerwise_graph: False -2024-03-20 16:11:37, INFO: Skip_connection: True -2024-03-20 16:11:37, INFO: Number of layers: 1 -2024-03-20 16:11:37, INFO: Planning depth: 1 -2024-03-20 16:11:37, INFO: Planning width: 10 -2024-03-20 16:11:37, INFO: Sparse search: None -2024-03-20 16:11:40, INFO: human number: 10 -2024-03-20 16:11:40, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:11:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:11:40, INFO: Square width: 10, circle width: 4 -2024-03-20 16:11:40, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:11:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:11:43, INFO: Animation.save using -2024-03-20 16:11:50, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.792384 -2024-03-20 16:11:50, INFO: Using device: cpu -2024-03-20 16:11:50, INFO: Loaded RL weights with best VAL -2024-03-20 16:11:50, INFO: Similarity_func: concatenation -2024-03-20 16:11:50, INFO: Layerwise_graph: False -2024-03-20 16:11:50, INFO: Skip_connection: True -2024-03-20 16:11:50, INFO: Number of layers: 1 -2024-03-20 16:11:50, INFO: Similarity_func: concatenation -2024-03-20 16:11:50, INFO: Layerwise_graph: False -2024-03-20 16:11:50, INFO: Skip_connection: True -2024-03-20 16:11:50, INFO: Number of layers: 1 -2024-03-20 16:11:50, INFO: Planning depth: 1 -2024-03-20 16:11:50, INFO: Planning width: 10 -2024-03-20 16:11:50, INFO: Sparse search: None -2024-03-20 16:11:50, INFO: human number: 10 -2024-03-20 16:11:50, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:11:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:11:50, INFO: Square width: 10, circle width: 4 -2024-03-20 16:11:50, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:11:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:11:53, INFO: Animation.save using -2024-03-20 16:12:00, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.792384 -2024-03-20 16:12:04, INFO: Using device: cpu -2024-03-20 16:12:04, INFO: Loaded RL weights with best VAL -2024-03-20 16:12:04, INFO: Similarity_func: concatenation -2024-03-20 16:12:04, INFO: Layerwise_graph: False -2024-03-20 16:12:04, INFO: Skip_connection: True -2024-03-20 16:12:04, INFO: Number of layers: 1 -2024-03-20 16:12:04, INFO: Similarity_func: concatenation -2024-03-20 16:12:04, INFO: Layerwise_graph: False -2024-03-20 16:12:04, INFO: Skip_connection: True -2024-03-20 16:12:04, INFO: Number of layers: 1 -2024-03-20 16:12:04, INFO: Planning depth: 1 -2024-03-20 16:12:04, INFO: Planning width: 10 -2024-03-20 16:12:04, INFO: Sparse search: None -2024-03-20 16:12:07, INFO: human number: 10 -2024-03-20 16:12:07, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:12:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:12:07, INFO: Square width: 10, circle width: 4 -2024-03-20 16:12:07, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:12:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:12:10, INFO: Animation.save using -2024-03-20 16:12:17, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055318 -2024-03-20 16:12:17, INFO: Using device: cpu -2024-03-20 16:12:17, INFO: Loaded RL weights with best VAL -2024-03-20 16:12:17, INFO: Similarity_func: concatenation -2024-03-20 16:12:17, INFO: Layerwise_graph: False -2024-03-20 16:12:17, INFO: Skip_connection: True -2024-03-20 16:12:17, INFO: Number of layers: 1 -2024-03-20 16:12:17, INFO: Similarity_func: concatenation -2024-03-20 16:12:17, INFO: Layerwise_graph: False -2024-03-20 16:12:17, INFO: Skip_connection: True -2024-03-20 16:12:17, INFO: Number of layers: 1 -2024-03-20 16:12:17, INFO: Planning depth: 1 -2024-03-20 16:12:17, INFO: Planning width: 10 -2024-03-20 16:12:17, INFO: Sparse search: None -2024-03-20 16:12:17, INFO: human number: 10 -2024-03-20 16:12:17, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:12:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:12:17, INFO: Square width: 10, circle width: 4 -2024-03-20 16:12:17, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:12:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:12:19, INFO: Animation.save using -2024-03-20 16:12:24, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055318 -2024-03-20 16:14:40, INFO: Using device: cpu -2024-03-20 16:14:40, INFO: Loaded RL weights with best VAL -2024-03-20 16:14:40, INFO: Similarity_func: concatenation -2024-03-20 16:14:40, INFO: Layerwise_graph: False -2024-03-20 16:14:40, INFO: Skip_connection: True -2024-03-20 16:14:40, INFO: Number of layers: 1 -2024-03-20 16:14:40, INFO: Similarity_func: concatenation -2024-03-20 16:14:40, INFO: Layerwise_graph: False -2024-03-20 16:14:40, INFO: Skip_connection: True -2024-03-20 16:14:40, INFO: Number of layers: 1 -2024-03-20 16:14:40, INFO: Planning depth: 1 -2024-03-20 16:14:40, INFO: Planning width: 10 -2024-03-20 16:14:40, INFO: Sparse search: None -2024-03-20 16:14:44, INFO: human number: 10 -2024-03-20 16:14:44, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:14:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:14:44, INFO: Square width: 10, circle width: 4 -2024-03-20 16:14:44, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:14:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:14:47, INFO: Animation.save using -2024-03-20 16:14:55, INFO: Using device: cpu -2024-03-20 16:14:55, INFO: Loaded RL weights with best VAL -2024-03-20 16:14:55, INFO: Similarity_func: concatenation -2024-03-20 16:14:55, INFO: Layerwise_graph: False -2024-03-20 16:14:55, INFO: Skip_connection: True -2024-03-20 16:14:55, INFO: Number of layers: 1 -2024-03-20 16:14:55, INFO: Similarity_func: concatenation -2024-03-20 16:14:55, INFO: Layerwise_graph: False -2024-03-20 16:14:55, INFO: Skip_connection: True -2024-03-20 16:14:55, INFO: Number of layers: 1 -2024-03-20 16:14:55, INFO: Planning depth: 1 -2024-03-20 16:14:55, INFO: Planning width: 10 -2024-03-20 16:14:55, INFO: Sparse search: None -2024-03-20 16:14:59, INFO: human number: 10 -2024-03-20 16:14:59, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:14:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:14:59, INFO: Square width: 10, circle width: 4 -2024-03-20 16:14:59, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:14:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:15:02, INFO: Animation.save using -2024-03-20 16:15:18, INFO: Using device: cpu -2024-03-20 16:15:18, INFO: Loaded RL weights with best VAL -2024-03-20 16:15:18, INFO: Similarity_func: concatenation -2024-03-20 16:15:18, INFO: Layerwise_graph: False -2024-03-20 16:15:18, INFO: Skip_connection: True -2024-03-20 16:15:18, INFO: Number of layers: 1 -2024-03-20 16:15:18, INFO: Similarity_func: concatenation -2024-03-20 16:15:18, INFO: Layerwise_graph: False -2024-03-20 16:15:18, INFO: Skip_connection: True -2024-03-20 16:15:18, INFO: Number of layers: 1 -2024-03-20 16:15:18, INFO: Planning depth: 1 -2024-03-20 16:15:18, INFO: Planning width: 10 -2024-03-20 16:15:18, INFO: Sparse search: None -2024-03-20 16:15:22, INFO: human number: 10 -2024-03-20 16:15:22, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:15:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:15:22, INFO: Square width: 10, circle width: 4 -2024-03-20 16:15:22, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:15:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:15:24, INFO: Animation.save using -2024-03-20 16:15:28, INFO: Animation.save using -2024-03-20 16:16:30, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:16:30, INFO: Using device: cpu -2024-03-20 16:16:30, INFO: Loaded RL weights with best VAL -2024-03-20 16:16:30, INFO: Similarity_func: concatenation -2024-03-20 16:16:30, INFO: Layerwise_graph: False -2024-03-20 16:16:30, INFO: Skip_connection: True -2024-03-20 16:16:30, INFO: Number of layers: 1 -2024-03-20 16:16:30, INFO: Similarity_func: concatenation -2024-03-20 16:16:30, INFO: Layerwise_graph: False -2024-03-20 16:16:30, INFO: Skip_connection: True -2024-03-20 16:16:30, INFO: Number of layers: 1 -2024-03-20 16:16:30, INFO: Planning depth: 1 -2024-03-20 16:16:30, INFO: Planning width: 10 -2024-03-20 16:16:30, INFO: Sparse search: None -2024-03-20 16:16:30, INFO: human number: 10 -2024-03-20 16:16:30, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:16:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:16:30, INFO: Square width: 10, circle width: 4 -2024-03-20 16:16:30, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:16:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:16:31, INFO: Animation.save using -2024-03-20 16:16:36, INFO: Animation.save using -2024-03-20 16:17:37, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:17:41, INFO: Using device: cpu -2024-03-20 16:17:41, INFO: Loaded RL weights with best VAL -2024-03-20 16:17:41, INFO: Similarity_func: concatenation -2024-03-20 16:17:41, INFO: Layerwise_graph: False -2024-03-20 16:17:41, INFO: Skip_connection: True -2024-03-20 16:17:41, INFO: Number of layers: 1 -2024-03-20 16:17:41, INFO: Similarity_func: concatenation -2024-03-20 16:17:41, INFO: Layerwise_graph: False -2024-03-20 16:17:41, INFO: Skip_connection: True -2024-03-20 16:17:41, INFO: Number of layers: 1 -2024-03-20 16:17:41, INFO: Planning depth: 1 -2024-03-20 16:17:41, INFO: Planning width: 10 -2024-03-20 16:17:41, INFO: Sparse search: None -2024-03-20 16:17:45, INFO: human number: 10 -2024-03-20 16:17:45, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:17:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:17:45, INFO: Square width: 10, circle width: 4 -2024-03-20 16:17:45, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:17:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:17:48, INFO: Animation.save using -2024-03-20 16:17:55, INFO: Animation.save using -2024-03-20 16:19:42, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-20 16:19:42, INFO: Using device: cpu -2024-03-20 16:19:42, INFO: Loaded RL weights with best VAL -2024-03-20 16:19:42, INFO: Similarity_func: concatenation -2024-03-20 16:19:42, INFO: Layerwise_graph: False -2024-03-20 16:19:42, INFO: Skip_connection: True -2024-03-20 16:19:42, INFO: Number of layers: 1 -2024-03-20 16:19:42, INFO: Similarity_func: concatenation -2024-03-20 16:19:42, INFO: Layerwise_graph: False -2024-03-20 16:19:42, INFO: Skip_connection: True -2024-03-20 16:19:42, INFO: Number of layers: 1 -2024-03-20 16:19:42, INFO: Planning depth: 1 -2024-03-20 16:19:42, INFO: Planning width: 10 -2024-03-20 16:19:42, INFO: Sparse search: None -2024-03-20 16:19:42, INFO: human number: 10 -2024-03-20 16:19:42, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:19:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:19:42, INFO: Square width: 10, circle width: 4 -2024-03-20 16:19:42, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:19:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:19:45, INFO: Animation.save using -2024-03-20 16:19:52, INFO: Animation.save using -2024-03-20 16:21:37, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-20 16:30:59, INFO: Using device: cpu -2024-03-20 16:30:59, INFO: Loaded RL weights with best VAL -2024-03-20 16:30:59, INFO: Similarity_func: concatenation -2024-03-20 16:30:59, INFO: Layerwise_graph: False -2024-03-20 16:30:59, INFO: Skip_connection: True -2024-03-20 16:30:59, INFO: Number of layers: 1 -2024-03-20 16:30:59, INFO: Similarity_func: concatenation -2024-03-20 16:30:59, INFO: Layerwise_graph: False -2024-03-20 16:30:59, INFO: Skip_connection: True -2024-03-20 16:30:59, INFO: Number of layers: 1 -2024-03-20 16:30:59, INFO: Planning depth: 1 -2024-03-20 16:30:59, INFO: Planning width: 10 -2024-03-20 16:30:59, INFO: Sparse search: None -2024-03-20 16:31:03, INFO: human number: 10 -2024-03-20 16:31:03, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:31:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:31:03, INFO: Square width: 10, circle width: 4 -2024-03-20 16:31:03, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:31:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:31:06, INFO: Animation.save using -2024-03-20 16:31:15, INFO: Using device: cpu -2024-03-20 16:31:15, INFO: Loaded RL weights with best VAL -2024-03-20 16:31:15, INFO: Similarity_func: concatenation -2024-03-20 16:31:15, INFO: Layerwise_graph: False -2024-03-20 16:31:15, INFO: Skip_connection: True -2024-03-20 16:31:15, INFO: Number of layers: 1 -2024-03-20 16:31:15, INFO: Similarity_func: concatenation -2024-03-20 16:31:15, INFO: Layerwise_graph: False -2024-03-20 16:31:15, INFO: Skip_connection: True -2024-03-20 16:31:15, INFO: Number of layers: 1 -2024-03-20 16:31:15, INFO: Planning depth: 1 -2024-03-20 16:31:15, INFO: Planning width: 10 -2024-03-20 16:31:15, INFO: Sparse search: None -2024-03-20 16:31:19, INFO: human number: 10 -2024-03-20 16:31:19, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:31:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:31:19, INFO: Square width: 10, circle width: 4 -2024-03-20 16:31:19, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:31:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:31:22, INFO: Animation.save using -2024-03-20 16:32:45, INFO: Using device: cpu -2024-03-20 16:32:45, INFO: Loaded RL weights with best VAL -2024-03-20 16:32:45, INFO: Similarity_func: concatenation -2024-03-20 16:32:45, INFO: Layerwise_graph: False -2024-03-20 16:32:45, INFO: Skip_connection: True -2024-03-20 16:32:45, INFO: Number of layers: 1 -2024-03-20 16:32:45, INFO: Similarity_func: concatenation -2024-03-20 16:32:45, INFO: Layerwise_graph: False -2024-03-20 16:32:45, INFO: Skip_connection: True -2024-03-20 16:32:45, INFO: Number of layers: 1 -2024-03-20 16:32:45, INFO: Planning depth: 1 -2024-03-20 16:32:45, INFO: Planning width: 10 -2024-03-20 16:32:45, INFO: Sparse search: None -2024-03-20 16:32:49, INFO: human number: 10 -2024-03-20 16:32:49, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:32:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:32:49, INFO: Square width: 10, circle width: 4 -2024-03-20 16:32:49, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:32:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:32:51, INFO: Animation.save using -2024-03-20 16:32:55, INFO: Animation.save using -2024-03-20 16:33:47, INFO: Using device: cpu -2024-03-20 16:33:47, INFO: Loaded RL weights with best VAL -2024-03-20 16:33:47, INFO: Similarity_func: concatenation -2024-03-20 16:33:47, INFO: Layerwise_graph: False -2024-03-20 16:33:47, INFO: Skip_connection: True -2024-03-20 16:33:47, INFO: Number of layers: 1 -2024-03-20 16:33:47, INFO: Similarity_func: concatenation -2024-03-20 16:33:47, INFO: Layerwise_graph: False -2024-03-20 16:33:47, INFO: Skip_connection: True -2024-03-20 16:33:47, INFO: Number of layers: 1 -2024-03-20 16:33:47, INFO: Planning depth: 1 -2024-03-20 16:33:47, INFO: Planning width: 10 -2024-03-20 16:33:47, INFO: Sparse search: None -2024-03-20 16:33:51, INFO: human number: 10 -2024-03-20 16:33:51, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:33:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:33:51, INFO: Square width: 10, circle width: 4 -2024-03-20 16:33:51, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:33:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:33:53, INFO: Animation.save using -2024-03-20 16:33:58, INFO: Animation.save using -2024-03-20 16:34:08, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:34:08, INFO: Using device: cpu -2024-03-20 16:34:08, INFO: Loaded RL weights with best VAL -2024-03-20 16:34:08, INFO: Similarity_func: concatenation -2024-03-20 16:34:08, INFO: Layerwise_graph: False -2024-03-20 16:34:08, INFO: Skip_connection: True -2024-03-20 16:34:08, INFO: Number of layers: 1 -2024-03-20 16:34:08, INFO: Similarity_func: concatenation -2024-03-20 16:34:08, INFO: Layerwise_graph: False -2024-03-20 16:34:08, INFO: Skip_connection: True -2024-03-20 16:34:08, INFO: Number of layers: 1 -2024-03-20 16:34:08, INFO: Planning depth: 1 -2024-03-20 16:34:08, INFO: Planning width: 10 -2024-03-20 16:34:08, INFO: Sparse search: None -2024-03-20 16:34:08, INFO: human number: 10 -2024-03-20 16:34:08, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:34:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:34:08, INFO: Square width: 10, circle width: 4 -2024-03-20 16:34:08, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:34:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:34:10, INFO: Animation.save using -2024-03-20 16:34:15, INFO: Animation.save using -2024-03-20 16:34:25, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:35:33, INFO: Using device: cpu -2024-03-20 16:35:33, INFO: Loaded RL weights with best VAL -2024-03-20 16:35:33, INFO: Similarity_func: concatenation -2024-03-20 16:35:33, INFO: Layerwise_graph: False -2024-03-20 16:35:33, INFO: Skip_connection: True -2024-03-20 16:35:33, INFO: Number of layers: 1 -2024-03-20 16:35:33, INFO: Similarity_func: concatenation -2024-03-20 16:35:33, INFO: Layerwise_graph: False -2024-03-20 16:35:33, INFO: Skip_connection: True -2024-03-20 16:35:33, INFO: Number of layers: 1 -2024-03-20 16:35:33, INFO: Planning depth: 1 -2024-03-20 16:35:33, INFO: Planning width: 10 -2024-03-20 16:35:33, INFO: Sparse search: None -2024-03-20 16:35:36, INFO: human number: 10 -2024-03-20 16:35:36, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:35:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:35:36, INFO: Square width: 10, circle width: 4 -2024-03-20 16:35:36, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:35:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:35:39, INFO: Animation.save using -2024-03-20 16:35:43, INFO: Animation.save using -2024-03-20 16:35:54, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:35:54, INFO: Using device: cpu -2024-03-20 16:35:54, INFO: Loaded RL weights with best VAL -2024-03-20 16:35:54, INFO: Similarity_func: concatenation -2024-03-20 16:35:54, INFO: Layerwise_graph: False -2024-03-20 16:35:54, INFO: Skip_connection: True -2024-03-20 16:35:54, INFO: Number of layers: 1 -2024-03-20 16:35:54, INFO: Similarity_func: concatenation -2024-03-20 16:35:54, INFO: Layerwise_graph: False -2024-03-20 16:35:54, INFO: Skip_connection: True -2024-03-20 16:35:54, INFO: Number of layers: 1 -2024-03-20 16:35:54, INFO: Planning depth: 1 -2024-03-20 16:35:54, INFO: Planning width: 10 -2024-03-20 16:35:54, INFO: Sparse search: None -2024-03-20 16:35:54, INFO: human number: 10 -2024-03-20 16:35:54, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:35:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:35:54, INFO: Square width: 10, circle width: 4 -2024-03-20 16:35:54, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:35:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:35:56, INFO: Animation.save using -2024-03-20 16:36:00, INFO: Animation.save using -2024-03-20 16:36:11, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 16:58:40, INFO: Using device: cpu -2024-03-20 16:58:40, INFO: Loaded RL weights with best VAL -2024-03-20 16:58:40, INFO: Similarity_func: concatenation -2024-03-20 16:58:40, INFO: Layerwise_graph: False -2024-03-20 16:58:40, INFO: Skip_connection: True -2024-03-20 16:58:40, INFO: Number of layers: 1 -2024-03-20 16:58:41, INFO: Similarity_func: concatenation -2024-03-20 16:58:41, INFO: Layerwise_graph: False -2024-03-20 16:58:41, INFO: Skip_connection: True -2024-03-20 16:58:41, INFO: Number of layers: 1 -2024-03-20 16:58:41, INFO: Planning depth: 1 -2024-03-20 16:58:41, INFO: Planning width: 10 -2024-03-20 16:58:41, INFO: Sparse search: None -2024-03-20 16:58:44, INFO: human number: 10 -2024-03-20 16:58:44, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:58:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:58:44, INFO: Square width: 10, circle width: 4 -2024-03-20 16:58:44, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:58:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:58:47, INFO: Animation.save using -2024-03-20 16:59:09, INFO: Using device: cpu -2024-03-20 16:59:09, INFO: Loaded RL weights with best VAL -2024-03-20 16:59:09, INFO: Similarity_func: concatenation -2024-03-20 16:59:09, INFO: Layerwise_graph: False -2024-03-20 16:59:09, INFO: Skip_connection: True -2024-03-20 16:59:09, INFO: Number of layers: 1 -2024-03-20 16:59:09, INFO: Similarity_func: concatenation -2024-03-20 16:59:09, INFO: Layerwise_graph: False -2024-03-20 16:59:09, INFO: Skip_connection: True -2024-03-20 16:59:09, INFO: Number of layers: 1 -2024-03-20 16:59:09, INFO: Planning depth: 1 -2024-03-20 16:59:09, INFO: Planning width: 10 -2024-03-20 16:59:09, INFO: Sparse search: None -2024-03-20 16:59:13, INFO: human number: 10 -2024-03-20 16:59:13, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:59:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:59:13, INFO: Square width: 10, circle width: 4 -2024-03-20 16:59:13, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:59:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:59:15, INFO: Animation.save using -2024-03-20 16:59:43, INFO: Using device: cpu -2024-03-20 16:59:43, INFO: Loaded RL weights with best VAL -2024-03-20 16:59:43, INFO: Similarity_func: concatenation -2024-03-20 16:59:43, INFO: Layerwise_graph: False -2024-03-20 16:59:43, INFO: Skip_connection: True -2024-03-20 16:59:43, INFO: Number of layers: 1 -2024-03-20 16:59:43, INFO: Similarity_func: concatenation -2024-03-20 16:59:43, INFO: Layerwise_graph: False -2024-03-20 16:59:43, INFO: Skip_connection: True -2024-03-20 16:59:43, INFO: Number of layers: 1 -2024-03-20 16:59:43, INFO: Planning depth: 1 -2024-03-20 16:59:43, INFO: Planning width: 10 -2024-03-20 16:59:43, INFO: Sparse search: None -2024-03-20 16:59:47, INFO: human number: 10 -2024-03-20 16:59:47, INFO: Not randomize human's radius and preferred speed -2024-03-20 16:59:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 16:59:47, INFO: Square width: 10, circle width: 4 -2024-03-20 16:59:47, INFO: rotation constraint: 3.141592653589793 -2024-03-20 16:59:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 16:59:49, INFO: Animation.save using -2024-03-20 16:59:54, INFO: Animation.save using -2024-03-20 17:00:03, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:00:03, INFO: Using device: cpu -2024-03-20 17:00:03, INFO: Loaded RL weights with best VAL -2024-03-20 17:00:03, INFO: Similarity_func: concatenation -2024-03-20 17:00:03, INFO: Layerwise_graph: False -2024-03-20 17:00:03, INFO: Skip_connection: True -2024-03-20 17:00:03, INFO: Number of layers: 1 -2024-03-20 17:00:03, INFO: Similarity_func: concatenation -2024-03-20 17:00:03, INFO: Layerwise_graph: False -2024-03-20 17:00:03, INFO: Skip_connection: True -2024-03-20 17:00:03, INFO: Number of layers: 1 -2024-03-20 17:00:03, INFO: Planning depth: 1 -2024-03-20 17:00:03, INFO: Planning width: 10 -2024-03-20 17:00:03, INFO: Sparse search: None -2024-03-20 17:00:03, INFO: human number: 10 -2024-03-20 17:00:03, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:00:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:00:03, INFO: Square width: 10, circle width: 4 -2024-03-20 17:00:03, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:00:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:00:05, INFO: Animation.save using -2024-03-20 17:00:10, INFO: Animation.save using -2024-03-20 17:00:19, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:01:43, INFO: Using device: cpu -2024-03-20 17:01:43, INFO: Loaded RL weights with best VAL -2024-03-20 17:01:43, INFO: Similarity_func: concatenation -2024-03-20 17:01:43, INFO: Layerwise_graph: False -2024-03-20 17:01:43, INFO: Skip_connection: True -2024-03-20 17:01:43, INFO: Number of layers: 1 -2024-03-20 17:01:43, INFO: Similarity_func: concatenation -2024-03-20 17:01:43, INFO: Layerwise_graph: False -2024-03-20 17:01:43, INFO: Skip_connection: True -2024-03-20 17:01:43, INFO: Number of layers: 1 -2024-03-20 17:01:43, INFO: Planning depth: 1 -2024-03-20 17:01:43, INFO: Planning width: 10 -2024-03-20 17:01:43, INFO: Sparse search: None -2024-03-20 17:01:46, INFO: human number: 10 -2024-03-20 17:01:46, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:01:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:01:46, INFO: Square width: 10, circle width: 4 -2024-03-20 17:01:46, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:01:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:01:48, INFO: Animation.save using -2024-03-20 17:01:53, INFO: Animation.save using -2024-03-20 17:02:02, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:02:02, INFO: Using device: cpu -2024-03-20 17:02:02, INFO: Loaded RL weights with best VAL -2024-03-20 17:02:02, INFO: Similarity_func: concatenation -2024-03-20 17:02:02, INFO: Layerwise_graph: False -2024-03-20 17:02:02, INFO: Skip_connection: True -2024-03-20 17:02:02, INFO: Number of layers: 1 -2024-03-20 17:02:02, INFO: Similarity_func: concatenation -2024-03-20 17:02:02, INFO: Layerwise_graph: False -2024-03-20 17:02:02, INFO: Skip_connection: True -2024-03-20 17:02:02, INFO: Number of layers: 1 -2024-03-20 17:02:02, INFO: Planning depth: 1 -2024-03-20 17:02:02, INFO: Planning width: 10 -2024-03-20 17:02:02, INFO: Sparse search: None -2024-03-20 17:02:02, INFO: human number: 10 -2024-03-20 17:02:02, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:02:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:02:02, INFO: Square width: 10, circle width: 4 -2024-03-20 17:02:02, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:02:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:02:04, INFO: Animation.save using -2024-03-20 17:02:09, INFO: Animation.save using -2024-03-20 17:02:18, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:03:34, INFO: Using device: cpu -2024-03-20 17:03:34, INFO: Loaded RL weights with best VAL -2024-03-20 17:03:34, INFO: Similarity_func: concatenation -2024-03-20 17:03:34, INFO: Layerwise_graph: False -2024-03-20 17:03:34, INFO: Skip_connection: True -2024-03-20 17:03:34, INFO: Number of layers: 1 -2024-03-20 17:03:34, INFO: Similarity_func: concatenation -2024-03-20 17:03:34, INFO: Layerwise_graph: False -2024-03-20 17:03:34, INFO: Skip_connection: True -2024-03-20 17:03:34, INFO: Number of layers: 1 -2024-03-20 17:03:34, INFO: Planning depth: 1 -2024-03-20 17:03:34, INFO: Planning width: 10 -2024-03-20 17:03:34, INFO: Sparse search: None -2024-03-20 17:03:38, INFO: human number: 10 -2024-03-20 17:03:38, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:03:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:03:38, INFO: Square width: 10, circle width: 4 -2024-03-20 17:03:38, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:03:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:03:40, INFO: Animation.save using -2024-03-20 17:03:46, INFO: Animation.save using -2024-03-20 17:03:55, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:03:55, INFO: Using device: cpu -2024-03-20 17:03:55, INFO: Loaded RL weights with best VAL -2024-03-20 17:03:55, INFO: Similarity_func: concatenation -2024-03-20 17:03:55, INFO: Layerwise_graph: False -2024-03-20 17:03:55, INFO: Skip_connection: True -2024-03-20 17:03:55, INFO: Number of layers: 1 -2024-03-20 17:03:55, INFO: Similarity_func: concatenation -2024-03-20 17:03:55, INFO: Layerwise_graph: False -2024-03-20 17:03:55, INFO: Skip_connection: True -2024-03-20 17:03:55, INFO: Number of layers: 1 -2024-03-20 17:03:55, INFO: Planning depth: 1 -2024-03-20 17:03:55, INFO: Planning width: 10 -2024-03-20 17:03:55, INFO: Sparse search: None -2024-03-20 17:03:55, INFO: human number: 10 -2024-03-20 17:03:55, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:03:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:03:55, INFO: Square width: 10, circle width: 4 -2024-03-20 17:03:55, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:03:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:03:57, INFO: Animation.save using -2024-03-20 17:04:02, INFO: Animation.save using -2024-03-20 17:04:11, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:23:02, INFO: Using device: cpu -2024-03-20 17:23:02, INFO: Loaded RL weights with best VAL -2024-03-20 17:23:02, INFO: Similarity_func: concatenation -2024-03-20 17:23:02, INFO: Layerwise_graph: False -2024-03-20 17:23:02, INFO: Skip_connection: True -2024-03-20 17:23:02, INFO: Number of layers: 1 -2024-03-20 17:23:02, INFO: Similarity_func: concatenation -2024-03-20 17:23:02, INFO: Layerwise_graph: False -2024-03-20 17:23:02, INFO: Skip_connection: True -2024-03-20 17:23:02, INFO: Number of layers: 1 -2024-03-20 17:23:02, INFO: Planning depth: 1 -2024-03-20 17:23:02, INFO: Planning width: 10 -2024-03-20 17:23:02, INFO: Sparse search: None -2024-03-20 17:23:05, INFO: human number: 10 -2024-03-20 17:23:05, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:23:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:23:05, INFO: Square width: 10, circle width: 4 -2024-03-20 17:23:05, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:23:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:23:08, INFO: Animation.save using -2024-03-20 17:23:13, INFO: Animation.save using -2024-03-20 17:23:22, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:23:22, INFO: Using device: cpu -2024-03-20 17:23:22, INFO: Loaded RL weights with best VAL -2024-03-20 17:23:22, INFO: Similarity_func: concatenation -2024-03-20 17:23:22, INFO: Layerwise_graph: False -2024-03-20 17:23:22, INFO: Skip_connection: True -2024-03-20 17:23:22, INFO: Number of layers: 1 -2024-03-20 17:23:22, INFO: Similarity_func: concatenation -2024-03-20 17:23:22, INFO: Layerwise_graph: False -2024-03-20 17:23:22, INFO: Skip_connection: True -2024-03-20 17:23:22, INFO: Number of layers: 1 -2024-03-20 17:23:22, INFO: Planning depth: 1 -2024-03-20 17:23:22, INFO: Planning width: 10 -2024-03-20 17:23:22, INFO: Sparse search: None -2024-03-20 17:23:22, INFO: human number: 10 -2024-03-20 17:23:22, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:23:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:23:22, INFO: Square width: 10, circle width: 4 -2024-03-20 17:23:22, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:23:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:23:24, INFO: Animation.save using -2024-03-20 17:23:28, INFO: Animation.save using -2024-03-20 17:23:37, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:28:10, INFO: Using device: cpu -2024-03-20 17:28:10, INFO: Loaded RL weights with best VAL -2024-03-20 17:28:10, INFO: Similarity_func: concatenation -2024-03-20 17:28:10, INFO: Layerwise_graph: False -2024-03-20 17:28:10, INFO: Skip_connection: True -2024-03-20 17:28:10, INFO: Number of layers: 1 -2024-03-20 17:28:10, INFO: Similarity_func: concatenation -2024-03-20 17:28:10, INFO: Layerwise_graph: False -2024-03-20 17:28:10, INFO: Skip_connection: True -2024-03-20 17:28:10, INFO: Number of layers: 1 -2024-03-20 17:28:10, INFO: Planning depth: 1 -2024-03-20 17:28:10, INFO: Planning width: 10 -2024-03-20 17:28:10, INFO: Sparse search: None -2024-03-20 17:28:14, INFO: human number: 10 -2024-03-20 17:28:14, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:28:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:28:14, INFO: Square width: 10, circle width: 4 -2024-03-20 17:28:14, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:28:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:28:16, INFO: Animation.save using -2024-03-20 17:28:21, INFO: Animation.save using -2024-03-20 17:31:25, INFO: Using device: cpu -2024-03-20 17:31:25, INFO: Loaded RL weights with best VAL -2024-03-20 17:31:25, INFO: Similarity_func: concatenation -2024-03-20 17:31:25, INFO: Layerwise_graph: False -2024-03-20 17:31:25, INFO: Skip_connection: True -2024-03-20 17:31:25, INFO: Number of layers: 1 -2024-03-20 17:31:25, INFO: Similarity_func: concatenation -2024-03-20 17:31:25, INFO: Layerwise_graph: False -2024-03-20 17:31:25, INFO: Skip_connection: True -2024-03-20 17:31:25, INFO: Number of layers: 1 -2024-03-20 17:31:25, INFO: Planning depth: 1 -2024-03-20 17:31:25, INFO: Planning width: 10 -2024-03-20 17:31:25, INFO: Sparse search: None -2024-03-20 17:31:28, INFO: human number: 10 -2024-03-20 17:31:28, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:31:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:31:28, INFO: Square width: 10, circle width: 4 -2024-03-20 17:31:28, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:31:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:31:30, INFO: Animation.save using -2024-03-20 17:31:35, INFO: Animation.save using -2024-03-20 17:32:09, INFO: Using device: cpu -2024-03-20 17:32:09, INFO: Loaded RL weights with best VAL -2024-03-20 17:32:09, INFO: Similarity_func: concatenation -2024-03-20 17:32:09, INFO: Layerwise_graph: False -2024-03-20 17:32:09, INFO: Skip_connection: True -2024-03-20 17:32:09, INFO: Number of layers: 1 -2024-03-20 17:32:09, INFO: Similarity_func: concatenation -2024-03-20 17:32:09, INFO: Layerwise_graph: False -2024-03-20 17:32:09, INFO: Skip_connection: True -2024-03-20 17:32:09, INFO: Number of layers: 1 -2024-03-20 17:32:09, INFO: Planning depth: 1 -2024-03-20 17:32:09, INFO: Planning width: 10 -2024-03-20 17:32:09, INFO: Sparse search: None -2024-03-20 17:32:13, INFO: human number: 10 -2024-03-20 17:32:13, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:32:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:32:13, INFO: Square width: 10, circle width: 4 -2024-03-20 17:32:13, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:32:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:32:15, INFO: Animation.save using -2024-03-20 17:32:20, INFO: Animation.save using -2024-03-20 17:32:45, INFO: Using device: cpu -2024-03-20 17:32:45, INFO: Loaded RL weights with best VAL -2024-03-20 17:32:45, INFO: Similarity_func: concatenation -2024-03-20 17:32:45, INFO: Layerwise_graph: False -2024-03-20 17:32:45, INFO: Skip_connection: True -2024-03-20 17:32:45, INFO: Number of layers: 1 -2024-03-20 17:32:45, INFO: Similarity_func: concatenation -2024-03-20 17:32:45, INFO: Layerwise_graph: False -2024-03-20 17:32:45, INFO: Skip_connection: True -2024-03-20 17:32:45, INFO: Number of layers: 1 -2024-03-20 17:32:45, INFO: Planning depth: 1 -2024-03-20 17:32:45, INFO: Planning width: 10 -2024-03-20 17:32:45, INFO: Sparse search: None -2024-03-20 17:32:49, INFO: human number: 10 -2024-03-20 17:32:49, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:32:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:32:49, INFO: Square width: 10, circle width: 4 -2024-03-20 17:32:49, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:32:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:32:51, INFO: Animation.save using -2024-03-20 17:32:57, INFO: Animation.save using -2024-03-20 17:36:23, INFO: Using device: cpu -2024-03-20 17:36:23, INFO: Loaded RL weights with best VAL -2024-03-20 17:36:23, INFO: Similarity_func: concatenation -2024-03-20 17:36:23, INFO: Layerwise_graph: False -2024-03-20 17:36:23, INFO: Skip_connection: True -2024-03-20 17:36:23, INFO: Number of layers: 1 -2024-03-20 17:36:23, INFO: Similarity_func: concatenation -2024-03-20 17:36:23, INFO: Layerwise_graph: False -2024-03-20 17:36:23, INFO: Skip_connection: True -2024-03-20 17:36:23, INFO: Number of layers: 1 -2024-03-20 17:36:23, INFO: Planning depth: 1 -2024-03-20 17:36:23, INFO: Planning width: 10 -2024-03-20 17:36:23, INFO: Sparse search: None -2024-03-20 17:36:26, INFO: human number: 10 -2024-03-20 17:36:26, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:36:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:36:26, INFO: Square width: 10, circle width: 4 -2024-03-20 17:36:26, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:36:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:36:28, INFO: Animation.save using -2024-03-20 17:36:33, INFO: Animation.save using -2024-03-20 17:36:42, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:36:42, INFO: Using device: cpu -2024-03-20 17:36:42, INFO: Loaded RL weights with best VAL -2024-03-20 17:36:42, INFO: Similarity_func: concatenation -2024-03-20 17:36:42, INFO: Layerwise_graph: False -2024-03-20 17:36:42, INFO: Skip_connection: True -2024-03-20 17:36:42, INFO: Number of layers: 1 -2024-03-20 17:36:42, INFO: Similarity_func: concatenation -2024-03-20 17:36:42, INFO: Layerwise_graph: False -2024-03-20 17:36:42, INFO: Skip_connection: True -2024-03-20 17:36:42, INFO: Number of layers: 1 -2024-03-20 17:36:42, INFO: Planning depth: 1 -2024-03-20 17:36:42, INFO: Planning width: 10 -2024-03-20 17:36:42, INFO: Sparse search: None -2024-03-20 17:36:42, INFO: human number: 10 -2024-03-20 17:36:42, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:36:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:36:42, INFO: Square width: 10, circle width: 4 -2024-03-20 17:36:42, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:36:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:36:44, INFO: Animation.save using -2024-03-20 17:36:48, INFO: Animation.save using -2024-03-20 17:36:57, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:38:27, INFO: Using device: cpu -2024-03-20 17:38:27, INFO: Loaded RL weights with best VAL -2024-03-20 17:38:27, INFO: Similarity_func: concatenation -2024-03-20 17:38:27, INFO: Layerwise_graph: False -2024-03-20 17:38:27, INFO: Skip_connection: True -2024-03-20 17:38:27, INFO: Number of layers: 1 -2024-03-20 17:38:27, INFO: Similarity_func: concatenation -2024-03-20 17:38:27, INFO: Layerwise_graph: False -2024-03-20 17:38:27, INFO: Skip_connection: True -2024-03-20 17:38:27, INFO: Number of layers: 1 -2024-03-20 17:38:27, INFO: Planning depth: 1 -2024-03-20 17:38:27, INFO: Planning width: 10 -2024-03-20 17:38:27, INFO: Sparse search: None -2024-03-20 17:38:31, INFO: human number: 10 -2024-03-20 17:38:31, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:38:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:38:31, INFO: Square width: 10, circle width: 4 -2024-03-20 17:38:31, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:38:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:38:34, INFO: Animation.save using -2024-03-20 17:38:58, INFO: Using device: cpu -2024-03-20 17:38:58, INFO: Loaded RL weights with best VAL -2024-03-20 17:38:58, INFO: Similarity_func: concatenation -2024-03-20 17:38:58, INFO: Layerwise_graph: False -2024-03-20 17:38:58, INFO: Skip_connection: True -2024-03-20 17:38:58, INFO: Number of layers: 1 -2024-03-20 17:38:58, INFO: Similarity_func: concatenation -2024-03-20 17:38:58, INFO: Layerwise_graph: False -2024-03-20 17:38:58, INFO: Skip_connection: True -2024-03-20 17:38:58, INFO: Number of layers: 1 -2024-03-20 17:38:58, INFO: Planning depth: 1 -2024-03-20 17:38:58, INFO: Planning width: 10 -2024-03-20 17:38:58, INFO: Sparse search: None -2024-03-20 17:39:02, INFO: human number: 10 -2024-03-20 17:39:02, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:39:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:39:02, INFO: Square width: 10, circle width: 4 -2024-03-20 17:39:02, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:39:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:39:05, INFO: Animation.save using -2024-03-20 17:39:11, INFO: Animation.save using -2024-03-20 17:39:20, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:39:20, INFO: Using device: cpu -2024-03-20 17:39:20, INFO: Loaded RL weights with best VAL -2024-03-20 17:39:20, INFO: Similarity_func: concatenation -2024-03-20 17:39:20, INFO: Layerwise_graph: False -2024-03-20 17:39:20, INFO: Skip_connection: True -2024-03-20 17:39:20, INFO: Number of layers: 1 -2024-03-20 17:39:20, INFO: Similarity_func: concatenation -2024-03-20 17:39:20, INFO: Layerwise_graph: False -2024-03-20 17:39:20, INFO: Skip_connection: True -2024-03-20 17:39:20, INFO: Number of layers: 1 -2024-03-20 17:39:20, INFO: Planning depth: 1 -2024-03-20 17:39:20, INFO: Planning width: 10 -2024-03-20 17:39:20, INFO: Sparse search: None -2024-03-20 17:39:20, INFO: human number: 10 -2024-03-20 17:39:20, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:39:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:39:20, INFO: Square width: 10, circle width: 4 -2024-03-20 17:39:20, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:39:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:39:21, INFO: Animation.save using -2024-03-20 17:39:26, INFO: Animation.save using -2024-03-20 17:39:35, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:40:26, INFO: Using device: cpu -2024-03-20 17:40:26, INFO: Loaded RL weights with best VAL -2024-03-20 17:40:26, INFO: Similarity_func: concatenation -2024-03-20 17:40:26, INFO: Layerwise_graph: False -2024-03-20 17:40:26, INFO: Skip_connection: True -2024-03-20 17:40:26, INFO: Number of layers: 1 -2024-03-20 17:40:26, INFO: Similarity_func: concatenation -2024-03-20 17:40:26, INFO: Layerwise_graph: False -2024-03-20 17:40:26, INFO: Skip_connection: True -2024-03-20 17:40:26, INFO: Number of layers: 1 -2024-03-20 17:40:26, INFO: Planning depth: 1 -2024-03-20 17:40:26, INFO: Planning width: 10 -2024-03-20 17:40:26, INFO: Sparse search: None -2024-03-20 17:40:30, INFO: human number: 10 -2024-03-20 17:40:30, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:40:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:40:30, INFO: Square width: 10, circle width: 4 -2024-03-20 17:40:30, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:40:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:40:33, INFO: Animation.save using -2024-03-20 17:40:38, INFO: Animation.save using -2024-03-20 17:40:47, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:40:47, INFO: Using device: cpu -2024-03-20 17:40:47, INFO: Loaded RL weights with best VAL -2024-03-20 17:40:47, INFO: Similarity_func: concatenation -2024-03-20 17:40:47, INFO: Layerwise_graph: False -2024-03-20 17:40:47, INFO: Skip_connection: True -2024-03-20 17:40:47, INFO: Number of layers: 1 -2024-03-20 17:40:47, INFO: Similarity_func: concatenation -2024-03-20 17:40:47, INFO: Layerwise_graph: False -2024-03-20 17:40:47, INFO: Skip_connection: True -2024-03-20 17:40:47, INFO: Number of layers: 1 -2024-03-20 17:40:47, INFO: Planning depth: 1 -2024-03-20 17:40:47, INFO: Planning width: 10 -2024-03-20 17:40:47, INFO: Sparse search: None -2024-03-20 17:40:47, INFO: human number: 10 -2024-03-20 17:40:47, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:40:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:40:47, INFO: Square width: 10, circle width: 4 -2024-03-20 17:40:47, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:40:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:40:49, INFO: Animation.save using -2024-03-20 17:40:53, INFO: Animation.save using -2024-03-20 17:41:02, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:41:55, INFO: Using device: cpu -2024-03-20 17:41:55, INFO: Loaded RL weights with best VAL -2024-03-20 17:41:55, INFO: Similarity_func: concatenation -2024-03-20 17:41:55, INFO: Layerwise_graph: False -2024-03-20 17:41:55, INFO: Skip_connection: True -2024-03-20 17:41:55, INFO: Number of layers: 1 -2024-03-20 17:41:55, INFO: Similarity_func: concatenation -2024-03-20 17:41:55, INFO: Layerwise_graph: False -2024-03-20 17:41:55, INFO: Skip_connection: True -2024-03-20 17:41:55, INFO: Number of layers: 1 -2024-03-20 17:41:55, INFO: Planning depth: 1 -2024-03-20 17:41:55, INFO: Planning width: 10 -2024-03-20 17:41:55, INFO: Sparse search: None -2024-03-20 17:41:59, INFO: human number: 10 -2024-03-20 17:41:59, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:41:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:41:59, INFO: Square width: 10, circle width: 4 -2024-03-20 17:41:59, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:41:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:42:01, INFO: Animation.save using -2024-03-20 17:44:13, INFO: Using device: cpu -2024-03-20 17:44:13, INFO: Loaded RL weights with best VAL -2024-03-20 17:44:13, INFO: Similarity_func: concatenation -2024-03-20 17:44:13, INFO: Layerwise_graph: False -2024-03-20 17:44:13, INFO: Skip_connection: True -2024-03-20 17:44:13, INFO: Number of layers: 1 -2024-03-20 17:44:13, INFO: Similarity_func: concatenation -2024-03-20 17:44:13, INFO: Layerwise_graph: False -2024-03-20 17:44:13, INFO: Skip_connection: True -2024-03-20 17:44:13, INFO: Number of layers: 1 -2024-03-20 17:44:13, INFO: Planning depth: 1 -2024-03-20 17:44:13, INFO: Planning width: 10 -2024-03-20 17:44:13, INFO: Sparse search: None -2024-03-20 17:44:17, INFO: human number: 10 -2024-03-20 17:44:17, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:44:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:44:17, INFO: Square width: 10, circle width: 4 -2024-03-20 17:44:17, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:44:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:44:19, INFO: Animation.save using -2024-03-20 17:44:47, INFO: Using device: cpu -2024-03-20 17:44:47, INFO: Loaded RL weights with best VAL -2024-03-20 17:44:47, INFO: Similarity_func: concatenation -2024-03-20 17:44:47, INFO: Layerwise_graph: False -2024-03-20 17:44:47, INFO: Skip_connection: True -2024-03-20 17:44:47, INFO: Number of layers: 1 -2024-03-20 17:44:47, INFO: Similarity_func: concatenation -2024-03-20 17:44:47, INFO: Layerwise_graph: False -2024-03-20 17:44:47, INFO: Skip_connection: True -2024-03-20 17:44:47, INFO: Number of layers: 1 -2024-03-20 17:44:47, INFO: Planning depth: 1 -2024-03-20 17:44:47, INFO: Planning width: 10 -2024-03-20 17:44:47, INFO: Sparse search: None -2024-03-20 17:44:51, INFO: human number: 10 -2024-03-20 17:44:51, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:44:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:44:51, INFO: Square width: 10, circle width: 4 -2024-03-20 17:44:51, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:44:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:44:53, INFO: Animation.save using -2024-03-20 17:45:00, INFO: Animation.save using -2024-03-20 17:45:51, INFO: Using device: cpu -2024-03-20 17:45:51, INFO: Loaded RL weights with best VAL -2024-03-20 17:45:51, INFO: Similarity_func: concatenation -2024-03-20 17:45:51, INFO: Layerwise_graph: False -2024-03-20 17:45:51, INFO: Skip_connection: True -2024-03-20 17:45:51, INFO: Number of layers: 1 -2024-03-20 17:45:51, INFO: Similarity_func: concatenation -2024-03-20 17:45:51, INFO: Layerwise_graph: False -2024-03-20 17:45:51, INFO: Skip_connection: True -2024-03-20 17:45:51, INFO: Number of layers: 1 -2024-03-20 17:45:51, INFO: Planning depth: 1 -2024-03-20 17:45:51, INFO: Planning width: 10 -2024-03-20 17:45:51, INFO: Sparse search: None -2024-03-20 17:45:55, INFO: human number: 10 -2024-03-20 17:45:55, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:45:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:45:55, INFO: Square width: 10, circle width: 4 -2024-03-20 17:45:55, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:45:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:45:57, INFO: Animation.save using -2024-03-20 17:46:02, INFO: Animation.save using -2024-03-20 17:46:13, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:46:13, INFO: Using device: cpu -2024-03-20 17:46:13, INFO: Loaded RL weights with best VAL -2024-03-20 17:46:13, INFO: Similarity_func: concatenation -2024-03-20 17:46:13, INFO: Layerwise_graph: False -2024-03-20 17:46:13, INFO: Skip_connection: True -2024-03-20 17:46:13, INFO: Number of layers: 1 -2024-03-20 17:46:13, INFO: Similarity_func: concatenation -2024-03-20 17:46:13, INFO: Layerwise_graph: False -2024-03-20 17:46:13, INFO: Skip_connection: True -2024-03-20 17:46:13, INFO: Number of layers: 1 -2024-03-20 17:46:13, INFO: Planning depth: 1 -2024-03-20 17:46:13, INFO: Planning width: 10 -2024-03-20 17:46:13, INFO: Sparse search: None -2024-03-20 17:46:13, INFO: human number: 10 -2024-03-20 17:46:13, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:46:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:46:13, INFO: Square width: 10, circle width: 4 -2024-03-20 17:46:13, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:46:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:46:15, INFO: Animation.save using -2024-03-20 17:46:20, INFO: Animation.save using -2024-03-20 17:46:31, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:49:21, INFO: Using device: cpu -2024-03-20 17:49:21, INFO: Loaded RL weights with best VAL -2024-03-20 17:49:21, INFO: Similarity_func: concatenation -2024-03-20 17:49:21, INFO: Layerwise_graph: False -2024-03-20 17:49:21, INFO: Skip_connection: True -2024-03-20 17:49:21, INFO: Number of layers: 1 -2024-03-20 17:49:21, INFO: Similarity_func: concatenation -2024-03-20 17:49:21, INFO: Layerwise_graph: False -2024-03-20 17:49:21, INFO: Skip_connection: True -2024-03-20 17:49:21, INFO: Number of layers: 1 -2024-03-20 17:49:21, INFO: Planning depth: 1 -2024-03-20 17:49:21, INFO: Planning width: 10 -2024-03-20 17:49:21, INFO: Sparse search: None -2024-03-20 17:49:25, INFO: human number: 10 -2024-03-20 17:49:25, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:49:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:49:25, INFO: Square width: 10, circle width: 4 -2024-03-20 17:49:25, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:49:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:49:28, INFO: Animation.save using -2024-03-20 17:50:17, INFO: Using device: cpu -2024-03-20 17:50:17, INFO: Loaded RL weights with best VAL -2024-03-20 17:50:17, INFO: Similarity_func: concatenation -2024-03-20 17:50:17, INFO: Layerwise_graph: False -2024-03-20 17:50:17, INFO: Skip_connection: True -2024-03-20 17:50:17, INFO: Number of layers: 1 -2024-03-20 17:50:17, INFO: Similarity_func: concatenation -2024-03-20 17:50:17, INFO: Layerwise_graph: False -2024-03-20 17:50:17, INFO: Skip_connection: True -2024-03-20 17:50:17, INFO: Number of layers: 1 -2024-03-20 17:50:17, INFO: Planning depth: 1 -2024-03-20 17:50:17, INFO: Planning width: 10 -2024-03-20 17:50:17, INFO: Sparse search: None -2024-03-20 17:50:21, INFO: human number: 10 -2024-03-20 17:50:21, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:50:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:50:21, INFO: Square width: 10, circle width: 4 -2024-03-20 17:50:21, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:50:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:50:23, INFO: Animation.save using -2024-03-20 17:50:29, INFO: Animation.save using -2024-03-20 17:50:38, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:50:38, INFO: Using device: cpu -2024-03-20 17:50:38, INFO: Loaded RL weights with best VAL -2024-03-20 17:50:38, INFO: Similarity_func: concatenation -2024-03-20 17:50:38, INFO: Layerwise_graph: False -2024-03-20 17:50:38, INFO: Skip_connection: True -2024-03-20 17:50:38, INFO: Number of layers: 1 -2024-03-20 17:50:38, INFO: Similarity_func: concatenation -2024-03-20 17:50:38, INFO: Layerwise_graph: False -2024-03-20 17:50:38, INFO: Skip_connection: True -2024-03-20 17:50:38, INFO: Number of layers: 1 -2024-03-20 17:50:38, INFO: Planning depth: 1 -2024-03-20 17:50:38, INFO: Planning width: 10 -2024-03-20 17:50:38, INFO: Sparse search: None -2024-03-20 17:50:38, INFO: human number: 10 -2024-03-20 17:50:38, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:50:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:50:38, INFO: Square width: 10, circle width: 4 -2024-03-20 17:50:38, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:50:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:50:40, INFO: Animation.save using -2024-03-20 17:50:45, INFO: Animation.save using -2024-03-20 17:50:54, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:52:16, INFO: Using device: cpu -2024-03-20 17:52:16, INFO: Loaded RL weights with best VAL -2024-03-20 17:52:16, INFO: Similarity_func: concatenation -2024-03-20 17:52:16, INFO: Layerwise_graph: False -2024-03-20 17:52:16, INFO: Skip_connection: True -2024-03-20 17:52:16, INFO: Number of layers: 1 -2024-03-20 17:52:16, INFO: Similarity_func: concatenation -2024-03-20 17:52:16, INFO: Layerwise_graph: False -2024-03-20 17:52:16, INFO: Skip_connection: True -2024-03-20 17:52:16, INFO: Number of layers: 1 -2024-03-20 17:52:16, INFO: Planning depth: 1 -2024-03-20 17:52:16, INFO: Planning width: 10 -2024-03-20 17:52:16, INFO: Sparse search: None -2024-03-20 17:52:20, INFO: human number: 10 -2024-03-20 17:52:20, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:52:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:52:20, INFO: Square width: 10, circle width: 4 -2024-03-20 17:52:20, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:52:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:52:22, INFO: Animation.save using -2024-03-20 17:52:27, INFO: Animation.save using -2024-03-20 17:52:36, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:52:36, INFO: Using device: cpu -2024-03-20 17:52:36, INFO: Loaded RL weights with best VAL -2024-03-20 17:52:36, INFO: Similarity_func: concatenation -2024-03-20 17:52:36, INFO: Layerwise_graph: False -2024-03-20 17:52:36, INFO: Skip_connection: True -2024-03-20 17:52:36, INFO: Number of layers: 1 -2024-03-20 17:52:36, INFO: Similarity_func: concatenation -2024-03-20 17:52:36, INFO: Layerwise_graph: False -2024-03-20 17:52:36, INFO: Skip_connection: True -2024-03-20 17:52:36, INFO: Number of layers: 1 -2024-03-20 17:52:36, INFO: Planning depth: 1 -2024-03-20 17:52:36, INFO: Planning width: 10 -2024-03-20 17:52:36, INFO: Sparse search: None -2024-03-20 17:52:36, INFO: human number: 10 -2024-03-20 17:52:36, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:52:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:52:36, INFO: Square width: 10, circle width: 4 -2024-03-20 17:52:36, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:52:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:52:38, INFO: Animation.save using -2024-03-20 17:52:42, INFO: Animation.save using -2024-03-20 17:52:51, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:54:11, INFO: Using device: cpu -2024-03-20 17:54:11, INFO: Loaded RL weights with best VAL -2024-03-20 17:54:11, INFO: Similarity_func: concatenation -2024-03-20 17:54:11, INFO: Layerwise_graph: False -2024-03-20 17:54:11, INFO: Skip_connection: True -2024-03-20 17:54:11, INFO: Number of layers: 1 -2024-03-20 17:54:11, INFO: Similarity_func: concatenation -2024-03-20 17:54:11, INFO: Layerwise_graph: False -2024-03-20 17:54:11, INFO: Skip_connection: True -2024-03-20 17:54:11, INFO: Number of layers: 1 -2024-03-20 17:54:11, INFO: Planning depth: 1 -2024-03-20 17:54:11, INFO: Planning width: 10 -2024-03-20 17:54:11, INFO: Sparse search: None -2024-03-20 17:54:15, INFO: human number: 10 -2024-03-20 17:54:15, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:54:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:54:15, INFO: Square width: 10, circle width: 4 -2024-03-20 17:54:15, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:54:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:54:17, INFO: Animation.save using -2024-03-20 17:54:22, INFO: Animation.save using -2024-03-20 17:54:31, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:54:31, INFO: Using device: cpu -2024-03-20 17:54:31, INFO: Loaded RL weights with best VAL -2024-03-20 17:54:31, INFO: Similarity_func: concatenation -2024-03-20 17:54:31, INFO: Layerwise_graph: False -2024-03-20 17:54:31, INFO: Skip_connection: True -2024-03-20 17:54:31, INFO: Number of layers: 1 -2024-03-20 17:54:31, INFO: Similarity_func: concatenation -2024-03-20 17:54:31, INFO: Layerwise_graph: False -2024-03-20 17:54:31, INFO: Skip_connection: True -2024-03-20 17:54:31, INFO: Number of layers: 1 -2024-03-20 17:54:31, INFO: Planning depth: 1 -2024-03-20 17:54:31, INFO: Planning width: 10 -2024-03-20 17:54:31, INFO: Sparse search: None -2024-03-20 17:54:31, INFO: human number: 10 -2024-03-20 17:54:31, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:54:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:54:31, INFO: Square width: 10, circle width: 4 -2024-03-20 17:54:31, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:54:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:54:33, INFO: Animation.save using -2024-03-20 17:54:38, INFO: Animation.save using -2024-03-20 17:54:47, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:56:34, INFO: Using device: cpu -2024-03-20 17:56:34, INFO: Loaded RL weights with best VAL -2024-03-20 17:56:34, INFO: Similarity_func: concatenation -2024-03-20 17:56:34, INFO: Layerwise_graph: False -2024-03-20 17:56:34, INFO: Skip_connection: True -2024-03-20 17:56:34, INFO: Number of layers: 1 -2024-03-20 17:56:34, INFO: Similarity_func: concatenation -2024-03-20 17:56:34, INFO: Layerwise_graph: False -2024-03-20 17:56:34, INFO: Skip_connection: True -2024-03-20 17:56:34, INFO: Number of layers: 1 -2024-03-20 17:56:34, INFO: Planning depth: 1 -2024-03-20 17:56:34, INFO: Planning width: 10 -2024-03-20 17:56:34, INFO: Sparse search: None -2024-03-20 17:56:38, INFO: human number: 10 -2024-03-20 17:56:38, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:56:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:56:38, INFO: Square width: 10, circle width: 4 -2024-03-20 17:56:38, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:56:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:56:40, INFO: Animation.save using -2024-03-20 17:56:46, INFO: Animation.save using -2024-03-20 17:56:55, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:56:55, INFO: Using device: cpu -2024-03-20 17:56:55, INFO: Loaded RL weights with best VAL -2024-03-20 17:56:55, INFO: Similarity_func: concatenation -2024-03-20 17:56:55, INFO: Layerwise_graph: False -2024-03-20 17:56:55, INFO: Skip_connection: True -2024-03-20 17:56:55, INFO: Number of layers: 1 -2024-03-20 17:56:55, INFO: Similarity_func: concatenation -2024-03-20 17:56:55, INFO: Layerwise_graph: False -2024-03-20 17:56:55, INFO: Skip_connection: True -2024-03-20 17:56:55, INFO: Number of layers: 1 -2024-03-20 17:56:55, INFO: Planning depth: 1 -2024-03-20 17:56:55, INFO: Planning width: 10 -2024-03-20 17:56:55, INFO: Sparse search: None -2024-03-20 17:56:55, INFO: human number: 10 -2024-03-20 17:56:55, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:56:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:56:55, INFO: Square width: 10, circle width: 4 -2024-03-20 17:56:55, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:56:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:56:57, INFO: Animation.save using -2024-03-20 17:57:02, INFO: Animation.save using -2024-03-20 17:57:11, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:58:10, INFO: Using device: cpu -2024-03-20 17:58:10, INFO: Loaded RL weights with best VAL -2024-03-20 17:58:10, INFO: Similarity_func: concatenation -2024-03-20 17:58:10, INFO: Layerwise_graph: False -2024-03-20 17:58:10, INFO: Skip_connection: True -2024-03-20 17:58:10, INFO: Number of layers: 1 -2024-03-20 17:58:10, INFO: Similarity_func: concatenation -2024-03-20 17:58:10, INFO: Layerwise_graph: False -2024-03-20 17:58:10, INFO: Skip_connection: True -2024-03-20 17:58:10, INFO: Number of layers: 1 -2024-03-20 17:58:10, INFO: Planning depth: 1 -2024-03-20 17:58:10, INFO: Planning width: 10 -2024-03-20 17:58:10, INFO: Sparse search: None -2024-03-20 17:58:14, INFO: human number: 10 -2024-03-20 17:58:14, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:58:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:58:14, INFO: Square width: 10, circle width: 4 -2024-03-20 17:58:14, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:58:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:58:16, INFO: Animation.save using -2024-03-20 17:58:21, INFO: Animation.save using -2024-03-20 17:58:30, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:58:30, INFO: Using device: cpu -2024-03-20 17:58:30, INFO: Loaded RL weights with best VAL -2024-03-20 17:58:30, INFO: Similarity_func: concatenation -2024-03-20 17:58:30, INFO: Layerwise_graph: False -2024-03-20 17:58:30, INFO: Skip_connection: True -2024-03-20 17:58:30, INFO: Number of layers: 1 -2024-03-20 17:58:30, INFO: Similarity_func: concatenation -2024-03-20 17:58:30, INFO: Layerwise_graph: False -2024-03-20 17:58:30, INFO: Skip_connection: True -2024-03-20 17:58:30, INFO: Number of layers: 1 -2024-03-20 17:58:30, INFO: Planning depth: 1 -2024-03-20 17:58:30, INFO: Planning width: 10 -2024-03-20 17:58:30, INFO: Sparse search: None -2024-03-20 17:58:30, INFO: human number: 10 -2024-03-20 17:58:30, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:58:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:58:30, INFO: Square width: 10, circle width: 4 -2024-03-20 17:58:30, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:58:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:58:32, INFO: Animation.save using -2024-03-20 17:58:36, INFO: Animation.save using -2024-03-20 17:58:46, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:59:35, INFO: Using device: cpu -2024-03-20 17:59:35, INFO: Loaded RL weights with best VAL -2024-03-20 17:59:35, INFO: Similarity_func: concatenation -2024-03-20 17:59:35, INFO: Layerwise_graph: False -2024-03-20 17:59:35, INFO: Skip_connection: True -2024-03-20 17:59:35, INFO: Number of layers: 1 -2024-03-20 17:59:35, INFO: Similarity_func: concatenation -2024-03-20 17:59:35, INFO: Layerwise_graph: False -2024-03-20 17:59:35, INFO: Skip_connection: True -2024-03-20 17:59:35, INFO: Number of layers: 1 -2024-03-20 17:59:35, INFO: Planning depth: 1 -2024-03-20 17:59:35, INFO: Planning width: 10 -2024-03-20 17:59:35, INFO: Sparse search: None -2024-03-20 17:59:39, INFO: human number: 10 -2024-03-20 17:59:39, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:59:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:59:39, INFO: Square width: 10, circle width: 4 -2024-03-20 17:59:39, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:59:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:59:41, INFO: Animation.save using -2024-03-20 17:59:47, INFO: Animation.save using -2024-03-20 17:59:56, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 17:59:56, INFO: Using device: cpu -2024-03-20 17:59:56, INFO: Loaded RL weights with best VAL -2024-03-20 17:59:56, INFO: Similarity_func: concatenation -2024-03-20 17:59:56, INFO: Layerwise_graph: False -2024-03-20 17:59:56, INFO: Skip_connection: True -2024-03-20 17:59:56, INFO: Number of layers: 1 -2024-03-20 17:59:56, INFO: Similarity_func: concatenation -2024-03-20 17:59:56, INFO: Layerwise_graph: False -2024-03-20 17:59:56, INFO: Skip_connection: True -2024-03-20 17:59:56, INFO: Number of layers: 1 -2024-03-20 17:59:56, INFO: Planning depth: 1 -2024-03-20 17:59:56, INFO: Planning width: 10 -2024-03-20 17:59:56, INFO: Sparse search: None -2024-03-20 17:59:56, INFO: human number: 10 -2024-03-20 17:59:56, INFO: Not randomize human's radius and preferred speed -2024-03-20 17:59:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 17:59:56, INFO: Square width: 10, circle width: 4 -2024-03-20 17:59:56, INFO: rotation constraint: 3.141592653589793 -2024-03-20 17:59:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 17:59:58, INFO: Animation.save using -2024-03-20 18:00:04, INFO: Animation.save using -2024-03-20 18:00:16, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 18:02:30, INFO: Using device: cpu -2024-03-20 18:02:30, INFO: Loaded RL weights with best VAL -2024-03-20 18:02:30, INFO: Similarity_func: concatenation -2024-03-20 18:02:30, INFO: Layerwise_graph: False -2024-03-20 18:02:30, INFO: Skip_connection: True -2024-03-20 18:02:30, INFO: Number of layers: 1 -2024-03-20 18:02:30, INFO: Similarity_func: concatenation -2024-03-20 18:02:30, INFO: Layerwise_graph: False -2024-03-20 18:02:30, INFO: Skip_connection: True -2024-03-20 18:02:30, INFO: Number of layers: 1 -2024-03-20 18:02:30, INFO: Planning depth: 1 -2024-03-20 18:02:30, INFO: Planning width: 10 -2024-03-20 18:02:30, INFO: Sparse search: None -2024-03-20 18:02:34, INFO: human number: 10 -2024-03-20 18:02:34, INFO: Not randomize human's radius and preferred speed -2024-03-20 18:02:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 18:02:34, INFO: Square width: 10, circle width: 4 -2024-03-20 18:02:34, INFO: rotation constraint: 3.141592653589793 -2024-03-20 18:02:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 18:02:36, INFO: Animation.save using -2024-03-20 18:02:41, INFO: Animation.save using -2024-03-20 18:02:50, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-20 18:02:50, INFO: Using device: cpu -2024-03-20 18:02:50, INFO: Loaded RL weights with best VAL -2024-03-20 18:02:50, INFO: Similarity_func: concatenation -2024-03-20 18:02:50, INFO: Layerwise_graph: False -2024-03-20 18:02:50, INFO: Skip_connection: True -2024-03-20 18:02:50, INFO: Number of layers: 1 -2024-03-20 18:02:50, INFO: Similarity_func: concatenation -2024-03-20 18:02:50, INFO: Layerwise_graph: False -2024-03-20 18:02:50, INFO: Skip_connection: True -2024-03-20 18:02:50, INFO: Number of layers: 1 -2024-03-20 18:02:50, INFO: Planning depth: 1 -2024-03-20 18:02:50, INFO: Planning width: 10 -2024-03-20 18:02:50, INFO: Sparse search: None -2024-03-20 18:02:50, INFO: human number: 10 -2024-03-20 18:02:50, INFO: Not randomize human's radius and preferred speed -2024-03-20 18:02:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-20 18:02:50, INFO: Square width: 10, circle width: 4 -2024-03-20 18:02:50, INFO: rotation constraint: 3.141592653589793 -2024-03-20 18:02:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-20 18:02:52, INFO: Animation.save using -2024-03-20 18:02:56, INFO: Animation.save using -2024-03-20 18:03:05, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:03:14, INFO: Using device: cpu -2024-03-23 10:03:14, INFO: Loaded RL weights with best VAL -2024-03-23 10:03:14, INFO: Similarity_func: concatenation -2024-03-23 10:03:14, INFO: Layerwise_graph: False -2024-03-23 10:03:14, INFO: Skip_connection: True -2024-03-23 10:03:14, INFO: Number of layers: 1 -2024-03-23 10:03:14, INFO: Similarity_func: concatenation -2024-03-23 10:03:14, INFO: Layerwise_graph: False -2024-03-23 10:03:14, INFO: Skip_connection: True -2024-03-23 10:03:14, INFO: Number of layers: 1 -2024-03-23 10:03:14, INFO: Planning depth: 1 -2024-03-23 10:03:14, INFO: Planning width: 10 -2024-03-23 10:03:14, INFO: Sparse search: None -2024-03-23 10:03:18, INFO: human number: 10 -2024-03-23 10:03:18, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:03:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:03:18, INFO: Square width: 10, circle width: 4 -2024-03-23 10:03:18, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:03:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:03:21, INFO: Animation.save using -2024-03-23 10:03:26, INFO: Animation.save using -2024-03-23 10:03:35, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:03:35, INFO: Using device: cpu -2024-03-23 10:03:35, INFO: Loaded RL weights with best VAL -2024-03-23 10:03:35, INFO: Similarity_func: concatenation -2024-03-23 10:03:35, INFO: Layerwise_graph: False -2024-03-23 10:03:35, INFO: Skip_connection: True -2024-03-23 10:03:35, INFO: Number of layers: 1 -2024-03-23 10:03:35, INFO: Similarity_func: concatenation -2024-03-23 10:03:35, INFO: Layerwise_graph: False -2024-03-23 10:03:35, INFO: Skip_connection: True -2024-03-23 10:03:35, INFO: Number of layers: 1 -2024-03-23 10:03:35, INFO: Planning depth: 1 -2024-03-23 10:03:35, INFO: Planning width: 10 -2024-03-23 10:03:35, INFO: Sparse search: None -2024-03-23 10:03:35, INFO: human number: 10 -2024-03-23 10:03:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:03:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:03:35, INFO: Square width: 10, circle width: 4 -2024-03-23 10:03:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:03:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:03:36, INFO: Animation.save using -2024-03-23 10:03:41, INFO: Animation.save using -2024-03-23 10:03:50, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:03:53, INFO: Using device: cpu -2024-03-23 10:03:53, INFO: Loaded RL weights with best VAL -2024-03-23 10:03:53, INFO: Similarity_func: concatenation -2024-03-23 10:03:53, INFO: Layerwise_graph: False -2024-03-23 10:03:53, INFO: Skip_connection: True -2024-03-23 10:03:53, INFO: Number of layers: 1 -2024-03-23 10:03:53, INFO: Similarity_func: concatenation -2024-03-23 10:03:53, INFO: Layerwise_graph: False -2024-03-23 10:03:53, INFO: Skip_connection: True -2024-03-23 10:03:53, INFO: Number of layers: 1 -2024-03-23 10:03:53, INFO: Planning depth: 1 -2024-03-23 10:03:53, INFO: Planning width: 10 -2024-03-23 10:03:53, INFO: Sparse search: None -2024-03-23 10:03:57, INFO: human number: 10 -2024-03-23 10:03:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:03:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:03:57, INFO: Square width: 10, circle width: 4 -2024-03-23 10:03:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:03:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:04:00, INFO: Animation.save using -2024-03-23 10:04:07, INFO: Animation.save using -2024-03-23 10:04:21, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-23 10:04:21, INFO: Using device: cpu -2024-03-23 10:04:21, INFO: Loaded RL weights with best VAL -2024-03-23 10:04:21, INFO: Similarity_func: concatenation -2024-03-23 10:04:21, INFO: Layerwise_graph: False -2024-03-23 10:04:21, INFO: Skip_connection: True -2024-03-23 10:04:21, INFO: Number of layers: 1 -2024-03-23 10:04:21, INFO: Similarity_func: concatenation -2024-03-23 10:04:21, INFO: Layerwise_graph: False -2024-03-23 10:04:21, INFO: Skip_connection: True -2024-03-23 10:04:21, INFO: Number of layers: 1 -2024-03-23 10:04:21, INFO: Planning depth: 1 -2024-03-23 10:04:21, INFO: Planning width: 10 -2024-03-23 10:04:21, INFO: Sparse search: None -2024-03-23 10:04:21, INFO: human number: 10 -2024-03-23 10:04:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:04:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:04:21, INFO: Square width: 10, circle width: 4 -2024-03-23 10:04:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:04:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:04:24, INFO: Animation.save using -2024-03-23 10:04:48, INFO: Using device: cpu -2024-03-23 10:04:48, INFO: Loaded RL weights with best VAL -2024-03-23 10:04:48, INFO: Similarity_func: concatenation -2024-03-23 10:04:48, INFO: Layerwise_graph: False -2024-03-23 10:04:48, INFO: Skip_connection: True -2024-03-23 10:04:48, INFO: Number of layers: 1 -2024-03-23 10:04:48, INFO: Similarity_func: concatenation -2024-03-23 10:04:48, INFO: Layerwise_graph: False -2024-03-23 10:04:48, INFO: Skip_connection: True -2024-03-23 10:04:48, INFO: Number of layers: 1 -2024-03-23 10:04:48, INFO: Planning depth: 1 -2024-03-23 10:04:48, INFO: Planning width: 10 -2024-03-23 10:04:48, INFO: Sparse search: None -2024-03-23 10:04:51, INFO: human number: 10 -2024-03-23 10:04:51, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:04:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:04:51, INFO: Square width: 10, circle width: 4 -2024-03-23 10:04:51, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:04:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:04:54, INFO: Animation.save using -2024-03-23 10:04:59, INFO: Animation.save using -2024-03-23 10:05:08, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:05:08, INFO: Using device: cpu -2024-03-23 10:05:08, INFO: Loaded RL weights with best VAL -2024-03-23 10:05:08, INFO: Similarity_func: concatenation -2024-03-23 10:05:08, INFO: Layerwise_graph: False -2024-03-23 10:05:08, INFO: Skip_connection: True -2024-03-23 10:05:08, INFO: Number of layers: 1 -2024-03-23 10:05:08, INFO: Similarity_func: concatenation -2024-03-23 10:05:08, INFO: Layerwise_graph: False -2024-03-23 10:05:08, INFO: Skip_connection: True -2024-03-23 10:05:08, INFO: Number of layers: 1 -2024-03-23 10:05:08, INFO: Planning depth: 1 -2024-03-23 10:05:08, INFO: Planning width: 10 -2024-03-23 10:05:08, INFO: Sparse search: None -2024-03-23 10:05:08, INFO: human number: 10 -2024-03-23 10:05:08, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:05:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:05:08, INFO: Square width: 10, circle width: 4 -2024-03-23 10:05:08, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:05:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:05:09, INFO: Animation.save using -2024-03-23 10:05:14, INFO: Animation.save using -2024-03-23 10:05:23, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:05:26, INFO: Using device: cpu -2024-03-23 10:05:26, INFO: Loaded RL weights with best VAL -2024-03-23 10:05:26, INFO: Similarity_func: concatenation -2024-03-23 10:05:26, INFO: Layerwise_graph: False -2024-03-23 10:05:26, INFO: Skip_connection: True -2024-03-23 10:05:26, INFO: Number of layers: 1 -2024-03-23 10:05:26, INFO: Similarity_func: concatenation -2024-03-23 10:05:26, INFO: Layerwise_graph: False -2024-03-23 10:05:26, INFO: Skip_connection: True -2024-03-23 10:05:26, INFO: Number of layers: 1 -2024-03-23 10:05:26, INFO: Planning depth: 1 -2024-03-23 10:05:26, INFO: Planning width: 10 -2024-03-23 10:05:26, INFO: Sparse search: None -2024-03-23 10:05:30, INFO: human number: 10 -2024-03-23 10:05:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:05:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:05:30, INFO: Square width: 10, circle width: 4 -2024-03-23 10:05:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:05:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:05:34, INFO: Animation.save using -2024-03-23 10:05:41, INFO: Animation.save using -2024-03-23 10:05:55, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-23 10:05:55, INFO: Using device: cpu -2024-03-23 10:05:55, INFO: Loaded RL weights with best VAL -2024-03-23 10:05:55, INFO: Similarity_func: concatenation -2024-03-23 10:05:55, INFO: Layerwise_graph: False -2024-03-23 10:05:55, INFO: Skip_connection: True -2024-03-23 10:05:55, INFO: Number of layers: 1 -2024-03-23 10:05:55, INFO: Similarity_func: concatenation -2024-03-23 10:05:55, INFO: Layerwise_graph: False -2024-03-23 10:05:55, INFO: Skip_connection: True -2024-03-23 10:05:55, INFO: Number of layers: 1 -2024-03-23 10:05:55, INFO: Planning depth: 1 -2024-03-23 10:05:55, INFO: Planning width: 10 -2024-03-23 10:05:55, INFO: Sparse search: None -2024-03-23 10:05:55, INFO: human number: 10 -2024-03-23 10:05:55, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:05:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:05:55, INFO: Square width: 10, circle width: 4 -2024-03-23 10:05:55, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:05:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:05:57, INFO: Animation.save using -2024-03-23 10:06:05, INFO: Animation.save using -2024-03-23 10:06:19, INFO: Using device: cpu -2024-03-23 10:06:19, INFO: Loaded RL weights with best VAL -2024-03-23 10:06:19, INFO: Similarity_func: concatenation -2024-03-23 10:06:19, INFO: Layerwise_graph: False -2024-03-23 10:06:19, INFO: Skip_connection: True -2024-03-23 10:06:19, INFO: Number of layers: 1 -2024-03-23 10:06:19, INFO: Similarity_func: concatenation -2024-03-23 10:06:19, INFO: Layerwise_graph: False -2024-03-23 10:06:19, INFO: Skip_connection: True -2024-03-23 10:06:19, INFO: Number of layers: 1 -2024-03-23 10:06:19, INFO: Planning depth: 1 -2024-03-23 10:06:19, INFO: Planning width: 10 -2024-03-23 10:06:19, INFO: Sparse search: None -2024-03-23 10:06:22, INFO: human number: 10 -2024-03-23 10:06:22, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:06:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:06:22, INFO: Square width: 10, circle width: 4 -2024-03-23 10:06:22, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:06:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:06:25, INFO: Animation.save using -2024-03-23 10:06:30, INFO: Animation.save using -2024-03-23 10:06:39, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:06:39, INFO: Using device: cpu -2024-03-23 10:06:39, INFO: Loaded RL weights with best VAL -2024-03-23 10:06:39, INFO: Similarity_func: concatenation -2024-03-23 10:06:39, INFO: Layerwise_graph: False -2024-03-23 10:06:39, INFO: Skip_connection: True -2024-03-23 10:06:39, INFO: Number of layers: 1 -2024-03-23 10:06:39, INFO: Similarity_func: concatenation -2024-03-23 10:06:39, INFO: Layerwise_graph: False -2024-03-23 10:06:39, INFO: Skip_connection: True -2024-03-23 10:06:39, INFO: Number of layers: 1 -2024-03-23 10:06:39, INFO: Planning depth: 1 -2024-03-23 10:06:39, INFO: Planning width: 10 -2024-03-23 10:06:39, INFO: Sparse search: None -2024-03-23 10:06:39, INFO: human number: 10 -2024-03-23 10:06:39, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:06:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:06:39, INFO: Square width: 10, circle width: 4 -2024-03-23 10:06:39, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:06:39, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:06:41, INFO: Animation.save using -2024-03-23 10:06:45, INFO: Animation.save using -2024-03-23 10:06:54, INFO: It takes 9.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.127826 -2024-03-23 10:06:58, INFO: Using device: cpu -2024-03-23 10:06:58, INFO: Loaded RL weights with best VAL -2024-03-23 10:06:58, INFO: Similarity_func: concatenation -2024-03-23 10:06:58, INFO: Layerwise_graph: False -2024-03-23 10:06:58, INFO: Skip_connection: True -2024-03-23 10:06:58, INFO: Number of layers: 1 -2024-03-23 10:06:58, INFO: Similarity_func: concatenation -2024-03-23 10:06:58, INFO: Layerwise_graph: False -2024-03-23 10:06:58, INFO: Skip_connection: True -2024-03-23 10:06:58, INFO: Number of layers: 1 -2024-03-23 10:06:58, INFO: Planning depth: 1 -2024-03-23 10:06:58, INFO: Planning width: 10 -2024-03-23 10:06:58, INFO: Sparse search: None -2024-03-23 10:07:02, INFO: human number: 10 -2024-03-23 10:07:02, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:07:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:07:02, INFO: Square width: 10, circle width: 4 -2024-03-23 10:07:02, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:07:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:07:05, INFO: Animation.save using -2024-03-23 10:07:12, INFO: Animation.save using -2024-03-23 10:07:25, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-23 10:07:25, INFO: Using device: cpu -2024-03-23 10:07:25, INFO: Loaded RL weights with best VAL -2024-03-23 10:07:25, INFO: Similarity_func: concatenation -2024-03-23 10:07:25, INFO: Layerwise_graph: False -2024-03-23 10:07:25, INFO: Skip_connection: True -2024-03-23 10:07:25, INFO: Number of layers: 1 -2024-03-23 10:07:25, INFO: Similarity_func: concatenation -2024-03-23 10:07:25, INFO: Layerwise_graph: False -2024-03-23 10:07:25, INFO: Skip_connection: True -2024-03-23 10:07:25, INFO: Number of layers: 1 -2024-03-23 10:07:25, INFO: Planning depth: 1 -2024-03-23 10:07:25, INFO: Planning width: 10 -2024-03-23 10:07:25, INFO: Sparse search: None -2024-03-23 10:07:25, INFO: human number: 10 -2024-03-23 10:07:25, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:07:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:07:25, INFO: Square width: 10, circle width: 4 -2024-03-23 10:07:25, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:07:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:07:28, INFO: Animation.save using -2024-03-23 10:07:35, INFO: Animation.save using -2024-03-23 10:07:48, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.773966 -2024-03-23 10:07:52, INFO: Using device: cpu -2024-03-23 10:07:52, INFO: Loaded RL weights with best VAL -2024-03-23 10:07:52, INFO: Similarity_func: concatenation -2024-03-23 10:07:52, INFO: Layerwise_graph: False -2024-03-23 10:07:52, INFO: Skip_connection: True -2024-03-23 10:07:52, INFO: Number of layers: 1 -2024-03-23 10:07:52, INFO: Similarity_func: concatenation -2024-03-23 10:07:52, INFO: Layerwise_graph: False -2024-03-23 10:07:52, INFO: Skip_connection: True -2024-03-23 10:07:52, INFO: Number of layers: 1 -2024-03-23 10:07:52, INFO: Planning depth: 1 -2024-03-23 10:07:52, INFO: Planning width: 10 -2024-03-23 10:07:52, INFO: Sparse search: None -2024-03-23 10:07:55, INFO: human number: 10 -2024-03-23 10:07:55, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:07:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:07:55, INFO: Square width: 10, circle width: 4 -2024-03-23 10:07:55, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:07:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:07:57, INFO: Animation.save using -2024-03-23 10:08:02, INFO: Animation.save using -2024-03-23 10:08:11, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.086464 -2024-03-23 10:08:11, INFO: Using device: cpu -2024-03-23 10:08:11, INFO: Loaded RL weights with best VAL -2024-03-23 10:08:11, INFO: Similarity_func: concatenation -2024-03-23 10:08:11, INFO: Layerwise_graph: False -2024-03-23 10:08:11, INFO: Skip_connection: True -2024-03-23 10:08:11, INFO: Number of layers: 1 -2024-03-23 10:08:11, INFO: Similarity_func: concatenation -2024-03-23 10:08:11, INFO: Layerwise_graph: False -2024-03-23 10:08:11, INFO: Skip_connection: True -2024-03-23 10:08:11, INFO: Number of layers: 1 -2024-03-23 10:08:11, INFO: Planning depth: 1 -2024-03-23 10:08:11, INFO: Planning width: 10 -2024-03-23 10:08:11, INFO: Sparse search: None -2024-03-23 10:08:11, INFO: human number: 10 -2024-03-23 10:08:11, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:08:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:08:11, INFO: Square width: 10, circle width: 4 -2024-03-23 10:08:11, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:08:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:08:13, INFO: Animation.save using -2024-03-23 10:08:18, INFO: Animation.save using -2024-03-23 10:08:27, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.086464 -2024-03-23 10:08:30, INFO: Using device: cpu -2024-03-23 10:08:30, INFO: Loaded RL weights with best VAL -2024-03-23 10:08:30, INFO: Similarity_func: concatenation -2024-03-23 10:08:30, INFO: Layerwise_graph: False -2024-03-23 10:08:30, INFO: Skip_connection: True -2024-03-23 10:08:30, INFO: Number of layers: 1 -2024-03-23 10:08:30, INFO: Similarity_func: concatenation -2024-03-23 10:08:30, INFO: Layerwise_graph: False -2024-03-23 10:08:30, INFO: Skip_connection: True -2024-03-23 10:08:30, INFO: Number of layers: 1 -2024-03-23 10:08:30, INFO: Planning depth: 1 -2024-03-23 10:08:30, INFO: Planning width: 10 -2024-03-23 10:08:30, INFO: Sparse search: None -2024-03-23 10:08:34, INFO: human number: 10 -2024-03-23 10:08:34, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:08:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:08:34, INFO: Square width: 10, circle width: 4 -2024-03-23 10:08:34, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:08:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:08:37, INFO: Animation.save using -2024-03-23 10:08:46, INFO: Animation.save using -2024-03-23 10:09:00, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.792384 -2024-03-23 10:09:00, INFO: Using device: cpu -2024-03-23 10:09:00, INFO: Loaded RL weights with best VAL -2024-03-23 10:09:00, INFO: Similarity_func: concatenation -2024-03-23 10:09:00, INFO: Layerwise_graph: False -2024-03-23 10:09:00, INFO: Skip_connection: True -2024-03-23 10:09:00, INFO: Number of layers: 1 -2024-03-23 10:09:00, INFO: Similarity_func: concatenation -2024-03-23 10:09:00, INFO: Layerwise_graph: False -2024-03-23 10:09:00, INFO: Skip_connection: True -2024-03-23 10:09:00, INFO: Number of layers: 1 -2024-03-23 10:09:00, INFO: Planning depth: 1 -2024-03-23 10:09:00, INFO: Planning width: 10 -2024-03-23 10:09:00, INFO: Sparse search: None -2024-03-23 10:09:00, INFO: human number: 10 -2024-03-23 10:09:00, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:09:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:09:00, INFO: Square width: 10, circle width: 4 -2024-03-23 10:09:00, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:09:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:09:02, INFO: Animation.save using -2024-03-23 10:09:09, INFO: Animation.save using -2024-03-23 10:09:23, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.792384 -2024-03-23 10:09:26, INFO: Using device: cpu -2024-03-23 10:09:26, INFO: Loaded RL weights with best VAL -2024-03-23 10:09:26, INFO: Similarity_func: concatenation -2024-03-23 10:09:26, INFO: Layerwise_graph: False -2024-03-23 10:09:26, INFO: Skip_connection: True -2024-03-23 10:09:26, INFO: Number of layers: 1 -2024-03-23 10:09:26, INFO: Similarity_func: concatenation -2024-03-23 10:09:26, INFO: Layerwise_graph: False -2024-03-23 10:09:26, INFO: Skip_connection: True -2024-03-23 10:09:26, INFO: Number of layers: 1 -2024-03-23 10:09:26, INFO: Planning depth: 1 -2024-03-23 10:09:26, INFO: Planning width: 10 -2024-03-23 10:09:26, INFO: Sparse search: None -2024-03-23 10:09:30, INFO: human number: 10 -2024-03-23 10:09:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:09:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:09:30, INFO: Square width: 10, circle width: 4 -2024-03-23 10:09:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:09:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:09:33, INFO: Animation.save using -2024-03-23 10:09:38, INFO: Animation.save using -2024-03-23 10:09:48, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055318 -2024-03-23 10:09:48, INFO: Using device: cpu -2024-03-23 10:09:48, INFO: Loaded RL weights with best VAL -2024-03-23 10:09:48, INFO: Similarity_func: concatenation -2024-03-23 10:09:48, INFO: Layerwise_graph: False -2024-03-23 10:09:48, INFO: Skip_connection: True -2024-03-23 10:09:48, INFO: Number of layers: 1 -2024-03-23 10:09:48, INFO: Similarity_func: concatenation -2024-03-23 10:09:48, INFO: Layerwise_graph: False -2024-03-23 10:09:48, INFO: Skip_connection: True -2024-03-23 10:09:48, INFO: Number of layers: 1 -2024-03-23 10:09:48, INFO: Planning depth: 1 -2024-03-23 10:09:48, INFO: Planning width: 10 -2024-03-23 10:09:48, INFO: Sparse search: None -2024-03-23 10:09:48, INFO: human number: 10 -2024-03-23 10:09:48, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:09:48, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:09:48, INFO: Square width: 10, circle width: 4 -2024-03-23 10:09:48, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:09:48, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:09:50, INFO: Animation.save using -2024-03-23 10:09:56, INFO: Animation.save using -2024-03-23 10:10:06, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.055318 -2024-03-23 10:10:10, INFO: Using device: cpu -2024-03-23 10:10:10, INFO: Loaded RL weights with best VAL -2024-03-23 10:10:10, INFO: Similarity_func: concatenation -2024-03-23 10:10:10, INFO: Layerwise_graph: False -2024-03-23 10:10:10, INFO: Skip_connection: True -2024-03-23 10:10:10, INFO: Number of layers: 1 -2024-03-23 10:10:10, INFO: Similarity_func: concatenation -2024-03-23 10:10:10, INFO: Layerwise_graph: False -2024-03-23 10:10:10, INFO: Skip_connection: True -2024-03-23 10:10:10, INFO: Number of layers: 1 -2024-03-23 10:10:10, INFO: Planning depth: 1 -2024-03-23 10:10:10, INFO: Planning width: 10 -2024-03-23 10:10:10, INFO: Sparse search: None -2024-03-23 10:10:14, INFO: human number: 10 -2024-03-23 10:10:14, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:10:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:10:14, INFO: Square width: 10, circle width: 4 -2024-03-23 10:10:14, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:10:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:10:16, INFO: Animation.save using -2024-03-23 10:10:21, INFO: Animation.save using -2024-03-23 10:10:30, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.141197 -2024-03-23 10:10:30, INFO: Using device: cpu -2024-03-23 10:10:30, INFO: Loaded RL weights with best VAL -2024-03-23 10:10:30, INFO: Similarity_func: concatenation -2024-03-23 10:10:30, INFO: Layerwise_graph: False -2024-03-23 10:10:30, INFO: Skip_connection: True -2024-03-23 10:10:30, INFO: Number of layers: 1 -2024-03-23 10:10:30, INFO: Similarity_func: concatenation -2024-03-23 10:10:30, INFO: Layerwise_graph: False -2024-03-23 10:10:30, INFO: Skip_connection: True -2024-03-23 10:10:30, INFO: Number of layers: 1 -2024-03-23 10:10:30, INFO: Planning depth: 1 -2024-03-23 10:10:30, INFO: Planning width: 10 -2024-03-23 10:10:30, INFO: Sparse search: None -2024-03-23 10:10:30, INFO: human number: 10 -2024-03-23 10:10:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:10:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:10:30, INFO: Square width: 10, circle width: 4 -2024-03-23 10:10:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:10:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:10:32, INFO: Animation.save using -2024-03-23 10:10:36, INFO: Animation.save using -2024-03-23 10:10:45, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.141197 -2024-03-23 10:10:49, INFO: Using device: cpu -2024-03-23 10:10:49, INFO: Loaded RL weights with best VAL -2024-03-23 10:10:49, INFO: Similarity_func: concatenation -2024-03-23 10:10:49, INFO: Layerwise_graph: False -2024-03-23 10:10:49, INFO: Skip_connection: True -2024-03-23 10:10:49, INFO: Number of layers: 1 -2024-03-23 10:10:49, INFO: Similarity_func: concatenation -2024-03-23 10:10:49, INFO: Layerwise_graph: False -2024-03-23 10:10:49, INFO: Skip_connection: True -2024-03-23 10:10:49, INFO: Number of layers: 1 -2024-03-23 10:10:49, INFO: Planning depth: 1 -2024-03-23 10:10:49, INFO: Planning width: 10 -2024-03-23 10:10:49, INFO: Sparse search: None -2024-03-23 10:10:52, INFO: human number: 10 -2024-03-23 10:10:52, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:10:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:10:52, INFO: Square width: 10, circle width: 4 -2024-03-23 10:10:52, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:10:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:10:55, INFO: Animation.save using -2024-03-23 10:11:01, INFO: Animation.save using -2024-03-23 10:11:14, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.728659 -2024-03-23 10:11:14, INFO: Using device: cpu -2024-03-23 10:11:14, INFO: Loaded RL weights with best VAL -2024-03-23 10:11:14, INFO: Similarity_func: concatenation -2024-03-23 10:11:14, INFO: Layerwise_graph: False -2024-03-23 10:11:14, INFO: Skip_connection: True -2024-03-23 10:11:14, INFO: Number of layers: 1 -2024-03-23 10:11:14, INFO: Similarity_func: concatenation -2024-03-23 10:11:14, INFO: Layerwise_graph: False -2024-03-23 10:11:14, INFO: Skip_connection: True -2024-03-23 10:11:14, INFO: Number of layers: 1 -2024-03-23 10:11:14, INFO: Planning depth: 1 -2024-03-23 10:11:14, INFO: Planning width: 10 -2024-03-23 10:11:14, INFO: Sparse search: None -2024-03-23 10:11:14, INFO: human number: 10 -2024-03-23 10:11:14, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:11:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:11:14, INFO: Square width: 10, circle width: 4 -2024-03-23 10:11:14, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:11:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:11:17, INFO: Animation.save using -2024-03-23 10:11:24, INFO: Animation.save using -2024-03-23 10:11:37, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.728659 -2024-03-23 10:11:40, INFO: Using device: cpu -2024-03-23 10:11:40, INFO: Loaded RL weights with best VAL -2024-03-23 10:11:40, INFO: Similarity_func: concatenation -2024-03-23 10:11:40, INFO: Layerwise_graph: False -2024-03-23 10:11:40, INFO: Skip_connection: True -2024-03-23 10:11:40, INFO: Number of layers: 1 -2024-03-23 10:11:40, INFO: Similarity_func: concatenation -2024-03-23 10:11:40, INFO: Layerwise_graph: False -2024-03-23 10:11:40, INFO: Skip_connection: True -2024-03-23 10:11:40, INFO: Number of layers: 1 -2024-03-23 10:11:40, INFO: Planning depth: 1 -2024-03-23 10:11:40, INFO: Planning width: 10 -2024-03-23 10:11:40, INFO: Sparse search: None -2024-03-23 10:11:44, INFO: human number: 10 -2024-03-23 10:11:44, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:11:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:11:44, INFO: Square width: 10, circle width: 4 -2024-03-23 10:11:44, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:11:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:11:47, INFO: Animation.save using -2024-03-23 10:11:53, INFO: Animation.save using -2024-03-23 10:12:05, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.987225 -2024-03-23 10:12:05, INFO: Using device: cpu -2024-03-23 10:12:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:12:05, INFO: Similarity_func: concatenation -2024-03-23 10:12:05, INFO: Layerwise_graph: False -2024-03-23 10:12:05, INFO: Skip_connection: True -2024-03-23 10:12:05, INFO: Number of layers: 1 -2024-03-23 10:12:05, INFO: Similarity_func: concatenation -2024-03-23 10:12:05, INFO: Layerwise_graph: False -2024-03-23 10:12:05, INFO: Skip_connection: True -2024-03-23 10:12:05, INFO: Number of layers: 1 -2024-03-23 10:12:05, INFO: Planning depth: 1 -2024-03-23 10:12:05, INFO: Planning width: 10 -2024-03-23 10:12:05, INFO: Sparse search: None -2024-03-23 10:12:05, INFO: human number: 10 -2024-03-23 10:12:05, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:12:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:12:05, INFO: Square width: 10, circle width: 4 -2024-03-23 10:12:05, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:12:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:12:07, INFO: Animation.save using -2024-03-23 10:12:13, INFO: Animation.save using -2024-03-23 10:12:25, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.987225 -2024-03-23 10:12:29, INFO: Using device: cpu -2024-03-23 10:12:29, INFO: Loaded RL weights with best VAL -2024-03-23 10:12:29, INFO: Similarity_func: concatenation -2024-03-23 10:12:29, INFO: Layerwise_graph: False -2024-03-23 10:12:29, INFO: Skip_connection: True -2024-03-23 10:12:29, INFO: Number of layers: 1 -2024-03-23 10:12:29, INFO: Similarity_func: concatenation -2024-03-23 10:12:29, INFO: Layerwise_graph: False -2024-03-23 10:12:29, INFO: Skip_connection: True -2024-03-23 10:12:29, INFO: Number of layers: 1 -2024-03-23 10:12:29, INFO: Planning depth: 1 -2024-03-23 10:12:29, INFO: Planning width: 10 -2024-03-23 10:12:29, INFO: Sparse search: None -2024-03-23 10:12:32, INFO: human number: 10 -2024-03-23 10:12:32, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:12:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:12:32, INFO: Square width: 10, circle width: 4 -2024-03-23 10:12:32, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:12:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:12:35, INFO: Animation.save using -2024-03-23 10:12:41, INFO: Animation.save using -2024-03-23 10:12:53, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.946206 -2024-03-23 10:12:53, INFO: Using device: cpu -2024-03-23 10:12:53, INFO: Loaded RL weights with best VAL -2024-03-23 10:12:53, INFO: Similarity_func: concatenation -2024-03-23 10:12:53, INFO: Layerwise_graph: False -2024-03-23 10:12:53, INFO: Skip_connection: True -2024-03-23 10:12:53, INFO: Number of layers: 1 -2024-03-23 10:12:53, INFO: Similarity_func: concatenation -2024-03-23 10:12:53, INFO: Layerwise_graph: False -2024-03-23 10:12:53, INFO: Skip_connection: True -2024-03-23 10:12:53, INFO: Number of layers: 1 -2024-03-23 10:12:53, INFO: Planning depth: 1 -2024-03-23 10:12:53, INFO: Planning width: 10 -2024-03-23 10:12:53, INFO: Sparse search: None -2024-03-23 10:12:53, INFO: human number: 10 -2024-03-23 10:12:53, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:12:53, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:12:53, INFO: Square width: 10, circle width: 4 -2024-03-23 10:12:53, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:12:53, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:12:56, INFO: Animation.save using -2024-03-23 10:13:02, INFO: Animation.save using -2024-03-23 10:13:14, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.946206 -2024-03-23 10:13:18, INFO: Using device: cpu -2024-03-23 10:13:18, INFO: Loaded RL weights with best VAL -2024-03-23 10:13:18, INFO: Similarity_func: concatenation -2024-03-23 10:13:18, INFO: Layerwise_graph: False -2024-03-23 10:13:18, INFO: Skip_connection: True -2024-03-23 10:13:18, INFO: Number of layers: 1 -2024-03-23 10:13:18, INFO: Similarity_func: concatenation -2024-03-23 10:13:18, INFO: Layerwise_graph: False -2024-03-23 10:13:18, INFO: Skip_connection: True -2024-03-23 10:13:18, INFO: Number of layers: 1 -2024-03-23 10:13:18, INFO: Planning depth: 1 -2024-03-23 10:13:18, INFO: Planning width: 10 -2024-03-23 10:13:18, INFO: Sparse search: None -2024-03-23 10:13:21, INFO: human number: 10 -2024-03-23 10:13:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:13:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:13:21, INFO: Square width: 10, circle width: 4 -2024-03-23 10:13:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:13:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:13:25, INFO: Animation.save using -2024-03-23 10:13:31, INFO: Animation.save using -2024-03-23 10:13:42, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.927750 -2024-03-23 10:13:42, INFO: Using device: cpu -2024-03-23 10:13:42, INFO: Loaded RL weights with best VAL -2024-03-23 10:13:42, INFO: Similarity_func: concatenation -2024-03-23 10:13:42, INFO: Layerwise_graph: False -2024-03-23 10:13:42, INFO: Skip_connection: True -2024-03-23 10:13:42, INFO: Number of layers: 1 -2024-03-23 10:13:42, INFO: Similarity_func: concatenation -2024-03-23 10:13:42, INFO: Layerwise_graph: False -2024-03-23 10:13:42, INFO: Skip_connection: True -2024-03-23 10:13:42, INFO: Number of layers: 1 -2024-03-23 10:13:42, INFO: Planning depth: 1 -2024-03-23 10:13:42, INFO: Planning width: 10 -2024-03-23 10:13:42, INFO: Sparse search: None -2024-03-23 10:13:42, INFO: human number: 10 -2024-03-23 10:13:42, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:13:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:13:42, INFO: Square width: 10, circle width: 4 -2024-03-23 10:13:42, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:13:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:13:45, INFO: Animation.save using -2024-03-23 10:13:51, INFO: Animation.save using -2024-03-23 10:14:02, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.927750 -2024-03-23 10:14:05, INFO: Using device: cpu -2024-03-23 10:14:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:14:05, INFO: Similarity_func: concatenation -2024-03-23 10:14:05, INFO: Layerwise_graph: False -2024-03-23 10:14:05, INFO: Skip_connection: True -2024-03-23 10:14:05, INFO: Number of layers: 1 -2024-03-23 10:14:05, INFO: Similarity_func: concatenation -2024-03-23 10:14:05, INFO: Layerwise_graph: False -2024-03-23 10:14:05, INFO: Skip_connection: True -2024-03-23 10:14:05, INFO: Number of layers: 1 -2024-03-23 10:14:05, INFO: Planning depth: 1 -2024-03-23 10:14:05, INFO: Planning width: 10 -2024-03-23 10:14:05, INFO: Sparse search: None -2024-03-23 10:14:09, INFO: human number: 10 -2024-03-23 10:14:09, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:14:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:14:09, INFO: Square width: 10, circle width: 4 -2024-03-23 10:14:09, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:14:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:14:12, INFO: Animation.save using -2024-03-23 10:14:17, INFO: Animation.save using -2024-03-23 10:14:28, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-03-23 10:14:28, INFO: Using device: cpu -2024-03-23 10:14:28, INFO: Loaded RL weights with best VAL -2024-03-23 10:14:28, INFO: Similarity_func: concatenation -2024-03-23 10:14:28, INFO: Layerwise_graph: False -2024-03-23 10:14:28, INFO: Skip_connection: True -2024-03-23 10:14:28, INFO: Number of layers: 1 -2024-03-23 10:14:28, INFO: Similarity_func: concatenation -2024-03-23 10:14:28, INFO: Layerwise_graph: False -2024-03-23 10:14:28, INFO: Skip_connection: True -2024-03-23 10:14:28, INFO: Number of layers: 1 -2024-03-23 10:14:28, INFO: Planning depth: 1 -2024-03-23 10:14:28, INFO: Planning width: 10 -2024-03-23 10:14:28, INFO: Sparse search: None -2024-03-23 10:14:28, INFO: human number: 10 -2024-03-23 10:14:28, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:14:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:14:28, INFO: Square width: 10, circle width: 4 -2024-03-23 10:14:28, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:14:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:14:30, INFO: Animation.save using -2024-03-23 10:14:36, INFO: Animation.save using -2024-03-23 10:14:46, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.972807 -2024-03-23 10:14:49, INFO: Using device: cpu -2024-03-23 10:14:49, INFO: Loaded RL weights with best VAL -2024-03-23 10:14:49, INFO: Similarity_func: concatenation -2024-03-23 10:14:49, INFO: Layerwise_graph: False -2024-03-23 10:14:49, INFO: Skip_connection: True -2024-03-23 10:14:49, INFO: Number of layers: 1 -2024-03-23 10:14:49, INFO: Similarity_func: concatenation -2024-03-23 10:14:49, INFO: Layerwise_graph: False -2024-03-23 10:14:49, INFO: Skip_connection: True -2024-03-23 10:14:49, INFO: Number of layers: 1 -2024-03-23 10:14:49, INFO: Planning depth: 1 -2024-03-23 10:14:49, INFO: Planning width: 10 -2024-03-23 10:14:49, INFO: Sparse search: None -2024-03-23 10:14:52, INFO: human number: 10 -2024-03-23 10:14:52, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:14:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:14:52, INFO: Square width: 10, circle width: 4 -2024-03-23 10:14:52, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:14:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:14:56, INFO: Animation.save using -2024-03-23 10:15:04, INFO: Animation.save using -2024-03-23 10:15:20, INFO: It takes 15.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.756066 -2024-03-23 10:15:20, INFO: Using device: cpu -2024-03-23 10:15:20, INFO: Loaded RL weights with best VAL -2024-03-23 10:15:20, INFO: Similarity_func: concatenation -2024-03-23 10:15:20, INFO: Layerwise_graph: False -2024-03-23 10:15:20, INFO: Skip_connection: True -2024-03-23 10:15:20, INFO: Number of layers: 1 -2024-03-23 10:15:20, INFO: Similarity_func: concatenation -2024-03-23 10:15:20, INFO: Layerwise_graph: False -2024-03-23 10:15:20, INFO: Skip_connection: True -2024-03-23 10:15:20, INFO: Number of layers: 1 -2024-03-23 10:15:20, INFO: Planning depth: 1 -2024-03-23 10:15:20, INFO: Planning width: 10 -2024-03-23 10:15:20, INFO: Sparse search: None -2024-03-23 10:15:20, INFO: human number: 10 -2024-03-23 10:15:20, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:15:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:15:20, INFO: Square width: 10, circle width: 4 -2024-03-23 10:15:20, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:15:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:15:23, INFO: Animation.save using -2024-03-23 10:15:31, INFO: Animation.save using -2024-03-23 10:15:47, INFO: It takes 15.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.756066 -2024-03-23 10:15:50, INFO: Using device: cpu -2024-03-23 10:15:50, INFO: Loaded RL weights with best VAL -2024-03-23 10:15:50, INFO: Similarity_func: concatenation -2024-03-23 10:15:50, INFO: Layerwise_graph: False -2024-03-23 10:15:50, INFO: Skip_connection: True -2024-03-23 10:15:50, INFO: Number of layers: 1 -2024-03-23 10:15:50, INFO: Similarity_func: concatenation -2024-03-23 10:15:50, INFO: Layerwise_graph: False -2024-03-23 10:15:50, INFO: Skip_connection: True -2024-03-23 10:15:50, INFO: Number of layers: 1 -2024-03-23 10:15:50, INFO: Planning depth: 1 -2024-03-23 10:15:50, INFO: Planning width: 10 -2024-03-23 10:15:50, INFO: Sparse search: None -2024-03-23 10:15:54, INFO: human number: 10 -2024-03-23 10:15:54, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:15:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:15:54, INFO: Square width: 10, circle width: 4 -2024-03-23 10:15:54, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:15:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:15:58, INFO: Animation.save using -2024-03-23 10:16:04, INFO: Animation.save using -2024-03-23 10:16:16, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.971554 -2024-03-23 10:16:16, INFO: Using device: cpu -2024-03-23 10:16:16, INFO: Loaded RL weights with best VAL -2024-03-23 10:16:16, INFO: Similarity_func: concatenation -2024-03-23 10:16:16, INFO: Layerwise_graph: False -2024-03-23 10:16:16, INFO: Skip_connection: True -2024-03-23 10:16:16, INFO: Number of layers: 1 -2024-03-23 10:16:16, INFO: Similarity_func: concatenation -2024-03-23 10:16:16, INFO: Layerwise_graph: False -2024-03-23 10:16:16, INFO: Skip_connection: True -2024-03-23 10:16:16, INFO: Number of layers: 1 -2024-03-23 10:16:16, INFO: Planning depth: 1 -2024-03-23 10:16:16, INFO: Planning width: 10 -2024-03-23 10:16:16, INFO: Sparse search: None -2024-03-23 10:16:16, INFO: human number: 10 -2024-03-23 10:16:16, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:16:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:16:16, INFO: Square width: 10, circle width: 4 -2024-03-23 10:16:16, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:16:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:16:18, INFO: Animation.save using -2024-03-23 10:16:24, INFO: Animation.save using -2024-03-23 10:16:36, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.971554 -2024-03-23 10:16:39, INFO: Using device: cpu -2024-03-23 10:16:39, INFO: Loaded RL weights with best VAL -2024-03-23 10:16:39, INFO: Similarity_func: concatenation -2024-03-23 10:16:39, INFO: Layerwise_graph: False -2024-03-23 10:16:39, INFO: Skip_connection: True -2024-03-23 10:16:39, INFO: Number of layers: 1 -2024-03-23 10:16:39, INFO: Similarity_func: concatenation -2024-03-23 10:16:39, INFO: Layerwise_graph: False -2024-03-23 10:16:39, INFO: Skip_connection: True -2024-03-23 10:16:39, INFO: Number of layers: 1 -2024-03-23 10:16:39, INFO: Planning depth: 1 -2024-03-23 10:16:39, INFO: Planning width: 10 -2024-03-23 10:16:39, INFO: Sparse search: None -2024-03-23 10:16:43, INFO: human number: 10 -2024-03-23 10:16:43, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:16:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:16:43, INFO: Square width: 10, circle width: 4 -2024-03-23 10:16:43, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:16:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:16:48, INFO: Animation.save using -2024-03-23 10:16:59, INFO: Animation.save using -2024-03-23 10:17:17, INFO: It takes 17.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822687 -2024-03-23 10:17:17, INFO: Using device: cpu -2024-03-23 10:17:17, INFO: Loaded RL weights with best VAL -2024-03-23 10:17:17, INFO: Similarity_func: concatenation -2024-03-23 10:17:17, INFO: Layerwise_graph: False -2024-03-23 10:17:17, INFO: Skip_connection: True -2024-03-23 10:17:17, INFO: Number of layers: 1 -2024-03-23 10:17:17, INFO: Similarity_func: concatenation -2024-03-23 10:17:17, INFO: Layerwise_graph: False -2024-03-23 10:17:17, INFO: Skip_connection: True -2024-03-23 10:17:17, INFO: Number of layers: 1 -2024-03-23 10:17:17, INFO: Planning depth: 1 -2024-03-23 10:17:17, INFO: Planning width: 10 -2024-03-23 10:17:17, INFO: Sparse search: None -2024-03-23 10:17:17, INFO: human number: 10 -2024-03-23 10:17:17, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:17:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:17:17, INFO: Square width: 10, circle width: 4 -2024-03-23 10:17:17, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:17:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:17:21, INFO: Animation.save using -2024-03-23 10:17:30, INFO: Animation.save using -2024-03-23 10:17:47, INFO: It takes 17.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.822687 -2024-03-23 10:17:51, INFO: Using device: cpu -2024-03-23 10:17:51, INFO: Loaded RL weights with best VAL -2024-03-23 10:17:51, INFO: Similarity_func: concatenation -2024-03-23 10:17:51, INFO: Layerwise_graph: False -2024-03-23 10:17:51, INFO: Skip_connection: True -2024-03-23 10:17:51, INFO: Number of layers: 1 -2024-03-23 10:17:51, INFO: Similarity_func: concatenation -2024-03-23 10:17:51, INFO: Layerwise_graph: False -2024-03-23 10:17:51, INFO: Skip_connection: True -2024-03-23 10:17:51, INFO: Number of layers: 1 -2024-03-23 10:17:51, INFO: Planning depth: 1 -2024-03-23 10:17:51, INFO: Planning width: 10 -2024-03-23 10:17:51, INFO: Sparse search: None -2024-03-23 10:17:54, INFO: human number: 10 -2024-03-23 10:17:54, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:17:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:17:54, INFO: Square width: 10, circle width: 4 -2024-03-23 10:17:54, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:17:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:17:58, INFO: Animation.save using -2024-03-23 10:18:08, INFO: Animation.save using -2024-03-23 10:18:28, INFO: It takes 18.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.717506 -2024-03-23 10:18:28, INFO: Using device: cpu -2024-03-23 10:18:28, INFO: Loaded RL weights with best VAL -2024-03-23 10:18:28, INFO: Similarity_func: concatenation -2024-03-23 10:18:28, INFO: Layerwise_graph: False -2024-03-23 10:18:28, INFO: Skip_connection: True -2024-03-23 10:18:28, INFO: Number of layers: 1 -2024-03-23 10:18:28, INFO: Similarity_func: concatenation -2024-03-23 10:18:28, INFO: Layerwise_graph: False -2024-03-23 10:18:28, INFO: Skip_connection: True -2024-03-23 10:18:28, INFO: Number of layers: 1 -2024-03-23 10:18:28, INFO: Planning depth: 1 -2024-03-23 10:18:28, INFO: Planning width: 10 -2024-03-23 10:18:28, INFO: Sparse search: None -2024-03-23 10:18:28, INFO: human number: 10 -2024-03-23 10:18:28, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:18:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:18:28, INFO: Square width: 10, circle width: 4 -2024-03-23 10:18:28, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:18:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:18:32, INFO: Animation.save using -2024-03-23 10:18:42, INFO: Animation.save using -2024-03-23 10:19:02, INFO: It takes 18.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.717506 -2024-03-23 10:19:05, INFO: Using device: cpu -2024-03-23 10:19:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:19:05, INFO: Similarity_func: concatenation -2024-03-23 10:19:05, INFO: Layerwise_graph: False -2024-03-23 10:19:05, INFO: Skip_connection: True -2024-03-23 10:19:05, INFO: Number of layers: 1 -2024-03-23 10:19:05, INFO: Similarity_func: concatenation -2024-03-23 10:19:05, INFO: Layerwise_graph: False -2024-03-23 10:19:05, INFO: Skip_connection: True -2024-03-23 10:19:05, INFO: Number of layers: 1 -2024-03-23 10:19:05, INFO: Planning depth: 1 -2024-03-23 10:19:05, INFO: Planning width: 10 -2024-03-23 10:19:05, INFO: Sparse search: None -2024-03-23 10:19:09, INFO: human number: 10 -2024-03-23 10:19:09, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:19:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:19:09, INFO: Square width: 10, circle width: 4 -2024-03-23 10:19:09, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:19:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:19:11, INFO: Animation.save using -2024-03-23 10:19:17, INFO: Animation.save using -2024-03-23 10:19:29, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.991122 -2024-03-23 10:19:29, INFO: Using device: cpu -2024-03-23 10:19:29, INFO: Loaded RL weights with best VAL -2024-03-23 10:19:29, INFO: Similarity_func: concatenation -2024-03-23 10:19:29, INFO: Layerwise_graph: False -2024-03-23 10:19:29, INFO: Skip_connection: True -2024-03-23 10:19:29, INFO: Number of layers: 1 -2024-03-23 10:19:29, INFO: Similarity_func: concatenation -2024-03-23 10:19:29, INFO: Layerwise_graph: False -2024-03-23 10:19:29, INFO: Skip_connection: True -2024-03-23 10:19:29, INFO: Number of layers: 1 -2024-03-23 10:19:29, INFO: Planning depth: 1 -2024-03-23 10:19:29, INFO: Planning width: 10 -2024-03-23 10:19:29, INFO: Sparse search: None -2024-03-23 10:19:29, INFO: human number: 10 -2024-03-23 10:19:29, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:19:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:19:29, INFO: Square width: 10, circle width: 4 -2024-03-23 10:19:29, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:19:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:19:31, INFO: Animation.save using -2024-03-23 10:19:37, INFO: Animation.save using -2024-03-23 10:19:48, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.991122 -2024-03-23 10:19:52, INFO: Using device: cpu -2024-03-23 10:19:52, INFO: Loaded RL weights with best VAL -2024-03-23 10:19:52, INFO: Similarity_func: concatenation -2024-03-23 10:19:52, INFO: Layerwise_graph: False -2024-03-23 10:19:52, INFO: Skip_connection: True -2024-03-23 10:19:52, INFO: Number of layers: 1 -2024-03-23 10:19:52, INFO: Similarity_func: concatenation -2024-03-23 10:19:52, INFO: Layerwise_graph: False -2024-03-23 10:19:52, INFO: Skip_connection: True -2024-03-23 10:19:52, INFO: Number of layers: 1 -2024-03-23 10:19:52, INFO: Planning depth: 1 -2024-03-23 10:19:52, INFO: Planning width: 10 -2024-03-23 10:19:52, INFO: Sparse search: None -2024-03-23 10:19:55, INFO: human number: 10 -2024-03-23 10:19:55, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:19:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:19:55, INFO: Square width: 10, circle width: 4 -2024-03-23 10:19:55, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:19:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:19:58, INFO: Animation.save using -2024-03-23 10:20:04, INFO: Animation.save using -2024-03-23 10:20:15, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954902 -2024-03-23 10:20:15, INFO: Using device: cpu -2024-03-23 10:20:15, INFO: Loaded RL weights with best VAL -2024-03-23 10:20:15, INFO: Similarity_func: concatenation -2024-03-23 10:20:15, INFO: Layerwise_graph: False -2024-03-23 10:20:15, INFO: Skip_connection: True -2024-03-23 10:20:15, INFO: Number of layers: 1 -2024-03-23 10:20:15, INFO: Similarity_func: concatenation -2024-03-23 10:20:15, INFO: Layerwise_graph: False -2024-03-23 10:20:15, INFO: Skip_connection: True -2024-03-23 10:20:15, INFO: Number of layers: 1 -2024-03-23 10:20:15, INFO: Planning depth: 1 -2024-03-23 10:20:15, INFO: Planning width: 10 -2024-03-23 10:20:15, INFO: Sparse search: None -2024-03-23 10:20:15, INFO: human number: 10 -2024-03-23 10:20:15, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:20:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:20:15, INFO: Square width: 10, circle width: 4 -2024-03-23 10:20:15, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:20:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:20:18, INFO: Animation.save using -2024-03-23 10:20:24, INFO: Animation.save using -2024-03-23 10:20:35, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.954902 -2024-03-23 10:20:38, INFO: Using device: cpu -2024-03-23 10:20:38, INFO: Loaded RL weights with best VAL -2024-03-23 10:20:38, INFO: Similarity_func: concatenation -2024-03-23 10:20:38, INFO: Layerwise_graph: False -2024-03-23 10:20:38, INFO: Skip_connection: True -2024-03-23 10:20:38, INFO: Number of layers: 1 -2024-03-23 10:20:38, INFO: Similarity_func: concatenation -2024-03-23 10:20:38, INFO: Layerwise_graph: False -2024-03-23 10:20:38, INFO: Skip_connection: True -2024-03-23 10:20:38, INFO: Number of layers: 1 -2024-03-23 10:20:38, INFO: Planning depth: 1 -2024-03-23 10:20:38, INFO: Planning width: 10 -2024-03-23 10:20:38, INFO: Sparse search: None -2024-03-23 10:20:42, INFO: human number: 10 -2024-03-23 10:20:42, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:20:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:20:42, INFO: Square width: 10, circle width: 4 -2024-03-23 10:20:42, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:20:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:20:45, INFO: Animation.save using -2024-03-23 10:20:51, INFO: Animation.save using -2024-03-23 10:21:02, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.996939 -2024-03-23 10:21:02, INFO: Using device: cpu -2024-03-23 10:21:02, INFO: Loaded RL weights with best VAL -2024-03-23 10:21:02, INFO: Similarity_func: concatenation -2024-03-23 10:21:02, INFO: Layerwise_graph: False -2024-03-23 10:21:02, INFO: Skip_connection: True -2024-03-23 10:21:02, INFO: Number of layers: 1 -2024-03-23 10:21:02, INFO: Similarity_func: concatenation -2024-03-23 10:21:02, INFO: Layerwise_graph: False -2024-03-23 10:21:02, INFO: Skip_connection: True -2024-03-23 10:21:02, INFO: Number of layers: 1 -2024-03-23 10:21:02, INFO: Planning depth: 1 -2024-03-23 10:21:02, INFO: Planning width: 10 -2024-03-23 10:21:02, INFO: Sparse search: None -2024-03-23 10:21:03, INFO: human number: 10 -2024-03-23 10:21:03, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:21:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:21:03, INFO: Square width: 10, circle width: 4 -2024-03-23 10:21:03, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:21:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:21:05, INFO: Animation.save using -2024-03-23 10:21:11, INFO: Animation.save using -2024-03-23 10:21:22, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.996939 -2024-03-23 10:21:26, INFO: Using device: cpu -2024-03-23 10:21:26, INFO: Loaded RL weights with best VAL -2024-03-23 10:21:26, INFO: Similarity_func: concatenation -2024-03-23 10:21:26, INFO: Layerwise_graph: False -2024-03-23 10:21:26, INFO: Skip_connection: True -2024-03-23 10:21:26, INFO: Number of layers: 1 -2024-03-23 10:21:26, INFO: Similarity_func: concatenation -2024-03-23 10:21:26, INFO: Layerwise_graph: False -2024-03-23 10:21:26, INFO: Skip_connection: True -2024-03-23 10:21:26, INFO: Number of layers: 1 -2024-03-23 10:21:26, INFO: Planning depth: 1 -2024-03-23 10:21:26, INFO: Planning width: 10 -2024-03-23 10:21:26, INFO: Sparse search: None -2024-03-23 10:21:29, INFO: human number: 10 -2024-03-23 10:21:29, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:21:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:21:29, INFO: Square width: 10, circle width: 4 -2024-03-23 10:21:29, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:21:29, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:21:33, INFO: Animation.save using -2024-03-23 10:21:39, INFO: Animation.save using -2024-03-23 10:21:51, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.960888 -2024-03-23 10:21:51, INFO: Using device: cpu -2024-03-23 10:21:51, INFO: Loaded RL weights with best VAL -2024-03-23 10:21:51, INFO: Similarity_func: concatenation -2024-03-23 10:21:51, INFO: Layerwise_graph: False -2024-03-23 10:21:51, INFO: Skip_connection: True -2024-03-23 10:21:51, INFO: Number of layers: 1 -2024-03-23 10:21:51, INFO: Similarity_func: concatenation -2024-03-23 10:21:51, INFO: Layerwise_graph: False -2024-03-23 10:21:51, INFO: Skip_connection: True -2024-03-23 10:21:51, INFO: Number of layers: 1 -2024-03-23 10:21:51, INFO: Planning depth: 1 -2024-03-23 10:21:51, INFO: Planning width: 10 -2024-03-23 10:21:51, INFO: Sparse search: None -2024-03-23 10:21:51, INFO: human number: 10 -2024-03-23 10:21:51, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:21:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:21:51, INFO: Square width: 10, circle width: 4 -2024-03-23 10:21:51, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:21:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:21:54, INFO: Animation.save using -2024-03-23 10:22:00, INFO: Animation.save using -2024-03-23 10:22:13, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.960888 -2024-03-23 10:22:17, INFO: Using device: cpu -2024-03-23 10:22:17, INFO: Loaded RL weights with best VAL -2024-03-23 10:22:17, INFO: Similarity_func: concatenation -2024-03-23 10:22:17, INFO: Layerwise_graph: False -2024-03-23 10:22:17, INFO: Skip_connection: True -2024-03-23 10:22:17, INFO: Number of layers: 1 -2024-03-23 10:22:17, INFO: Similarity_func: concatenation -2024-03-23 10:22:17, INFO: Layerwise_graph: False -2024-03-23 10:22:17, INFO: Skip_connection: True -2024-03-23 10:22:17, INFO: Number of layers: 1 -2024-03-23 10:22:17, INFO: Planning depth: 1 -2024-03-23 10:22:17, INFO: Planning width: 10 -2024-03-23 10:22:17, INFO: Sparse search: None -2024-03-23 10:22:20, INFO: human number: 10 -2024-03-23 10:22:20, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:22:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:22:20, INFO: Square width: 10, circle width: 4 -2024-03-23 10:22:20, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:22:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:22:24, INFO: Animation.save using -2024-03-23 10:22:31, INFO: Animation.save using -2024-03-23 10:22:44, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.919026 -2024-03-23 10:22:44, INFO: Using device: cpu -2024-03-23 10:22:44, INFO: Loaded RL weights with best VAL -2024-03-23 10:22:44, INFO: Similarity_func: concatenation -2024-03-23 10:22:44, INFO: Layerwise_graph: False -2024-03-23 10:22:44, INFO: Skip_connection: True -2024-03-23 10:22:44, INFO: Number of layers: 1 -2024-03-23 10:22:44, INFO: Similarity_func: concatenation -2024-03-23 10:22:44, INFO: Layerwise_graph: False -2024-03-23 10:22:44, INFO: Skip_connection: True -2024-03-23 10:22:44, INFO: Number of layers: 1 -2024-03-23 10:22:44, INFO: Planning depth: 1 -2024-03-23 10:22:44, INFO: Planning width: 10 -2024-03-23 10:22:44, INFO: Sparse search: None -2024-03-23 10:22:44, INFO: human number: 10 -2024-03-23 10:22:44, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:22:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:22:44, INFO: Square width: 10, circle width: 4 -2024-03-23 10:22:44, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:22:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:22:47, INFO: Animation.save using -2024-03-23 10:22:54, INFO: Animation.save using -2024-03-23 10:23:07, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.919026 -2024-03-23 10:23:11, INFO: Using device: cpu -2024-03-23 10:23:11, INFO: Loaded RL weights with best VAL -2024-03-23 10:23:11, INFO: Similarity_func: concatenation -2024-03-23 10:23:11, INFO: Layerwise_graph: False -2024-03-23 10:23:11, INFO: Skip_connection: True -2024-03-23 10:23:11, INFO: Number of layers: 1 -2024-03-23 10:23:11, INFO: Similarity_func: concatenation -2024-03-23 10:23:11, INFO: Layerwise_graph: False -2024-03-23 10:23:11, INFO: Skip_connection: True -2024-03-23 10:23:11, INFO: Number of layers: 1 -2024-03-23 10:23:11, INFO: Planning depth: 1 -2024-03-23 10:23:11, INFO: Planning width: 10 -2024-03-23 10:23:11, INFO: Sparse search: None -2024-03-23 10:23:15, INFO: human number: 10 -2024-03-23 10:23:15, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:23:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:23:15, INFO: Square width: 10, circle width: 4 -2024-03-23 10:23:15, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:23:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:23:17, INFO: Animation.save using -2024-03-23 10:23:23, INFO: Animation.save using -2024-03-23 10:23:34, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.975637 -2024-03-23 10:23:34, INFO: Using device: cpu -2024-03-23 10:23:34, INFO: Loaded RL weights with best VAL -2024-03-23 10:23:34, INFO: Similarity_func: concatenation -2024-03-23 10:23:34, INFO: Layerwise_graph: False -2024-03-23 10:23:34, INFO: Skip_connection: True -2024-03-23 10:23:34, INFO: Number of layers: 1 -2024-03-23 10:23:34, INFO: Similarity_func: concatenation -2024-03-23 10:23:34, INFO: Layerwise_graph: False -2024-03-23 10:23:34, INFO: Skip_connection: True -2024-03-23 10:23:34, INFO: Number of layers: 1 -2024-03-23 10:23:34, INFO: Planning depth: 1 -2024-03-23 10:23:34, INFO: Planning width: 10 -2024-03-23 10:23:34, INFO: Sparse search: None -2024-03-23 10:23:34, INFO: human number: 10 -2024-03-23 10:23:34, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:23:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:23:34, INFO: Square width: 10, circle width: 4 -2024-03-23 10:23:34, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:23:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:23:36, INFO: Animation.save using -2024-03-23 10:23:41, INFO: Animation.save using -2024-03-23 10:23:52, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.975637 -2024-03-23 10:23:55, INFO: Using device: cpu -2024-03-23 10:23:55, INFO: Loaded RL weights with best VAL -2024-03-23 10:23:55, INFO: Similarity_func: concatenation -2024-03-23 10:23:55, INFO: Layerwise_graph: False -2024-03-23 10:23:55, INFO: Skip_connection: True -2024-03-23 10:23:55, INFO: Number of layers: 1 -2024-03-23 10:23:55, INFO: Similarity_func: concatenation -2024-03-23 10:23:55, INFO: Layerwise_graph: False -2024-03-23 10:23:55, INFO: Skip_connection: True -2024-03-23 10:23:55, INFO: Number of layers: 1 -2024-03-23 10:23:55, INFO: Planning depth: 1 -2024-03-23 10:23:55, INFO: Planning width: 10 -2024-03-23 10:23:55, INFO: Sparse search: None -2024-03-23 10:23:59, INFO: human number: 10 -2024-03-23 10:23:59, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:23:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:23:59, INFO: Square width: 10, circle width: 4 -2024-03-23 10:23:59, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:23:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:24:02, INFO: Animation.save using -2024-03-23 10:24:09, INFO: Animation.save using -2024-03-23 10:24:24, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-03-23 10:24:24, INFO: Using device: cpu -2024-03-23 10:24:24, INFO: Loaded RL weights with best VAL -2024-03-23 10:24:24, INFO: Similarity_func: concatenation -2024-03-23 10:24:24, INFO: Layerwise_graph: False -2024-03-23 10:24:24, INFO: Skip_connection: True -2024-03-23 10:24:24, INFO: Number of layers: 1 -2024-03-23 10:24:24, INFO: Similarity_func: concatenation -2024-03-23 10:24:24, INFO: Layerwise_graph: False -2024-03-23 10:24:24, INFO: Skip_connection: True -2024-03-23 10:24:24, INFO: Number of layers: 1 -2024-03-23 10:24:24, INFO: Planning depth: 1 -2024-03-23 10:24:24, INFO: Planning width: 10 -2024-03-23 10:24:24, INFO: Sparse search: None -2024-03-23 10:24:24, INFO: human number: 10 -2024-03-23 10:24:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:24:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:24:24, INFO: Square width: 10, circle width: 4 -2024-03-23 10:24:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:24:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:24:26, INFO: Animation.save using -2024-03-23 10:24:34, INFO: Animation.save using -2024-03-23 10:24:48, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.868924 -2024-03-23 10:24:52, INFO: Using device: cpu -2024-03-23 10:24:52, INFO: Loaded RL weights with best VAL -2024-03-23 10:24:52, INFO: Similarity_func: concatenation -2024-03-23 10:24:52, INFO: Layerwise_graph: False -2024-03-23 10:24:52, INFO: Skip_connection: True -2024-03-23 10:24:52, INFO: Number of layers: 1 -2024-03-23 10:24:52, INFO: Similarity_func: concatenation -2024-03-23 10:24:52, INFO: Layerwise_graph: False -2024-03-23 10:24:52, INFO: Skip_connection: True -2024-03-23 10:24:52, INFO: Number of layers: 1 -2024-03-23 10:24:52, INFO: Planning depth: 1 -2024-03-23 10:24:52, INFO: Planning width: 10 -2024-03-23 10:24:52, INFO: Sparse search: None -2024-03-23 10:24:55, INFO: human number: 10 -2024-03-23 10:24:55, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:24:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:24:55, INFO: Square width: 10, circle width: 4 -2024-03-23 10:24:55, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:24:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:24:58, INFO: Animation.save using -2024-03-23 10:25:03, INFO: Animation.save using -2024-03-23 10:25:13, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.021786 -2024-03-23 10:25:13, INFO: Using device: cpu -2024-03-23 10:25:13, INFO: Loaded RL weights with best VAL -2024-03-23 10:25:13, INFO: Similarity_func: concatenation -2024-03-23 10:25:13, INFO: Layerwise_graph: False -2024-03-23 10:25:13, INFO: Skip_connection: True -2024-03-23 10:25:13, INFO: Number of layers: 1 -2024-03-23 10:25:13, INFO: Similarity_func: concatenation -2024-03-23 10:25:13, INFO: Layerwise_graph: False -2024-03-23 10:25:13, INFO: Skip_connection: True -2024-03-23 10:25:13, INFO: Number of layers: 1 -2024-03-23 10:25:13, INFO: Planning depth: 1 -2024-03-23 10:25:13, INFO: Planning width: 10 -2024-03-23 10:25:13, INFO: Sparse search: None -2024-03-23 10:25:13, INFO: human number: 10 -2024-03-23 10:25:13, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:25:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:25:13, INFO: Square width: 10, circle width: 4 -2024-03-23 10:25:13, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:25:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:25:15, INFO: Animation.save using -2024-03-23 10:25:20, INFO: Animation.save using -2024-03-23 10:25:30, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.021786 -2024-03-23 10:25:34, INFO: Using device: cpu -2024-03-23 10:25:34, INFO: Loaded RL weights with best VAL -2024-03-23 10:25:34, INFO: Similarity_func: concatenation -2024-03-23 10:25:34, INFO: Layerwise_graph: False -2024-03-23 10:25:34, INFO: Skip_connection: True -2024-03-23 10:25:34, INFO: Number of layers: 1 -2024-03-23 10:25:34, INFO: Similarity_func: concatenation -2024-03-23 10:25:34, INFO: Layerwise_graph: False -2024-03-23 10:25:34, INFO: Skip_connection: True -2024-03-23 10:25:34, INFO: Number of layers: 1 -2024-03-23 10:25:34, INFO: Planning depth: 1 -2024-03-23 10:25:34, INFO: Planning width: 10 -2024-03-23 10:25:34, INFO: Sparse search: None -2024-03-23 10:25:38, INFO: human number: 10 -2024-03-23 10:25:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:25:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:25:38, INFO: Square width: 10, circle width: 4 -2024-03-23 10:25:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:25:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:25:41, INFO: Animation.save using -2024-03-23 10:25:47, INFO: Animation.save using -2024-03-23 10:25:59, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.879088 -2024-03-23 10:25:59, INFO: Using device: cpu -2024-03-23 10:25:59, INFO: Loaded RL weights with best VAL -2024-03-23 10:25:59, INFO: Similarity_func: concatenation -2024-03-23 10:25:59, INFO: Layerwise_graph: False -2024-03-23 10:25:59, INFO: Skip_connection: True -2024-03-23 10:25:59, INFO: Number of layers: 1 -2024-03-23 10:25:59, INFO: Similarity_func: concatenation -2024-03-23 10:25:59, INFO: Layerwise_graph: False -2024-03-23 10:25:59, INFO: Skip_connection: True -2024-03-23 10:25:59, INFO: Number of layers: 1 -2024-03-23 10:25:59, INFO: Planning depth: 1 -2024-03-23 10:25:59, INFO: Planning width: 10 -2024-03-23 10:25:59, INFO: Sparse search: None -2024-03-23 10:25:59, INFO: human number: 10 -2024-03-23 10:25:59, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:25:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:25:59, INFO: Square width: 10, circle width: 4 -2024-03-23 10:25:59, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:25:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:26:01, INFO: Animation.save using -2024-03-23 10:26:07, INFO: Animation.save using -2024-03-23 10:26:18, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.879088 -2024-03-23 10:26:21, INFO: Using device: cpu -2024-03-23 10:26:21, INFO: Loaded RL weights with best VAL -2024-03-23 10:26:21, INFO: Similarity_func: concatenation -2024-03-23 10:26:21, INFO: Layerwise_graph: False -2024-03-23 10:26:21, INFO: Skip_connection: True -2024-03-23 10:26:21, INFO: Number of layers: 1 -2024-03-23 10:26:21, INFO: Similarity_func: concatenation -2024-03-23 10:26:21, INFO: Layerwise_graph: False -2024-03-23 10:26:21, INFO: Skip_connection: True -2024-03-23 10:26:21, INFO: Number of layers: 1 -2024-03-23 10:26:21, INFO: Planning depth: 1 -2024-03-23 10:26:21, INFO: Planning width: 10 -2024-03-23 10:26:21, INFO: Sparse search: None -2024-03-23 10:26:25, INFO: human number: 10 -2024-03-23 10:26:25, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:26:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:26:25, INFO: Square width: 10, circle width: 4 -2024-03-23 10:26:25, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:26:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:26:28, INFO: Animation.save using -2024-03-23 10:26:33, INFO: Animation.save using -2024-03-23 10:26:42, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.023046 -2024-03-23 10:26:42, INFO: Using device: cpu -2024-03-23 10:26:42, INFO: Loaded RL weights with best VAL -2024-03-23 10:26:42, INFO: Similarity_func: concatenation -2024-03-23 10:26:42, INFO: Layerwise_graph: False -2024-03-23 10:26:42, INFO: Skip_connection: True -2024-03-23 10:26:42, INFO: Number of layers: 1 -2024-03-23 10:26:42, INFO: Similarity_func: concatenation -2024-03-23 10:26:42, INFO: Layerwise_graph: False -2024-03-23 10:26:42, INFO: Skip_connection: True -2024-03-23 10:26:42, INFO: Number of layers: 1 -2024-03-23 10:26:42, INFO: Planning depth: 1 -2024-03-23 10:26:42, INFO: Planning width: 10 -2024-03-23 10:26:42, INFO: Sparse search: None -2024-03-23 10:26:42, INFO: human number: 10 -2024-03-23 10:26:42, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:26:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:26:42, INFO: Square width: 10, circle width: 4 -2024-03-23 10:26:42, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:26:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:26:44, INFO: Animation.save using -2024-03-23 10:26:49, INFO: Animation.save using -2024-03-23 10:26:58, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.023046 -2024-03-23 10:27:02, INFO: Using device: cpu -2024-03-23 10:27:02, INFO: Loaded RL weights with best VAL -2024-03-23 10:27:02, INFO: Similarity_func: concatenation -2024-03-23 10:27:02, INFO: Layerwise_graph: False -2024-03-23 10:27:02, INFO: Skip_connection: True -2024-03-23 10:27:02, INFO: Number of layers: 1 -2024-03-23 10:27:02, INFO: Similarity_func: concatenation -2024-03-23 10:27:02, INFO: Layerwise_graph: False -2024-03-23 10:27:02, INFO: Skip_connection: True -2024-03-23 10:27:02, INFO: Number of layers: 1 -2024-03-23 10:27:02, INFO: Planning depth: 1 -2024-03-23 10:27:02, INFO: Planning width: 10 -2024-03-23 10:27:02, INFO: Sparse search: None -2024-03-23 10:27:06, INFO: human number: 10 -2024-03-23 10:27:06, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:27:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:27:06, INFO: Square width: 10, circle width: 4 -2024-03-23 10:27:06, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:27:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:27:08, INFO: Animation.save using -2024-03-23 10:27:15, INFO: Animation.save using -2024-03-23 10:27:24, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.089987 -2024-03-23 10:27:24, INFO: Using device: cpu -2024-03-23 10:27:24, INFO: Loaded RL weights with best VAL -2024-03-23 10:27:24, INFO: Similarity_func: concatenation -2024-03-23 10:27:24, INFO: Layerwise_graph: False -2024-03-23 10:27:24, INFO: Skip_connection: True -2024-03-23 10:27:24, INFO: Number of layers: 1 -2024-03-23 10:27:24, INFO: Similarity_func: concatenation -2024-03-23 10:27:24, INFO: Layerwise_graph: False -2024-03-23 10:27:24, INFO: Skip_connection: True -2024-03-23 10:27:24, INFO: Number of layers: 1 -2024-03-23 10:27:24, INFO: Planning depth: 1 -2024-03-23 10:27:24, INFO: Planning width: 10 -2024-03-23 10:27:24, INFO: Sparse search: None -2024-03-23 10:27:24, INFO: human number: 10 -2024-03-23 10:27:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:27:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:27:24, INFO: Square width: 10, circle width: 4 -2024-03-23 10:27:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:27:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:27:26, INFO: Animation.save using -2024-03-23 10:27:31, INFO: Animation.save using -2024-03-23 10:27:40, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.089987 -2024-03-23 10:27:43, INFO: Using device: cpu -2024-03-23 10:27:43, INFO: Loaded RL weights with best VAL -2024-03-23 10:27:43, INFO: Similarity_func: concatenation -2024-03-23 10:27:43, INFO: Layerwise_graph: False -2024-03-23 10:27:43, INFO: Skip_connection: True -2024-03-23 10:27:43, INFO: Number of layers: 1 -2024-03-23 10:27:43, INFO: Similarity_func: concatenation -2024-03-23 10:27:43, INFO: Layerwise_graph: False -2024-03-23 10:27:43, INFO: Skip_connection: True -2024-03-23 10:27:43, INFO: Number of layers: 1 -2024-03-23 10:27:43, INFO: Planning depth: 1 -2024-03-23 10:27:43, INFO: Planning width: 10 -2024-03-23 10:27:43, INFO: Sparse search: None -2024-03-23 10:27:47, INFO: human number: 10 -2024-03-23 10:27:47, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:27:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:27:47, INFO: Square width: 10, circle width: 4 -2024-03-23 10:27:47, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:27:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:27:50, INFO: Animation.save using -2024-03-23 10:27:55, INFO: Animation.save using -2024-03-23 10:28:05, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029249 -2024-03-23 10:28:05, INFO: Using device: cpu -2024-03-23 10:28:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:28:05, INFO: Similarity_func: concatenation -2024-03-23 10:28:05, INFO: Layerwise_graph: False -2024-03-23 10:28:05, INFO: Skip_connection: True -2024-03-23 10:28:05, INFO: Number of layers: 1 -2024-03-23 10:28:05, INFO: Similarity_func: concatenation -2024-03-23 10:28:05, INFO: Layerwise_graph: False -2024-03-23 10:28:05, INFO: Skip_connection: True -2024-03-23 10:28:05, INFO: Number of layers: 1 -2024-03-23 10:28:05, INFO: Planning depth: 1 -2024-03-23 10:28:05, INFO: Planning width: 10 -2024-03-23 10:28:05, INFO: Sparse search: None -2024-03-23 10:28:05, INFO: human number: 10 -2024-03-23 10:28:05, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:28:05, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:28:05, INFO: Square width: 10, circle width: 4 -2024-03-23 10:28:05, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:28:05, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:28:06, INFO: Animation.save using -2024-03-23 10:28:11, INFO: Animation.save using -2024-03-23 10:28:21, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029249 -2024-03-23 10:28:24, INFO: Using device: cpu -2024-03-23 10:28:24, INFO: Loaded RL weights with best VAL -2024-03-23 10:28:24, INFO: Similarity_func: concatenation -2024-03-23 10:28:24, INFO: Layerwise_graph: False -2024-03-23 10:28:24, INFO: Skip_connection: True -2024-03-23 10:28:24, INFO: Number of layers: 1 -2024-03-23 10:28:24, INFO: Similarity_func: concatenation -2024-03-23 10:28:24, INFO: Layerwise_graph: False -2024-03-23 10:28:24, INFO: Skip_connection: True -2024-03-23 10:28:24, INFO: Number of layers: 1 -2024-03-23 10:28:24, INFO: Planning depth: 1 -2024-03-23 10:28:24, INFO: Planning width: 10 -2024-03-23 10:28:24, INFO: Sparse search: None -2024-03-23 10:28:28, INFO: human number: 10 -2024-03-23 10:28:28, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:28:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:28:28, INFO: Square width: 10, circle width: 4 -2024-03-23 10:28:28, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:28:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:28:31, INFO: Animation.save using -2024-03-23 10:28:38, INFO: Animation.save using -2024-03-23 10:28:49, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.979337 -2024-03-23 10:28:49, INFO: Using device: cpu -2024-03-23 10:28:49, INFO: Loaded RL weights with best VAL -2024-03-23 10:28:49, INFO: Similarity_func: concatenation -2024-03-23 10:28:49, INFO: Layerwise_graph: False -2024-03-23 10:28:49, INFO: Skip_connection: True -2024-03-23 10:28:49, INFO: Number of layers: 1 -2024-03-23 10:28:49, INFO: Similarity_func: concatenation -2024-03-23 10:28:49, INFO: Layerwise_graph: False -2024-03-23 10:28:49, INFO: Skip_connection: True -2024-03-23 10:28:49, INFO: Number of layers: 1 -2024-03-23 10:28:49, INFO: Planning depth: 1 -2024-03-23 10:28:49, INFO: Planning width: 10 -2024-03-23 10:28:49, INFO: Sparse search: None -2024-03-23 10:28:49, INFO: human number: 10 -2024-03-23 10:28:49, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:28:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:28:49, INFO: Square width: 10, circle width: 4 -2024-03-23 10:28:49, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:28:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:28:51, INFO: Animation.save using -2024-03-23 10:28:57, INFO: Animation.save using -2024-03-23 10:29:07, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.979337 -2024-03-23 10:29:11, INFO: Using device: cpu -2024-03-23 10:29:11, INFO: Loaded RL weights with best VAL -2024-03-23 10:29:11, INFO: Similarity_func: concatenation -2024-03-23 10:29:11, INFO: Layerwise_graph: False -2024-03-23 10:29:11, INFO: Skip_connection: True -2024-03-23 10:29:11, INFO: Number of layers: 1 -2024-03-23 10:29:11, INFO: Similarity_func: concatenation -2024-03-23 10:29:11, INFO: Layerwise_graph: False -2024-03-23 10:29:11, INFO: Skip_connection: True -2024-03-23 10:29:11, INFO: Number of layers: 1 -2024-03-23 10:29:11, INFO: Planning depth: 1 -2024-03-23 10:29:11, INFO: Planning width: 10 -2024-03-23 10:29:11, INFO: Sparse search: None -2024-03-23 10:29:15, INFO: human number: 10 -2024-03-23 10:29:15, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:29:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:29:15, INFO: Square width: 10, circle width: 4 -2024-03-23 10:29:15, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:29:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:29:19, INFO: Animation.save using -2024-03-23 10:29:28, INFO: Animation.save using -2024-03-23 10:29:46, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.840246 -2024-03-23 10:29:46, INFO: Using device: cpu -2024-03-23 10:29:46, INFO: Loaded RL weights with best VAL -2024-03-23 10:29:46, INFO: Similarity_func: concatenation -2024-03-23 10:29:46, INFO: Layerwise_graph: False -2024-03-23 10:29:46, INFO: Skip_connection: True -2024-03-23 10:29:46, INFO: Number of layers: 1 -2024-03-23 10:29:46, INFO: Similarity_func: concatenation -2024-03-23 10:29:46, INFO: Layerwise_graph: False -2024-03-23 10:29:46, INFO: Skip_connection: True -2024-03-23 10:29:46, INFO: Number of layers: 1 -2024-03-23 10:29:46, INFO: Planning depth: 1 -2024-03-23 10:29:46, INFO: Planning width: 10 -2024-03-23 10:29:46, INFO: Sparse search: None -2024-03-23 10:29:46, INFO: human number: 10 -2024-03-23 10:29:46, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:29:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:29:46, INFO: Square width: 10, circle width: 4 -2024-03-23 10:29:46, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:29:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:29:49, INFO: Animation.save using -2024-03-23 10:29:57, INFO: Animation.save using -2024-03-23 10:30:15, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.840246 -2024-03-23 10:30:18, INFO: Using device: cpu -2024-03-23 10:30:18, INFO: Loaded RL weights with best VAL -2024-03-23 10:30:18, INFO: Similarity_func: concatenation -2024-03-23 10:30:18, INFO: Layerwise_graph: False -2024-03-23 10:30:18, INFO: Skip_connection: True -2024-03-23 10:30:18, INFO: Number of layers: 1 -2024-03-23 10:30:18, INFO: Similarity_func: concatenation -2024-03-23 10:30:18, INFO: Layerwise_graph: False -2024-03-23 10:30:18, INFO: Skip_connection: True -2024-03-23 10:30:18, INFO: Number of layers: 1 -2024-03-23 10:30:18, INFO: Planning depth: 1 -2024-03-23 10:30:18, INFO: Planning width: 10 -2024-03-23 10:30:18, INFO: Sparse search: None -2024-03-23 10:30:22, INFO: human number: 10 -2024-03-23 10:30:22, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:30:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:30:22, INFO: Square width: 10, circle width: 4 -2024-03-23 10:30:22, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:30:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:30:25, INFO: Animation.save using -2024-03-23 10:30:33, INFO: Animation.save using -2024-03-23 10:30:47, INFO: It takes 14.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.736576 -2024-03-23 10:30:47, INFO: Using device: cpu -2024-03-23 10:30:47, INFO: Loaded RL weights with best VAL -2024-03-23 10:30:47, INFO: Similarity_func: concatenation -2024-03-23 10:30:47, INFO: Layerwise_graph: False -2024-03-23 10:30:47, INFO: Skip_connection: True -2024-03-23 10:30:47, INFO: Number of layers: 1 -2024-03-23 10:30:47, INFO: Similarity_func: concatenation -2024-03-23 10:30:47, INFO: Layerwise_graph: False -2024-03-23 10:30:47, INFO: Skip_connection: True -2024-03-23 10:30:47, INFO: Number of layers: 1 -2024-03-23 10:30:47, INFO: Planning depth: 1 -2024-03-23 10:30:47, INFO: Planning width: 10 -2024-03-23 10:30:47, INFO: Sparse search: None -2024-03-23 10:30:47, INFO: human number: 10 -2024-03-23 10:30:47, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:30:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:30:47, INFO: Square width: 10, circle width: 4 -2024-03-23 10:30:47, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:30:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:30:50, INFO: Animation.save using -2024-03-23 10:30:57, INFO: Animation.save using -2024-03-23 10:31:11, INFO: It takes 14.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.736576 -2024-03-23 10:31:15, INFO: Using device: cpu -2024-03-23 10:31:15, INFO: Loaded RL weights with best VAL -2024-03-23 10:31:15, INFO: Similarity_func: concatenation -2024-03-23 10:31:15, INFO: Layerwise_graph: False -2024-03-23 10:31:15, INFO: Skip_connection: True -2024-03-23 10:31:15, INFO: Number of layers: 1 -2024-03-23 10:31:15, INFO: Similarity_func: concatenation -2024-03-23 10:31:15, INFO: Layerwise_graph: False -2024-03-23 10:31:15, INFO: Skip_connection: True -2024-03-23 10:31:15, INFO: Number of layers: 1 -2024-03-23 10:31:15, INFO: Planning depth: 1 -2024-03-23 10:31:15, INFO: Planning width: 10 -2024-03-23 10:31:15, INFO: Sparse search: None -2024-03-23 10:31:19, INFO: human number: 10 -2024-03-23 10:31:19, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:31:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:31:19, INFO: Square width: 10, circle width: 4 -2024-03-23 10:31:19, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:31:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:31:21, INFO: Animation.save using -2024-03-23 10:31:28, INFO: Animation.save using -2024-03-23 10:31:40, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.824695 -2024-03-23 10:31:40, INFO: Using device: cpu -2024-03-23 10:31:40, INFO: Loaded RL weights with best VAL -2024-03-23 10:31:40, INFO: Similarity_func: concatenation -2024-03-23 10:31:40, INFO: Layerwise_graph: False -2024-03-23 10:31:40, INFO: Skip_connection: True -2024-03-23 10:31:40, INFO: Number of layers: 1 -2024-03-23 10:31:40, INFO: Similarity_func: concatenation -2024-03-23 10:31:40, INFO: Layerwise_graph: False -2024-03-23 10:31:40, INFO: Skip_connection: True -2024-03-23 10:31:40, INFO: Number of layers: 1 -2024-03-23 10:31:40, INFO: Planning depth: 1 -2024-03-23 10:31:40, INFO: Planning width: 10 -2024-03-23 10:31:40, INFO: Sparse search: None -2024-03-23 10:31:40, INFO: human number: 10 -2024-03-23 10:31:40, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:31:40, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:31:40, INFO: Square width: 10, circle width: 4 -2024-03-23 10:31:40, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:31:40, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:31:42, INFO: Animation.save using -2024-03-23 10:31:49, INFO: Animation.save using -2024-03-23 10:32:01, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.824695 -2024-03-23 10:32:04, INFO: Using device: cpu -2024-03-23 10:32:04, INFO: Loaded RL weights with best VAL -2024-03-23 10:32:04, INFO: Similarity_func: concatenation -2024-03-23 10:32:04, INFO: Layerwise_graph: False -2024-03-23 10:32:04, INFO: Skip_connection: True -2024-03-23 10:32:04, INFO: Number of layers: 1 -2024-03-23 10:32:04, INFO: Similarity_func: concatenation -2024-03-23 10:32:04, INFO: Layerwise_graph: False -2024-03-23 10:32:04, INFO: Skip_connection: True -2024-03-23 10:32:04, INFO: Number of layers: 1 -2024-03-23 10:32:04, INFO: Planning depth: 1 -2024-03-23 10:32:04, INFO: Planning width: 10 -2024-03-23 10:32:04, INFO: Sparse search: None -2024-03-23 10:32:08, INFO: human number: 10 -2024-03-23 10:32:08, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:32:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:32:08, INFO: Square width: 10, circle width: 4 -2024-03-23 10:32:08, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:32:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:32:10, INFO: Animation.save using -2024-03-23 10:32:15, INFO: Animation.save using -2024-03-23 10:32:24, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.106573 -2024-03-23 10:32:24, INFO: Using device: cpu -2024-03-23 10:32:24, INFO: Loaded RL weights with best VAL -2024-03-23 10:32:24, INFO: Similarity_func: concatenation -2024-03-23 10:32:24, INFO: Layerwise_graph: False -2024-03-23 10:32:24, INFO: Skip_connection: True -2024-03-23 10:32:24, INFO: Number of layers: 1 -2024-03-23 10:32:24, INFO: Similarity_func: concatenation -2024-03-23 10:32:24, INFO: Layerwise_graph: False -2024-03-23 10:32:24, INFO: Skip_connection: True -2024-03-23 10:32:24, INFO: Number of layers: 1 -2024-03-23 10:32:24, INFO: Planning depth: 1 -2024-03-23 10:32:24, INFO: Planning width: 10 -2024-03-23 10:32:24, INFO: Sparse search: None -2024-03-23 10:32:24, INFO: human number: 10 -2024-03-23 10:32:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:32:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:32:24, INFO: Square width: 10, circle width: 4 -2024-03-23 10:32:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:32:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:32:26, INFO: Animation.save using -2024-03-23 10:32:30, INFO: Animation.save using -2024-03-23 10:32:39, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.106573 -2024-03-23 10:32:42, INFO: Using device: cpu -2024-03-23 10:32:42, INFO: Loaded RL weights with best VAL -2024-03-23 10:32:42, INFO: Similarity_func: concatenation -2024-03-23 10:32:42, INFO: Layerwise_graph: False -2024-03-23 10:32:42, INFO: Skip_connection: True -2024-03-23 10:32:42, INFO: Number of layers: 1 -2024-03-23 10:32:42, INFO: Similarity_func: concatenation -2024-03-23 10:32:42, INFO: Layerwise_graph: False -2024-03-23 10:32:42, INFO: Skip_connection: True -2024-03-23 10:32:42, INFO: Number of layers: 1 -2024-03-23 10:32:42, INFO: Planning depth: 1 -2024-03-23 10:32:42, INFO: Planning width: 10 -2024-03-23 10:32:42, INFO: Sparse search: None -2024-03-23 10:32:46, INFO: human number: 10 -2024-03-23 10:32:46, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:32:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:32:46, INFO: Square width: 10, circle width: 4 -2024-03-23 10:32:46, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:32:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:32:49, INFO: Animation.save using -2024-03-23 10:32:57, INFO: Animation.save using -2024-03-23 10:33:11, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.807009 -2024-03-23 10:33:11, INFO: Using device: cpu -2024-03-23 10:33:11, INFO: Loaded RL weights with best VAL -2024-03-23 10:33:11, INFO: Similarity_func: concatenation -2024-03-23 10:33:11, INFO: Layerwise_graph: False -2024-03-23 10:33:11, INFO: Skip_connection: True -2024-03-23 10:33:11, INFO: Number of layers: 1 -2024-03-23 10:33:11, INFO: Similarity_func: concatenation -2024-03-23 10:33:11, INFO: Layerwise_graph: False -2024-03-23 10:33:11, INFO: Skip_connection: True -2024-03-23 10:33:11, INFO: Number of layers: 1 -2024-03-23 10:33:11, INFO: Planning depth: 1 -2024-03-23 10:33:11, INFO: Planning width: 10 -2024-03-23 10:33:11, INFO: Sparse search: None -2024-03-23 10:33:11, INFO: human number: 10 -2024-03-23 10:33:11, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:33:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:33:11, INFO: Square width: 10, circle width: 4 -2024-03-23 10:33:11, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:33:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:33:14, INFO: Animation.save using -2024-03-23 10:33:21, INFO: Animation.save using -2024-03-23 10:33:35, INFO: It takes 14.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.807009 -2024-03-23 10:33:39, INFO: Using device: cpu -2024-03-23 10:33:39, INFO: Loaded RL weights with best VAL -2024-03-23 10:33:39, INFO: Similarity_func: concatenation -2024-03-23 10:33:39, INFO: Layerwise_graph: False -2024-03-23 10:33:39, INFO: Skip_connection: True -2024-03-23 10:33:39, INFO: Number of layers: 1 -2024-03-23 10:33:39, INFO: Similarity_func: concatenation -2024-03-23 10:33:39, INFO: Layerwise_graph: False -2024-03-23 10:33:39, INFO: Skip_connection: True -2024-03-23 10:33:39, INFO: Number of layers: 1 -2024-03-23 10:33:39, INFO: Planning depth: 1 -2024-03-23 10:33:39, INFO: Planning width: 10 -2024-03-23 10:33:39, INFO: Sparse search: None -2024-03-23 10:33:43, INFO: human number: 10 -2024-03-23 10:33:43, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:33:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:33:43, INFO: Square width: 10, circle width: 4 -2024-03-23 10:33:43, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:33:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:33:46, INFO: Animation.save using -2024-03-23 10:33:53, INFO: Animation.save using -2024-03-23 10:34:05, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.831754 -2024-03-23 10:34:05, INFO: Using device: cpu -2024-03-23 10:34:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:34:06, INFO: Similarity_func: concatenation -2024-03-23 10:34:06, INFO: Layerwise_graph: False -2024-03-23 10:34:06, INFO: Skip_connection: True -2024-03-23 10:34:06, INFO: Number of layers: 1 -2024-03-23 10:34:06, INFO: Similarity_func: concatenation -2024-03-23 10:34:06, INFO: Layerwise_graph: False -2024-03-23 10:34:06, INFO: Skip_connection: True -2024-03-23 10:34:06, INFO: Number of layers: 1 -2024-03-23 10:34:06, INFO: Planning depth: 1 -2024-03-23 10:34:06, INFO: Planning width: 10 -2024-03-23 10:34:06, INFO: Sparse search: None -2024-03-23 10:34:06, INFO: human number: 10 -2024-03-23 10:34:06, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:34:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:34:06, INFO: Square width: 10, circle width: 4 -2024-03-23 10:34:06, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:34:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:34:08, INFO: Animation.save using -2024-03-23 10:34:15, INFO: Animation.save using -2024-03-23 10:34:28, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.831754 -2024-03-23 10:34:31, INFO: Using device: cpu -2024-03-23 10:34:31, INFO: Loaded RL weights with best VAL -2024-03-23 10:34:31, INFO: Similarity_func: concatenation -2024-03-23 10:34:31, INFO: Layerwise_graph: False -2024-03-23 10:34:31, INFO: Skip_connection: True -2024-03-23 10:34:31, INFO: Number of layers: 1 -2024-03-23 10:34:31, INFO: Similarity_func: concatenation -2024-03-23 10:34:31, INFO: Layerwise_graph: False -2024-03-23 10:34:31, INFO: Skip_connection: True -2024-03-23 10:34:31, INFO: Number of layers: 1 -2024-03-23 10:34:31, INFO: Planning depth: 1 -2024-03-23 10:34:31, INFO: Planning width: 10 -2024-03-23 10:34:31, INFO: Sparse search: None -2024-03-23 10:34:35, INFO: human number: 10 -2024-03-23 10:34:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:34:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:34:35, INFO: Square width: 10, circle width: 4 -2024-03-23 10:34:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:34:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:34:38, INFO: Animation.save using -2024-03-23 10:34:44, INFO: Animation.save using -2024-03-23 10:34:57, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.922943 -2024-03-23 10:34:57, INFO: Using device: cpu -2024-03-23 10:34:57, INFO: Loaded RL weights with best VAL -2024-03-23 10:34:57, INFO: Similarity_func: concatenation -2024-03-23 10:34:57, INFO: Layerwise_graph: False -2024-03-23 10:34:57, INFO: Skip_connection: True -2024-03-23 10:34:57, INFO: Number of layers: 1 -2024-03-23 10:34:57, INFO: Similarity_func: concatenation -2024-03-23 10:34:57, INFO: Layerwise_graph: False -2024-03-23 10:34:57, INFO: Skip_connection: True -2024-03-23 10:34:57, INFO: Number of layers: 1 -2024-03-23 10:34:57, INFO: Planning depth: 1 -2024-03-23 10:34:57, INFO: Planning width: 10 -2024-03-23 10:34:57, INFO: Sparse search: None -2024-03-23 10:34:57, INFO: human number: 10 -2024-03-23 10:34:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:34:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:34:57, INFO: Square width: 10, circle width: 4 -2024-03-23 10:34:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:34:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:34:59, INFO: Animation.save using -2024-03-23 10:35:06, INFO: Animation.save using -2024-03-23 10:35:18, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.922943 -2024-03-23 10:35:22, INFO: Using device: cpu -2024-03-23 10:35:22, INFO: Loaded RL weights with best VAL -2024-03-23 10:35:22, INFO: Similarity_func: concatenation -2024-03-23 10:35:22, INFO: Layerwise_graph: False -2024-03-23 10:35:22, INFO: Skip_connection: True -2024-03-23 10:35:22, INFO: Number of layers: 1 -2024-03-23 10:35:22, INFO: Similarity_func: concatenation -2024-03-23 10:35:22, INFO: Layerwise_graph: False -2024-03-23 10:35:22, INFO: Skip_connection: True -2024-03-23 10:35:22, INFO: Number of layers: 1 -2024-03-23 10:35:22, INFO: Planning depth: 1 -2024-03-23 10:35:22, INFO: Planning width: 10 -2024-03-23 10:35:22, INFO: Sparse search: None -2024-03-23 10:35:26, INFO: human number: 10 -2024-03-23 10:35:26, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:35:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:35:26, INFO: Square width: 10, circle width: 4 -2024-03-23 10:35:26, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:35:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:35:29, INFO: Animation.save using -2024-03-23 10:35:36, INFO: Animation.save using -2024-03-23 10:35:50, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-03-23 10:35:50, INFO: Using device: cpu -2024-03-23 10:35:50, INFO: Loaded RL weights with best VAL -2024-03-23 10:35:50, INFO: Similarity_func: concatenation -2024-03-23 10:35:50, INFO: Layerwise_graph: False -2024-03-23 10:35:50, INFO: Skip_connection: True -2024-03-23 10:35:50, INFO: Number of layers: 1 -2024-03-23 10:35:50, INFO: Similarity_func: concatenation -2024-03-23 10:35:50, INFO: Layerwise_graph: False -2024-03-23 10:35:50, INFO: Skip_connection: True -2024-03-23 10:35:50, INFO: Number of layers: 1 -2024-03-23 10:35:50, INFO: Planning depth: 1 -2024-03-23 10:35:50, INFO: Planning width: 10 -2024-03-23 10:35:50, INFO: Sparse search: None -2024-03-23 10:35:50, INFO: human number: 10 -2024-03-23 10:35:50, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:35:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:35:50, INFO: Square width: 10, circle width: 4 -2024-03-23 10:35:50, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:35:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:35:53, INFO: Animation.save using -2024-03-23 10:36:00, INFO: Animation.save using -2024-03-23 10:36:14, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.829044 -2024-03-23 10:36:18, INFO: Using device: cpu -2024-03-23 10:36:18, INFO: Loaded RL weights with best VAL -2024-03-23 10:36:18, INFO: Similarity_func: concatenation -2024-03-23 10:36:18, INFO: Layerwise_graph: False -2024-03-23 10:36:18, INFO: Skip_connection: True -2024-03-23 10:36:18, INFO: Number of layers: 1 -2024-03-23 10:36:18, INFO: Similarity_func: concatenation -2024-03-23 10:36:18, INFO: Layerwise_graph: False -2024-03-23 10:36:18, INFO: Skip_connection: True -2024-03-23 10:36:18, INFO: Number of layers: 1 -2024-03-23 10:36:18, INFO: Planning depth: 1 -2024-03-23 10:36:18, INFO: Planning width: 10 -2024-03-23 10:36:18, INFO: Sparse search: None -2024-03-23 10:36:22, INFO: human number: 10 -2024-03-23 10:36:22, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:36:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:36:22, INFO: Square width: 10, circle width: 4 -2024-03-23 10:36:22, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:36:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:36:25, INFO: Animation.save using -2024-03-23 10:36:32, INFO: Animation.save using -2024-03-23 10:36:45, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.874990 -2024-03-23 10:36:45, INFO: Using device: cpu -2024-03-23 10:36:45, INFO: Loaded RL weights with best VAL -2024-03-23 10:36:45, INFO: Similarity_func: concatenation -2024-03-23 10:36:45, INFO: Layerwise_graph: False -2024-03-23 10:36:45, INFO: Skip_connection: True -2024-03-23 10:36:45, INFO: Number of layers: 1 -2024-03-23 10:36:45, INFO: Similarity_func: concatenation -2024-03-23 10:36:45, INFO: Layerwise_graph: False -2024-03-23 10:36:45, INFO: Skip_connection: True -2024-03-23 10:36:45, INFO: Number of layers: 1 -2024-03-23 10:36:45, INFO: Planning depth: 1 -2024-03-23 10:36:45, INFO: Planning width: 10 -2024-03-23 10:36:45, INFO: Sparse search: None -2024-03-23 10:36:45, INFO: human number: 10 -2024-03-23 10:36:45, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:36:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:36:45, INFO: Square width: 10, circle width: 4 -2024-03-23 10:36:45, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:36:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:36:48, INFO: Animation.save using -2024-03-23 10:36:55, INFO: Animation.save using -2024-03-23 10:37:08, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.874990 -2024-03-23 10:37:12, INFO: Using device: cpu -2024-03-23 10:37:12, INFO: Loaded RL weights with best VAL -2024-03-23 10:37:12, INFO: Similarity_func: concatenation -2024-03-23 10:37:12, INFO: Layerwise_graph: False -2024-03-23 10:37:12, INFO: Skip_connection: True -2024-03-23 10:37:12, INFO: Number of layers: 1 -2024-03-23 10:37:12, INFO: Similarity_func: concatenation -2024-03-23 10:37:12, INFO: Layerwise_graph: False -2024-03-23 10:37:12, INFO: Skip_connection: True -2024-03-23 10:37:12, INFO: Number of layers: 1 -2024-03-23 10:37:12, INFO: Planning depth: 1 -2024-03-23 10:37:12, INFO: Planning width: 10 -2024-03-23 10:37:12, INFO: Sparse search: None -2024-03-23 10:37:16, INFO: human number: 10 -2024-03-23 10:37:16, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:37:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:37:16, INFO: Square width: 10, circle width: 4 -2024-03-23 10:37:16, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:37:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:37:19, INFO: Animation.save using -2024-03-23 10:37:26, INFO: Animation.save using -2024-03-23 10:37:37, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.982217 -2024-03-23 10:37:37, INFO: Using device: cpu -2024-03-23 10:37:37, INFO: Loaded RL weights with best VAL -2024-03-23 10:37:37, INFO: Similarity_func: concatenation -2024-03-23 10:37:37, INFO: Layerwise_graph: False -2024-03-23 10:37:37, INFO: Skip_connection: True -2024-03-23 10:37:37, INFO: Number of layers: 1 -2024-03-23 10:37:37, INFO: Similarity_func: concatenation -2024-03-23 10:37:37, INFO: Layerwise_graph: False -2024-03-23 10:37:37, INFO: Skip_connection: True -2024-03-23 10:37:37, INFO: Number of layers: 1 -2024-03-23 10:37:37, INFO: Planning depth: 1 -2024-03-23 10:37:37, INFO: Planning width: 10 -2024-03-23 10:37:37, INFO: Sparse search: None -2024-03-23 10:37:37, INFO: human number: 10 -2024-03-23 10:37:37, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:37:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:37:37, INFO: Square width: 10, circle width: 4 -2024-03-23 10:37:37, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:37:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:37:40, INFO: Animation.save using -2024-03-23 10:37:45, INFO: Animation.save using -2024-03-23 10:37:57, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.982217 -2024-03-23 10:38:00, INFO: Using device: cpu -2024-03-23 10:38:00, INFO: Loaded RL weights with best VAL -2024-03-23 10:38:00, INFO: Similarity_func: concatenation -2024-03-23 10:38:00, INFO: Layerwise_graph: False -2024-03-23 10:38:00, INFO: Skip_connection: True -2024-03-23 10:38:00, INFO: Number of layers: 1 -2024-03-23 10:38:00, INFO: Similarity_func: concatenation -2024-03-23 10:38:00, INFO: Layerwise_graph: False -2024-03-23 10:38:00, INFO: Skip_connection: True -2024-03-23 10:38:00, INFO: Number of layers: 1 -2024-03-23 10:38:00, INFO: Planning depth: 1 -2024-03-23 10:38:00, INFO: Planning width: 10 -2024-03-23 10:38:00, INFO: Sparse search: None -2024-03-23 10:38:04, INFO: human number: 10 -2024-03-23 10:38:04, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:38:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:38:04, INFO: Square width: 10, circle width: 4 -2024-03-23 10:38:04, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:38:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:38:07, INFO: Animation.save using -2024-03-23 10:38:12, INFO: Animation.save using -2024-03-23 10:38:23, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.820676 -2024-03-23 10:38:23, INFO: Using device: cpu -2024-03-23 10:38:23, INFO: Loaded RL weights with best VAL -2024-03-23 10:38:23, INFO: Similarity_func: concatenation -2024-03-23 10:38:23, INFO: Layerwise_graph: False -2024-03-23 10:38:23, INFO: Skip_connection: True -2024-03-23 10:38:23, INFO: Number of layers: 1 -2024-03-23 10:38:23, INFO: Similarity_func: concatenation -2024-03-23 10:38:23, INFO: Layerwise_graph: False -2024-03-23 10:38:23, INFO: Skip_connection: True -2024-03-23 10:38:23, INFO: Number of layers: 1 -2024-03-23 10:38:23, INFO: Planning depth: 1 -2024-03-23 10:38:23, INFO: Planning width: 10 -2024-03-23 10:38:23, INFO: Sparse search: None -2024-03-23 10:38:23, INFO: human number: 10 -2024-03-23 10:38:23, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:38:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:38:23, INFO: Square width: 10, circle width: 4 -2024-03-23 10:38:23, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:38:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:38:25, INFO: Animation.save using -2024-03-23 10:38:31, INFO: Animation.save using -2024-03-23 10:38:42, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.820676 -2024-03-23 10:38:45, INFO: Using device: cpu -2024-03-23 10:38:45, INFO: Loaded RL weights with best VAL -2024-03-23 10:38:45, INFO: Similarity_func: concatenation -2024-03-23 10:38:45, INFO: Layerwise_graph: False -2024-03-23 10:38:45, INFO: Skip_connection: True -2024-03-23 10:38:45, INFO: Number of layers: 1 -2024-03-23 10:38:45, INFO: Similarity_func: concatenation -2024-03-23 10:38:45, INFO: Layerwise_graph: False -2024-03-23 10:38:45, INFO: Skip_connection: True -2024-03-23 10:38:45, INFO: Number of layers: 1 -2024-03-23 10:38:45, INFO: Planning depth: 1 -2024-03-23 10:38:45, INFO: Planning width: 10 -2024-03-23 10:38:45, INFO: Sparse search: None -2024-03-23 10:38:49, INFO: human number: 10 -2024-03-23 10:38:49, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:38:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:38:49, INFO: Square width: 10, circle width: 4 -2024-03-23 10:38:49, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:38:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:38:52, INFO: Animation.save using -2024-03-23 10:38:59, INFO: Animation.save using -2024-03-23 10:39:12, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.862978 -2024-03-23 10:39:12, INFO: Using device: cpu -2024-03-23 10:39:12, INFO: Loaded RL weights with best VAL -2024-03-23 10:39:12, INFO: Similarity_func: concatenation -2024-03-23 10:39:12, INFO: Layerwise_graph: False -2024-03-23 10:39:12, INFO: Skip_connection: True -2024-03-23 10:39:12, INFO: Number of layers: 1 -2024-03-23 10:39:12, INFO: Similarity_func: concatenation -2024-03-23 10:39:12, INFO: Layerwise_graph: False -2024-03-23 10:39:12, INFO: Skip_connection: True -2024-03-23 10:39:12, INFO: Number of layers: 1 -2024-03-23 10:39:12, INFO: Planning depth: 1 -2024-03-23 10:39:12, INFO: Planning width: 10 -2024-03-23 10:39:12, INFO: Sparse search: None -2024-03-23 10:39:12, INFO: human number: 10 -2024-03-23 10:39:12, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:39:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:39:12, INFO: Square width: 10, circle width: 4 -2024-03-23 10:39:12, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:39:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:39:15, INFO: Animation.save using -2024-03-23 10:39:21, INFO: Animation.save using -2024-03-23 10:39:35, INFO: It takes 13.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.862978 -2024-03-23 10:39:38, INFO: Using device: cpu -2024-03-23 10:39:38, INFO: Loaded RL weights with best VAL -2024-03-23 10:39:38, INFO: Similarity_func: concatenation -2024-03-23 10:39:38, INFO: Layerwise_graph: False -2024-03-23 10:39:38, INFO: Skip_connection: True -2024-03-23 10:39:38, INFO: Number of layers: 1 -2024-03-23 10:39:38, INFO: Similarity_func: concatenation -2024-03-23 10:39:38, INFO: Layerwise_graph: False -2024-03-23 10:39:38, INFO: Skip_connection: True -2024-03-23 10:39:38, INFO: Number of layers: 1 -2024-03-23 10:39:38, INFO: Planning depth: 1 -2024-03-23 10:39:38, INFO: Planning width: 10 -2024-03-23 10:39:38, INFO: Sparse search: None -2024-03-23 10:39:42, INFO: human number: 10 -2024-03-23 10:39:42, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:39:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:39:42, INFO: Square width: 10, circle width: 4 -2024-03-23 10:39:42, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:39:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:39:45, INFO: Animation.save using -2024-03-23 10:39:50, INFO: Animation.save using -2024-03-23 10:40:00, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980005 -2024-03-23 10:40:00, INFO: Using device: cpu -2024-03-23 10:40:00, INFO: Loaded RL weights with best VAL -2024-03-23 10:40:00, INFO: Similarity_func: concatenation -2024-03-23 10:40:00, INFO: Layerwise_graph: False -2024-03-23 10:40:00, INFO: Skip_connection: True -2024-03-23 10:40:00, INFO: Number of layers: 1 -2024-03-23 10:40:00, INFO: Similarity_func: concatenation -2024-03-23 10:40:00, INFO: Layerwise_graph: False -2024-03-23 10:40:00, INFO: Skip_connection: True -2024-03-23 10:40:00, INFO: Number of layers: 1 -2024-03-23 10:40:00, INFO: Planning depth: 1 -2024-03-23 10:40:00, INFO: Planning width: 10 -2024-03-23 10:40:00, INFO: Sparse search: None -2024-03-23 10:40:00, INFO: human number: 10 -2024-03-23 10:40:00, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:40:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:40:00, INFO: Square width: 10, circle width: 4 -2024-03-23 10:40:00, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:40:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:40:02, INFO: Animation.save using -2024-03-23 10:40:07, INFO: Animation.save using -2024-03-23 10:40:17, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980005 -2024-03-23 10:40:20, INFO: Using device: cpu -2024-03-23 10:40:20, INFO: Loaded RL weights with best VAL -2024-03-23 10:40:20, INFO: Similarity_func: concatenation -2024-03-23 10:40:20, INFO: Layerwise_graph: False -2024-03-23 10:40:20, INFO: Skip_connection: True -2024-03-23 10:40:20, INFO: Number of layers: 1 -2024-03-23 10:40:20, INFO: Similarity_func: concatenation -2024-03-23 10:40:20, INFO: Layerwise_graph: False -2024-03-23 10:40:20, INFO: Skip_connection: True -2024-03-23 10:40:20, INFO: Number of layers: 1 -2024-03-23 10:40:20, INFO: Planning depth: 1 -2024-03-23 10:40:20, INFO: Planning width: 10 -2024-03-23 10:40:20, INFO: Sparse search: None -2024-03-23 10:40:24, INFO: human number: 10 -2024-03-23 10:40:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:40:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:40:24, INFO: Square width: 10, circle width: 4 -2024-03-23 10:40:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:40:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:40:27, INFO: Animation.save using -2024-03-23 10:40:33, INFO: Animation.save using -2024-03-23 10:40:45, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.982288 -2024-03-23 10:40:45, INFO: Using device: cpu -2024-03-23 10:40:45, INFO: Loaded RL weights with best VAL -2024-03-23 10:40:45, INFO: Similarity_func: concatenation -2024-03-23 10:40:45, INFO: Layerwise_graph: False -2024-03-23 10:40:45, INFO: Skip_connection: True -2024-03-23 10:40:45, INFO: Number of layers: 1 -2024-03-23 10:40:45, INFO: Similarity_func: concatenation -2024-03-23 10:40:45, INFO: Layerwise_graph: False -2024-03-23 10:40:45, INFO: Skip_connection: True -2024-03-23 10:40:45, INFO: Number of layers: 1 -2024-03-23 10:40:45, INFO: Planning depth: 1 -2024-03-23 10:40:45, INFO: Planning width: 10 -2024-03-23 10:40:45, INFO: Sparse search: None -2024-03-23 10:40:45, INFO: human number: 10 -2024-03-23 10:40:45, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:40:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:40:45, INFO: Square width: 10, circle width: 4 -2024-03-23 10:40:45, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:40:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:40:47, INFO: Animation.save using -2024-03-23 10:40:53, INFO: Animation.save using -2024-03-23 10:41:05, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.982288 -2024-03-23 10:41:09, INFO: Using device: cpu -2024-03-23 10:41:09, INFO: Loaded RL weights with best VAL -2024-03-23 10:41:09, INFO: Similarity_func: concatenation -2024-03-23 10:41:09, INFO: Layerwise_graph: False -2024-03-23 10:41:09, INFO: Skip_connection: True -2024-03-23 10:41:09, INFO: Number of layers: 1 -2024-03-23 10:41:09, INFO: Similarity_func: concatenation -2024-03-23 10:41:09, INFO: Layerwise_graph: False -2024-03-23 10:41:09, INFO: Skip_connection: True -2024-03-23 10:41:09, INFO: Number of layers: 1 -2024-03-23 10:41:09, INFO: Planning depth: 1 -2024-03-23 10:41:09, INFO: Planning width: 10 -2024-03-23 10:41:09, INFO: Sparse search: None -2024-03-23 10:41:13, INFO: human number: 10 -2024-03-23 10:41:13, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:41:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:41:13, INFO: Square width: 10, circle width: 4 -2024-03-23 10:41:13, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:41:13, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:41:15, INFO: Animation.save using -2024-03-23 10:41:20, INFO: Animation.save using -2024-03-23 10:41:30, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.047309 -2024-03-23 10:41:30, INFO: Using device: cpu -2024-03-23 10:41:30, INFO: Loaded RL weights with best VAL -2024-03-23 10:41:30, INFO: Similarity_func: concatenation -2024-03-23 10:41:30, INFO: Layerwise_graph: False -2024-03-23 10:41:30, INFO: Skip_connection: True -2024-03-23 10:41:30, INFO: Number of layers: 1 -2024-03-23 10:41:30, INFO: Similarity_func: concatenation -2024-03-23 10:41:30, INFO: Layerwise_graph: False -2024-03-23 10:41:30, INFO: Skip_connection: True -2024-03-23 10:41:30, INFO: Number of layers: 1 -2024-03-23 10:41:30, INFO: Planning depth: 1 -2024-03-23 10:41:30, INFO: Planning width: 10 -2024-03-23 10:41:30, INFO: Sparse search: None -2024-03-23 10:41:30, INFO: human number: 10 -2024-03-23 10:41:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:41:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:41:30, INFO: Square width: 10, circle width: 4 -2024-03-23 10:41:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:41:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:41:32, INFO: Animation.save using -2024-03-23 10:41:37, INFO: Animation.save using -2024-03-23 10:41:46, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.047309 -2024-03-23 10:41:50, INFO: Using device: cpu -2024-03-23 10:41:50, INFO: Loaded RL weights with best VAL -2024-03-23 10:41:50, INFO: Similarity_func: concatenation -2024-03-23 10:41:50, INFO: Layerwise_graph: False -2024-03-23 10:41:50, INFO: Skip_connection: True -2024-03-23 10:41:50, INFO: Number of layers: 1 -2024-03-23 10:41:50, INFO: Similarity_func: concatenation -2024-03-23 10:41:50, INFO: Layerwise_graph: False -2024-03-23 10:41:50, INFO: Skip_connection: True -2024-03-23 10:41:50, INFO: Number of layers: 1 -2024-03-23 10:41:50, INFO: Planning depth: 1 -2024-03-23 10:41:50, INFO: Planning width: 10 -2024-03-23 10:41:50, INFO: Sparse search: None -2024-03-23 10:41:54, INFO: human number: 10 -2024-03-23 10:41:54, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:41:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:41:54, INFO: Square width: 10, circle width: 4 -2024-03-23 10:41:54, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:41:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:41:57, INFO: Animation.save using -2024-03-23 10:42:02, INFO: Animation.save using -2024-03-23 10:42:11, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.058784 -2024-03-23 10:42:11, INFO: Using device: cpu -2024-03-23 10:42:11, INFO: Loaded RL weights with best VAL -2024-03-23 10:42:11, INFO: Similarity_func: concatenation -2024-03-23 10:42:11, INFO: Layerwise_graph: False -2024-03-23 10:42:11, INFO: Skip_connection: True -2024-03-23 10:42:11, INFO: Number of layers: 1 -2024-03-23 10:42:11, INFO: Similarity_func: concatenation -2024-03-23 10:42:11, INFO: Layerwise_graph: False -2024-03-23 10:42:11, INFO: Skip_connection: True -2024-03-23 10:42:11, INFO: Number of layers: 1 -2024-03-23 10:42:11, INFO: Planning depth: 1 -2024-03-23 10:42:11, INFO: Planning width: 10 -2024-03-23 10:42:11, INFO: Sparse search: None -2024-03-23 10:42:11, INFO: human number: 10 -2024-03-23 10:42:11, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:42:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:42:11, INFO: Square width: 10, circle width: 4 -2024-03-23 10:42:11, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:42:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:42:13, INFO: Animation.save using -2024-03-23 10:42:18, INFO: Animation.save using -2024-03-23 10:42:28, INFO: It takes 10.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.058784 -2024-03-23 10:42:32, INFO: Using device: cpu -2024-03-23 10:42:32, INFO: Loaded RL weights with best VAL -2024-03-23 10:42:32, INFO: Similarity_func: concatenation -2024-03-23 10:42:32, INFO: Layerwise_graph: False -2024-03-23 10:42:32, INFO: Skip_connection: True -2024-03-23 10:42:32, INFO: Number of layers: 1 -2024-03-23 10:42:32, INFO: Similarity_func: concatenation -2024-03-23 10:42:32, INFO: Layerwise_graph: False -2024-03-23 10:42:32, INFO: Skip_connection: True -2024-03-23 10:42:32, INFO: Number of layers: 1 -2024-03-23 10:42:32, INFO: Planning depth: 1 -2024-03-23 10:42:32, INFO: Planning width: 10 -2024-03-23 10:42:32, INFO: Sparse search: None -2024-03-23 10:42:35, INFO: human number: 10 -2024-03-23 10:42:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:42:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:42:35, INFO: Square width: 10, circle width: 4 -2024-03-23 10:42:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:42:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:42:38, INFO: Animation.save using -2024-03-23 10:42:43, INFO: Animation.save using -2024-03-23 10:42:55, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.776158 -2024-03-23 10:42:55, INFO: Using device: cpu -2024-03-23 10:42:55, INFO: Loaded RL weights with best VAL -2024-03-23 10:42:55, INFO: Similarity_func: concatenation -2024-03-23 10:42:55, INFO: Layerwise_graph: False -2024-03-23 10:42:55, INFO: Skip_connection: True -2024-03-23 10:42:55, INFO: Number of layers: 1 -2024-03-23 10:42:55, INFO: Similarity_func: concatenation -2024-03-23 10:42:55, INFO: Layerwise_graph: False -2024-03-23 10:42:55, INFO: Skip_connection: True -2024-03-23 10:42:55, INFO: Number of layers: 1 -2024-03-23 10:42:55, INFO: Planning depth: 1 -2024-03-23 10:42:55, INFO: Planning width: 10 -2024-03-23 10:42:55, INFO: Sparse search: None -2024-03-23 10:42:55, INFO: human number: 10 -2024-03-23 10:42:55, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:42:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:42:55, INFO: Square width: 10, circle width: 4 -2024-03-23 10:42:55, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:42:55, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:42:57, INFO: Animation.save using -2024-03-23 10:43:03, INFO: Animation.save using -2024-03-23 10:43:14, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.776158 -2024-03-23 10:43:18, INFO: Using device: cpu -2024-03-23 10:43:18, INFO: Loaded RL weights with best VAL -2024-03-23 10:43:18, INFO: Similarity_func: concatenation -2024-03-23 10:43:18, INFO: Layerwise_graph: False -2024-03-23 10:43:18, INFO: Skip_connection: True -2024-03-23 10:43:18, INFO: Number of layers: 1 -2024-03-23 10:43:18, INFO: Similarity_func: concatenation -2024-03-23 10:43:18, INFO: Layerwise_graph: False -2024-03-23 10:43:18, INFO: Skip_connection: True -2024-03-23 10:43:18, INFO: Number of layers: 1 -2024-03-23 10:43:18, INFO: Planning depth: 1 -2024-03-23 10:43:18, INFO: Planning width: 10 -2024-03-23 10:43:18, INFO: Sparse search: None -2024-03-23 10:43:21, INFO: human number: 10 -2024-03-23 10:43:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:43:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:43:21, INFO: Square width: 10, circle width: 4 -2024-03-23 10:43:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:43:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:43:24, INFO: Animation.save using -2024-03-23 10:43:29, INFO: Animation.save using -2024-03-23 10:43:38, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.059393 -2024-03-23 10:43:38, INFO: Using device: cpu -2024-03-23 10:43:38, INFO: Loaded RL weights with best VAL -2024-03-23 10:43:38, INFO: Similarity_func: concatenation -2024-03-23 10:43:38, INFO: Layerwise_graph: False -2024-03-23 10:43:38, INFO: Skip_connection: True -2024-03-23 10:43:38, INFO: Number of layers: 1 -2024-03-23 10:43:38, INFO: Similarity_func: concatenation -2024-03-23 10:43:38, INFO: Layerwise_graph: False -2024-03-23 10:43:38, INFO: Skip_connection: True -2024-03-23 10:43:38, INFO: Number of layers: 1 -2024-03-23 10:43:38, INFO: Planning depth: 1 -2024-03-23 10:43:38, INFO: Planning width: 10 -2024-03-23 10:43:38, INFO: Sparse search: None -2024-03-23 10:43:38, INFO: human number: 10 -2024-03-23 10:43:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:43:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:43:38, INFO: Square width: 10, circle width: 4 -2024-03-23 10:43:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:43:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:43:40, INFO: Animation.save using -2024-03-23 10:43:44, INFO: Animation.save using -2024-03-23 10:43:54, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.059393 -2024-03-23 10:43:57, INFO: Using device: cpu -2024-03-23 10:43:57, INFO: Loaded RL weights with best VAL -2024-03-23 10:43:57, INFO: Similarity_func: concatenation -2024-03-23 10:43:57, INFO: Layerwise_graph: False -2024-03-23 10:43:57, INFO: Skip_connection: True -2024-03-23 10:43:57, INFO: Number of layers: 1 -2024-03-23 10:43:57, INFO: Similarity_func: concatenation -2024-03-23 10:43:57, INFO: Layerwise_graph: False -2024-03-23 10:43:57, INFO: Skip_connection: True -2024-03-23 10:43:57, INFO: Number of layers: 1 -2024-03-23 10:43:57, INFO: Planning depth: 1 -2024-03-23 10:43:57, INFO: Planning width: 10 -2024-03-23 10:43:57, INFO: Sparse search: None -2024-03-23 10:44:01, INFO: human number: 10 -2024-03-23 10:44:01, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:44:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:44:01, INFO: Square width: 10, circle width: 4 -2024-03-23 10:44:01, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:44:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:44:04, INFO: Animation.save using -2024-03-23 10:44:11, INFO: Animation.save using -2024-03-23 10:44:23, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.890226 -2024-03-23 10:44:23, INFO: Using device: cpu -2024-03-23 10:44:23, INFO: Loaded RL weights with best VAL -2024-03-23 10:44:23, INFO: Similarity_func: concatenation -2024-03-23 10:44:23, INFO: Layerwise_graph: False -2024-03-23 10:44:23, INFO: Skip_connection: True -2024-03-23 10:44:23, INFO: Number of layers: 1 -2024-03-23 10:44:23, INFO: Similarity_func: concatenation -2024-03-23 10:44:23, INFO: Layerwise_graph: False -2024-03-23 10:44:23, INFO: Skip_connection: True -2024-03-23 10:44:23, INFO: Number of layers: 1 -2024-03-23 10:44:23, INFO: Planning depth: 1 -2024-03-23 10:44:23, INFO: Planning width: 10 -2024-03-23 10:44:23, INFO: Sparse search: None -2024-03-23 10:44:23, INFO: human number: 10 -2024-03-23 10:44:23, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:44:23, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:44:23, INFO: Square width: 10, circle width: 4 -2024-03-23 10:44:23, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:44:23, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:44:25, INFO: Animation.save using -2024-03-23 10:44:31, INFO: Animation.save using -2024-03-23 10:44:43, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.890226 -2024-03-23 10:44:46, INFO: Using device: cpu -2024-03-23 10:44:46, INFO: Loaded RL weights with best VAL -2024-03-23 10:44:46, INFO: Similarity_func: concatenation -2024-03-23 10:44:46, INFO: Layerwise_graph: False -2024-03-23 10:44:46, INFO: Skip_connection: True -2024-03-23 10:44:46, INFO: Number of layers: 1 -2024-03-23 10:44:46, INFO: Similarity_func: concatenation -2024-03-23 10:44:46, INFO: Layerwise_graph: False -2024-03-23 10:44:46, INFO: Skip_connection: True -2024-03-23 10:44:46, INFO: Number of layers: 1 -2024-03-23 10:44:46, INFO: Planning depth: 1 -2024-03-23 10:44:46, INFO: Planning width: 10 -2024-03-23 10:44:46, INFO: Sparse search: None -2024-03-23 10:44:50, INFO: human number: 10 -2024-03-23 10:44:50, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:44:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:44:50, INFO: Square width: 10, circle width: 4 -2024-03-23 10:44:50, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:44:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:44:54, INFO: Animation.save using -2024-03-23 10:45:01, INFO: Animation.save using -2024-03-23 10:45:14, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.726587 -2024-03-23 10:45:14, INFO: Using device: cpu -2024-03-23 10:45:14, INFO: Loaded RL weights with best VAL -2024-03-23 10:45:14, INFO: Similarity_func: concatenation -2024-03-23 10:45:14, INFO: Layerwise_graph: False -2024-03-23 10:45:14, INFO: Skip_connection: True -2024-03-23 10:45:14, INFO: Number of layers: 1 -2024-03-23 10:45:14, INFO: Similarity_func: concatenation -2024-03-23 10:45:14, INFO: Layerwise_graph: False -2024-03-23 10:45:14, INFO: Skip_connection: True -2024-03-23 10:45:14, INFO: Number of layers: 1 -2024-03-23 10:45:14, INFO: Planning depth: 1 -2024-03-23 10:45:14, INFO: Planning width: 10 -2024-03-23 10:45:14, INFO: Sparse search: None -2024-03-23 10:45:15, INFO: human number: 10 -2024-03-23 10:45:15, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:45:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:45:15, INFO: Square width: 10, circle width: 4 -2024-03-23 10:45:15, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:45:15, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:45:17, INFO: Animation.save using -2024-03-23 10:45:24, INFO: Animation.save using -2024-03-23 10:45:38, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.726587 -2024-03-23 10:45:41, INFO: Using device: cpu -2024-03-23 10:45:41, INFO: Loaded RL weights with best VAL -2024-03-23 10:45:41, INFO: Similarity_func: concatenation -2024-03-23 10:45:41, INFO: Layerwise_graph: False -2024-03-23 10:45:41, INFO: Skip_connection: True -2024-03-23 10:45:41, INFO: Number of layers: 1 -2024-03-23 10:45:41, INFO: Similarity_func: concatenation -2024-03-23 10:45:41, INFO: Layerwise_graph: False -2024-03-23 10:45:41, INFO: Skip_connection: True -2024-03-23 10:45:41, INFO: Number of layers: 1 -2024-03-23 10:45:41, INFO: Planning depth: 1 -2024-03-23 10:45:41, INFO: Planning width: 10 -2024-03-23 10:45:41, INFO: Sparse search: None -2024-03-23 10:45:45, INFO: human number: 10 -2024-03-23 10:45:45, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:45:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:45:45, INFO: Square width: 10, circle width: 4 -2024-03-23 10:45:45, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:45:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:45:49, INFO: Animation.save using -2024-03-23 10:45:58, INFO: Animation.save using -2024-03-23 10:46:16, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.650269 -2024-03-23 10:46:16, INFO: Using device: cpu -2024-03-23 10:46:16, INFO: Loaded RL weights with best VAL -2024-03-23 10:46:16, INFO: Similarity_func: concatenation -2024-03-23 10:46:16, INFO: Layerwise_graph: False -2024-03-23 10:46:16, INFO: Skip_connection: True -2024-03-23 10:46:16, INFO: Number of layers: 1 -2024-03-23 10:46:16, INFO: Similarity_func: concatenation -2024-03-23 10:46:16, INFO: Layerwise_graph: False -2024-03-23 10:46:16, INFO: Skip_connection: True -2024-03-23 10:46:16, INFO: Number of layers: 1 -2024-03-23 10:46:16, INFO: Planning depth: 1 -2024-03-23 10:46:16, INFO: Planning width: 10 -2024-03-23 10:46:16, INFO: Sparse search: None -2024-03-23 10:46:16, INFO: human number: 10 -2024-03-23 10:46:16, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:46:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:46:16, INFO: Square width: 10, circle width: 4 -2024-03-23 10:46:16, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:46:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:46:19, INFO: Animation.save using -2024-03-23 10:46:28, INFO: Animation.save using -2024-03-23 10:46:45, INFO: It takes 17.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.650269 -2024-03-23 10:46:49, INFO: Using device: cpu -2024-03-23 10:46:49, INFO: Loaded RL weights with best VAL -2024-03-23 10:46:49, INFO: Similarity_func: concatenation -2024-03-23 10:46:49, INFO: Layerwise_graph: False -2024-03-23 10:46:49, INFO: Skip_connection: True -2024-03-23 10:46:49, INFO: Number of layers: 1 -2024-03-23 10:46:49, INFO: Similarity_func: concatenation -2024-03-23 10:46:49, INFO: Layerwise_graph: False -2024-03-23 10:46:49, INFO: Skip_connection: True -2024-03-23 10:46:49, INFO: Number of layers: 1 -2024-03-23 10:46:49, INFO: Planning depth: 1 -2024-03-23 10:46:49, INFO: Planning width: 10 -2024-03-23 10:46:49, INFO: Sparse search: None -2024-03-23 10:46:52, INFO: human number: 10 -2024-03-23 10:46:52, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:46:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:46:52, INFO: Square width: 10, circle width: 4 -2024-03-23 10:46:52, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:46:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:46:55, INFO: Animation.save using -2024-03-23 10:47:01, INFO: Animation.save using -2024-03-23 10:47:12, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.065994 -2024-03-23 10:47:12, INFO: Using device: cpu -2024-03-23 10:47:12, INFO: Loaded RL weights with best VAL -2024-03-23 10:47:12, INFO: Similarity_func: concatenation -2024-03-23 10:47:12, INFO: Layerwise_graph: False -2024-03-23 10:47:12, INFO: Skip_connection: True -2024-03-23 10:47:12, INFO: Number of layers: 1 -2024-03-23 10:47:12, INFO: Similarity_func: concatenation -2024-03-23 10:47:12, INFO: Layerwise_graph: False -2024-03-23 10:47:12, INFO: Skip_connection: True -2024-03-23 10:47:12, INFO: Number of layers: 1 -2024-03-23 10:47:12, INFO: Planning depth: 1 -2024-03-23 10:47:12, INFO: Planning width: 10 -2024-03-23 10:47:12, INFO: Sparse search: None -2024-03-23 10:47:12, INFO: human number: 10 -2024-03-23 10:47:12, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:47:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:47:12, INFO: Square width: 10, circle width: 4 -2024-03-23 10:47:12, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:47:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:47:15, INFO: Animation.save using -2024-03-23 10:47:20, INFO: Animation.save using -2024-03-23 10:47:31, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.065994 -2024-03-23 10:47:34, INFO: Using device: cpu -2024-03-23 10:47:34, INFO: Loaded RL weights with best VAL -2024-03-23 10:47:34, INFO: Similarity_func: concatenation -2024-03-23 10:47:34, INFO: Layerwise_graph: False -2024-03-23 10:47:34, INFO: Skip_connection: True -2024-03-23 10:47:34, INFO: Number of layers: 1 -2024-03-23 10:47:34, INFO: Similarity_func: concatenation -2024-03-23 10:47:34, INFO: Layerwise_graph: False -2024-03-23 10:47:34, INFO: Skip_connection: True -2024-03-23 10:47:34, INFO: Number of layers: 1 -2024-03-23 10:47:34, INFO: Planning depth: 1 -2024-03-23 10:47:34, INFO: Planning width: 10 -2024-03-23 10:47:34, INFO: Sparse search: None -2024-03-23 10:47:38, INFO: human number: 10 -2024-03-23 10:47:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:47:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:47:38, INFO: Square width: 10, circle width: 4 -2024-03-23 10:47:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:47:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:47:41, INFO: Animation.save using -2024-03-23 10:47:46, INFO: Animation.save using -2024-03-23 10:47:57, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.925603 -2024-03-23 10:47:57, INFO: Using device: cpu -2024-03-23 10:47:57, INFO: Loaded RL weights with best VAL -2024-03-23 10:47:57, INFO: Similarity_func: concatenation -2024-03-23 10:47:57, INFO: Layerwise_graph: False -2024-03-23 10:47:57, INFO: Skip_connection: True -2024-03-23 10:47:57, INFO: Number of layers: 1 -2024-03-23 10:47:57, INFO: Similarity_func: concatenation -2024-03-23 10:47:57, INFO: Layerwise_graph: False -2024-03-23 10:47:57, INFO: Skip_connection: True -2024-03-23 10:47:57, INFO: Number of layers: 1 -2024-03-23 10:47:57, INFO: Planning depth: 1 -2024-03-23 10:47:57, INFO: Planning width: 10 -2024-03-23 10:47:57, INFO: Sparse search: None -2024-03-23 10:47:57, INFO: human number: 10 -2024-03-23 10:47:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:47:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:47:57, INFO: Square width: 10, circle width: 4 -2024-03-23 10:47:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:47:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:47:59, INFO: Animation.save using -2024-03-23 10:48:05, INFO: Animation.save using -2024-03-23 10:48:17, INFO: It takes 11.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.925603 -2024-03-23 10:48:20, INFO: Using device: cpu -2024-03-23 10:48:20, INFO: Loaded RL weights with best VAL -2024-03-23 10:48:20, INFO: Similarity_func: concatenation -2024-03-23 10:48:20, INFO: Layerwise_graph: False -2024-03-23 10:48:20, INFO: Skip_connection: True -2024-03-23 10:48:20, INFO: Number of layers: 1 -2024-03-23 10:48:20, INFO: Similarity_func: concatenation -2024-03-23 10:48:20, INFO: Layerwise_graph: False -2024-03-23 10:48:20, INFO: Skip_connection: True -2024-03-23 10:48:20, INFO: Number of layers: 1 -2024-03-23 10:48:20, INFO: Planning depth: 1 -2024-03-23 10:48:20, INFO: Planning width: 10 -2024-03-23 10:48:20, INFO: Sparse search: None -2024-03-23 10:48:24, INFO: human number: 10 -2024-03-23 10:48:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:48:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:48:24, INFO: Square width: 10, circle width: 4 -2024-03-23 10:48:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:48:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:48:26, INFO: Animation.save using -2024-03-23 10:48:32, INFO: Animation.save using -2024-03-23 10:48:43, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.961793 -2024-03-23 10:48:43, INFO: Using device: cpu -2024-03-23 10:48:43, INFO: Loaded RL weights with best VAL -2024-03-23 10:48:43, INFO: Similarity_func: concatenation -2024-03-23 10:48:43, INFO: Layerwise_graph: False -2024-03-23 10:48:43, INFO: Skip_connection: True -2024-03-23 10:48:43, INFO: Number of layers: 1 -2024-03-23 10:48:43, INFO: Similarity_func: concatenation -2024-03-23 10:48:43, INFO: Layerwise_graph: False -2024-03-23 10:48:43, INFO: Skip_connection: True -2024-03-23 10:48:43, INFO: Number of layers: 1 -2024-03-23 10:48:43, INFO: Planning depth: 1 -2024-03-23 10:48:43, INFO: Planning width: 10 -2024-03-23 10:48:43, INFO: Sparse search: None -2024-03-23 10:48:43, INFO: human number: 10 -2024-03-23 10:48:43, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:48:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:48:43, INFO: Square width: 10, circle width: 4 -2024-03-23 10:48:43, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:48:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:48:45, INFO: Animation.save using -2024-03-23 10:48:51, INFO: Animation.save using -2024-03-23 10:49:01, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.961793 -2024-03-23 10:49:04, INFO: Using device: cpu -2024-03-23 10:49:04, INFO: Loaded RL weights with best VAL -2024-03-23 10:49:04, INFO: Similarity_func: concatenation -2024-03-23 10:49:04, INFO: Layerwise_graph: False -2024-03-23 10:49:04, INFO: Skip_connection: True -2024-03-23 10:49:04, INFO: Number of layers: 1 -2024-03-23 10:49:04, INFO: Similarity_func: concatenation -2024-03-23 10:49:04, INFO: Layerwise_graph: False -2024-03-23 10:49:04, INFO: Skip_connection: True -2024-03-23 10:49:04, INFO: Number of layers: 1 -2024-03-23 10:49:04, INFO: Planning depth: 1 -2024-03-23 10:49:04, INFO: Planning width: 10 -2024-03-23 10:49:04, INFO: Sparse search: None -2024-03-23 10:49:07, INFO: human number: 10 -2024-03-23 10:49:07, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:49:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:49:07, INFO: Square width: 10, circle width: 4 -2024-03-23 10:49:07, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:49:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:49:10, INFO: Animation.save using -2024-03-23 10:49:16, INFO: Animation.save using -2024-03-23 10:49:27, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.988481 -2024-03-23 10:49:27, INFO: Using device: cpu -2024-03-23 10:49:27, INFO: Loaded RL weights with best VAL -2024-03-23 10:49:27, INFO: Similarity_func: concatenation -2024-03-23 10:49:27, INFO: Layerwise_graph: False -2024-03-23 10:49:27, INFO: Skip_connection: True -2024-03-23 10:49:27, INFO: Number of layers: 1 -2024-03-23 10:49:27, INFO: Similarity_func: concatenation -2024-03-23 10:49:27, INFO: Layerwise_graph: False -2024-03-23 10:49:27, INFO: Skip_connection: True -2024-03-23 10:49:27, INFO: Number of layers: 1 -2024-03-23 10:49:27, INFO: Planning depth: 1 -2024-03-23 10:49:27, INFO: Planning width: 10 -2024-03-23 10:49:27, INFO: Sparse search: None -2024-03-23 10:49:27, INFO: human number: 10 -2024-03-23 10:49:27, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:49:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:49:27, INFO: Square width: 10, circle width: 4 -2024-03-23 10:49:27, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:49:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:49:29, INFO: Animation.save using -2024-03-23 10:49:35, INFO: Animation.save using -2024-03-23 10:49:46, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.988481 -2024-03-23 10:49:49, INFO: Using device: cpu -2024-03-23 10:49:49, INFO: Loaded RL weights with best VAL -2024-03-23 10:49:49, INFO: Similarity_func: concatenation -2024-03-23 10:49:49, INFO: Layerwise_graph: False -2024-03-23 10:49:49, INFO: Skip_connection: True -2024-03-23 10:49:49, INFO: Number of layers: 1 -2024-03-23 10:49:49, INFO: Similarity_func: concatenation -2024-03-23 10:49:49, INFO: Layerwise_graph: False -2024-03-23 10:49:49, INFO: Skip_connection: True -2024-03-23 10:49:49, INFO: Number of layers: 1 -2024-03-23 10:49:49, INFO: Planning depth: 1 -2024-03-23 10:49:49, INFO: Planning width: 10 -2024-03-23 10:49:49, INFO: Sparse search: None -2024-03-23 10:49:52, INFO: human number: 10 -2024-03-23 10:49:52, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:49:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:49:52, INFO: Square width: 10, circle width: 4 -2024-03-23 10:49:52, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:49:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:49:55, INFO: Animation.save using -2024-03-23 10:50:01, INFO: Animation.save using -2024-03-23 10:50:12, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.901149 -2024-03-23 10:50:12, INFO: Using device: cpu -2024-03-23 10:50:12, INFO: Loaded RL weights with best VAL -2024-03-23 10:50:12, INFO: Similarity_func: concatenation -2024-03-23 10:50:12, INFO: Layerwise_graph: False -2024-03-23 10:50:12, INFO: Skip_connection: True -2024-03-23 10:50:12, INFO: Number of layers: 1 -2024-03-23 10:50:12, INFO: Similarity_func: concatenation -2024-03-23 10:50:12, INFO: Layerwise_graph: False -2024-03-23 10:50:12, INFO: Skip_connection: True -2024-03-23 10:50:12, INFO: Number of layers: 1 -2024-03-23 10:50:12, INFO: Planning depth: 1 -2024-03-23 10:50:12, INFO: Planning width: 10 -2024-03-23 10:50:12, INFO: Sparse search: None -2024-03-23 10:50:12, INFO: human number: 10 -2024-03-23 10:50:12, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:50:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:50:12, INFO: Square width: 10, circle width: 4 -2024-03-23 10:50:12, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:50:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:50:14, INFO: Animation.save using -2024-03-23 10:50:20, INFO: Animation.save using -2024-03-23 10:50:31, INFO: It takes 11.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.901149 -2024-03-23 10:50:34, INFO: Using device: cpu -2024-03-23 10:50:34, INFO: Loaded RL weights with best VAL -2024-03-23 10:50:34, INFO: Similarity_func: concatenation -2024-03-23 10:50:34, INFO: Layerwise_graph: False -2024-03-23 10:50:34, INFO: Skip_connection: True -2024-03-23 10:50:34, INFO: Number of layers: 1 -2024-03-23 10:50:34, INFO: Similarity_func: concatenation -2024-03-23 10:50:34, INFO: Layerwise_graph: False -2024-03-23 10:50:34, INFO: Skip_connection: True -2024-03-23 10:50:34, INFO: Number of layers: 1 -2024-03-23 10:50:34, INFO: Planning depth: 1 -2024-03-23 10:50:34, INFO: Planning width: 10 -2024-03-23 10:50:34, INFO: Sparse search: None -2024-03-23 10:50:38, INFO: human number: 10 -2024-03-23 10:50:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:50:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:50:38, INFO: Square width: 10, circle width: 4 -2024-03-23 10:50:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:50:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:50:40, INFO: Animation.save using -2024-03-23 10:50:45, INFO: Animation.save using -2024-03-23 10:50:54, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.050370 -2024-03-23 10:50:54, INFO: Using device: cpu -2024-03-23 10:50:54, INFO: Loaded RL weights with best VAL -2024-03-23 10:50:54, INFO: Similarity_func: concatenation -2024-03-23 10:50:54, INFO: Layerwise_graph: False -2024-03-23 10:50:54, INFO: Skip_connection: True -2024-03-23 10:50:54, INFO: Number of layers: 1 -2024-03-23 10:50:54, INFO: Similarity_func: concatenation -2024-03-23 10:50:54, INFO: Layerwise_graph: False -2024-03-23 10:50:54, INFO: Skip_connection: True -2024-03-23 10:50:54, INFO: Number of layers: 1 -2024-03-23 10:50:54, INFO: Planning depth: 1 -2024-03-23 10:50:54, INFO: Planning width: 10 -2024-03-23 10:50:54, INFO: Sparse search: None -2024-03-23 10:50:54, INFO: human number: 10 -2024-03-23 10:50:54, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:50:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:50:54, INFO: Square width: 10, circle width: 4 -2024-03-23 10:50:54, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:50:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:50:56, INFO: Animation.save using -2024-03-23 10:51:01, INFO: Animation.save using -2024-03-23 10:51:10, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.050370 -2024-03-23 10:51:13, INFO: Using device: cpu -2024-03-23 10:51:13, INFO: Loaded RL weights with best VAL -2024-03-23 10:51:13, INFO: Similarity_func: concatenation -2024-03-23 10:51:13, INFO: Layerwise_graph: False -2024-03-23 10:51:13, INFO: Skip_connection: True -2024-03-23 10:51:13, INFO: Number of layers: 1 -2024-03-23 10:51:13, INFO: Similarity_func: concatenation -2024-03-23 10:51:13, INFO: Layerwise_graph: False -2024-03-23 10:51:13, INFO: Skip_connection: True -2024-03-23 10:51:13, INFO: Number of layers: 1 -2024-03-23 10:51:13, INFO: Planning depth: 1 -2024-03-23 10:51:13, INFO: Planning width: 10 -2024-03-23 10:51:13, INFO: Sparse search: None -2024-03-23 10:51:16, INFO: human number: 10 -2024-03-23 10:51:16, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:51:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:51:16, INFO: Square width: 10, circle width: 4 -2024-03-23 10:51:16, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:51:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:51:19, INFO: Animation.save using -2024-03-23 10:51:25, INFO: Animation.save using -2024-03-23 10:51:37, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.902652 -2024-03-23 10:51:37, INFO: Using device: cpu -2024-03-23 10:51:37, INFO: Loaded RL weights with best VAL -2024-03-23 10:51:37, INFO: Similarity_func: concatenation -2024-03-23 10:51:37, INFO: Layerwise_graph: False -2024-03-23 10:51:37, INFO: Skip_connection: True -2024-03-23 10:51:37, INFO: Number of layers: 1 -2024-03-23 10:51:37, INFO: Similarity_func: concatenation -2024-03-23 10:51:37, INFO: Layerwise_graph: False -2024-03-23 10:51:37, INFO: Skip_connection: True -2024-03-23 10:51:37, INFO: Number of layers: 1 -2024-03-23 10:51:37, INFO: Planning depth: 1 -2024-03-23 10:51:37, INFO: Planning width: 10 -2024-03-23 10:51:37, INFO: Sparse search: None -2024-03-23 10:51:37, INFO: human number: 10 -2024-03-23 10:51:37, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:51:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:51:37, INFO: Square width: 10, circle width: 4 -2024-03-23 10:51:37, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:51:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:51:40, INFO: Animation.save using -2024-03-23 10:51:46, INFO: Animation.save using -2024-03-23 10:51:58, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.902652 -2024-03-23 10:52:01, INFO: Using device: cpu -2024-03-23 10:52:01, INFO: Loaded RL weights with best VAL -2024-03-23 10:52:01, INFO: Similarity_func: concatenation -2024-03-23 10:52:01, INFO: Layerwise_graph: False -2024-03-23 10:52:01, INFO: Skip_connection: True -2024-03-23 10:52:01, INFO: Number of layers: 1 -2024-03-23 10:52:01, INFO: Similarity_func: concatenation -2024-03-23 10:52:01, INFO: Layerwise_graph: False -2024-03-23 10:52:01, INFO: Skip_connection: True -2024-03-23 10:52:01, INFO: Number of layers: 1 -2024-03-23 10:52:01, INFO: Planning depth: 1 -2024-03-23 10:52:01, INFO: Planning width: 10 -2024-03-23 10:52:01, INFO: Sparse search: None -2024-03-23 10:52:04, INFO: human number: 10 -2024-03-23 10:52:04, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:52:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:52:04, INFO: Square width: 10, circle width: 4 -2024-03-23 10:52:04, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:52:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:52:07, INFO: Animation.save using -2024-03-23 10:52:12, INFO: Animation.save using -2024-03-23 10:52:21, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.038931 -2024-03-23 10:52:21, INFO: Using device: cpu -2024-03-23 10:52:21, INFO: Loaded RL weights with best VAL -2024-03-23 10:52:21, INFO: Similarity_func: concatenation -2024-03-23 10:52:21, INFO: Layerwise_graph: False -2024-03-23 10:52:21, INFO: Skip_connection: True -2024-03-23 10:52:21, INFO: Number of layers: 1 -2024-03-23 10:52:21, INFO: Similarity_func: concatenation -2024-03-23 10:52:21, INFO: Layerwise_graph: False -2024-03-23 10:52:21, INFO: Skip_connection: True -2024-03-23 10:52:21, INFO: Number of layers: 1 -2024-03-23 10:52:21, INFO: Planning depth: 1 -2024-03-23 10:52:21, INFO: Planning width: 10 -2024-03-23 10:52:21, INFO: Sparse search: None -2024-03-23 10:52:21, INFO: human number: 10 -2024-03-23 10:52:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:52:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:52:21, INFO: Square width: 10, circle width: 4 -2024-03-23 10:52:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:52:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:52:23, INFO: Animation.save using -2024-03-23 10:52:28, INFO: Animation.save using -2024-03-23 10:52:37, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.038931 -2024-03-23 10:52:40, INFO: Using device: cpu -2024-03-23 10:52:40, INFO: Loaded RL weights with best VAL -2024-03-23 10:52:40, INFO: Similarity_func: concatenation -2024-03-23 10:52:40, INFO: Layerwise_graph: False -2024-03-23 10:52:40, INFO: Skip_connection: True -2024-03-23 10:52:40, INFO: Number of layers: 1 -2024-03-23 10:52:40, INFO: Similarity_func: concatenation -2024-03-23 10:52:40, INFO: Layerwise_graph: False -2024-03-23 10:52:40, INFO: Skip_connection: True -2024-03-23 10:52:40, INFO: Number of layers: 1 -2024-03-23 10:52:40, INFO: Planning depth: 1 -2024-03-23 10:52:40, INFO: Planning width: 10 -2024-03-23 10:52:40, INFO: Sparse search: None -2024-03-23 10:52:43, INFO: human number: 10 -2024-03-23 10:52:43, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:52:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:52:43, INFO: Square width: 10, circle width: 4 -2024-03-23 10:52:43, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:52:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:52:45, INFO: Animation.save using -2024-03-23 10:52:50, INFO: Animation.save using -2024-03-23 10:52:59, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029857 -2024-03-23 10:52:59, INFO: Using device: cpu -2024-03-23 10:52:59, INFO: Loaded RL weights with best VAL -2024-03-23 10:52:59, INFO: Similarity_func: concatenation -2024-03-23 10:52:59, INFO: Layerwise_graph: False -2024-03-23 10:52:59, INFO: Skip_connection: True -2024-03-23 10:52:59, INFO: Number of layers: 1 -2024-03-23 10:52:59, INFO: Similarity_func: concatenation -2024-03-23 10:52:59, INFO: Layerwise_graph: False -2024-03-23 10:52:59, INFO: Skip_connection: True -2024-03-23 10:52:59, INFO: Number of layers: 1 -2024-03-23 10:52:59, INFO: Planning depth: 1 -2024-03-23 10:52:59, INFO: Planning width: 10 -2024-03-23 10:52:59, INFO: Sparse search: None -2024-03-23 10:52:59, INFO: human number: 10 -2024-03-23 10:52:59, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:52:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:52:59, INFO: Square width: 10, circle width: 4 -2024-03-23 10:52:59, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:52:59, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:53:01, INFO: Animation.save using -2024-03-23 10:53:05, INFO: Animation.save using -2024-03-23 10:53:14, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.029857 -2024-03-23 10:53:17, INFO: Using device: cpu -2024-03-23 10:53:17, INFO: Loaded RL weights with best VAL -2024-03-23 10:53:17, INFO: Similarity_func: concatenation -2024-03-23 10:53:17, INFO: Layerwise_graph: False -2024-03-23 10:53:17, INFO: Skip_connection: True -2024-03-23 10:53:17, INFO: Number of layers: 1 -2024-03-23 10:53:17, INFO: Similarity_func: concatenation -2024-03-23 10:53:17, INFO: Layerwise_graph: False -2024-03-23 10:53:17, INFO: Skip_connection: True -2024-03-23 10:53:17, INFO: Number of layers: 1 -2024-03-23 10:53:17, INFO: Planning depth: 1 -2024-03-23 10:53:17, INFO: Planning width: 10 -2024-03-23 10:53:17, INFO: Sparse search: None -2024-03-23 10:53:20, INFO: human number: 10 -2024-03-23 10:53:20, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:53:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:53:20, INFO: Square width: 10, circle width: 4 -2024-03-23 10:53:20, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:53:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:53:23, INFO: Animation.save using -2024-03-23 10:53:29, INFO: Animation.save using -2024-03-23 10:53:41, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.855249 -2024-03-23 10:53:41, INFO: Using device: cpu -2024-03-23 10:53:41, INFO: Loaded RL weights with best VAL -2024-03-23 10:53:41, INFO: Similarity_func: concatenation -2024-03-23 10:53:41, INFO: Layerwise_graph: False -2024-03-23 10:53:41, INFO: Skip_connection: True -2024-03-23 10:53:41, INFO: Number of layers: 1 -2024-03-23 10:53:41, INFO: Similarity_func: concatenation -2024-03-23 10:53:41, INFO: Layerwise_graph: False -2024-03-23 10:53:41, INFO: Skip_connection: True -2024-03-23 10:53:41, INFO: Number of layers: 1 -2024-03-23 10:53:41, INFO: Planning depth: 1 -2024-03-23 10:53:41, INFO: Planning width: 10 -2024-03-23 10:53:41, INFO: Sparse search: None -2024-03-23 10:53:41, INFO: human number: 10 -2024-03-23 10:53:41, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:53:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:53:41, INFO: Square width: 10, circle width: 4 -2024-03-23 10:53:41, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:53:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:53:44, INFO: Animation.save using -2024-03-23 10:53:50, INFO: Animation.save using -2024-03-23 10:54:02, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.855249 -2024-03-23 10:54:05, INFO: Using device: cpu -2024-03-23 10:54:05, INFO: Loaded RL weights with best VAL -2024-03-23 10:54:05, INFO: Similarity_func: concatenation -2024-03-23 10:54:05, INFO: Layerwise_graph: False -2024-03-23 10:54:05, INFO: Skip_connection: True -2024-03-23 10:54:05, INFO: Number of layers: 1 -2024-03-23 10:54:05, INFO: Similarity_func: concatenation -2024-03-23 10:54:05, INFO: Layerwise_graph: False -2024-03-23 10:54:05, INFO: Skip_connection: True -2024-03-23 10:54:05, INFO: Number of layers: 1 -2024-03-23 10:54:05, INFO: Planning depth: 1 -2024-03-23 10:54:05, INFO: Planning width: 10 -2024-03-23 10:54:05, INFO: Sparse search: None -2024-03-23 10:54:08, INFO: human number: 10 -2024-03-23 10:54:08, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:54:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:54:08, INFO: Square width: 10, circle width: 4 -2024-03-23 10:54:08, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:54:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:54:10, INFO: Animation.save using -2024-03-23 10:54:16, INFO: Animation.save using -2024-03-23 10:54:26, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.974411 -2024-03-23 10:54:26, INFO: Using device: cpu -2024-03-23 10:54:26, INFO: Loaded RL weights with best VAL -2024-03-23 10:54:26, INFO: Similarity_func: concatenation -2024-03-23 10:54:26, INFO: Layerwise_graph: False -2024-03-23 10:54:26, INFO: Skip_connection: True -2024-03-23 10:54:26, INFO: Number of layers: 1 -2024-03-23 10:54:26, INFO: Similarity_func: concatenation -2024-03-23 10:54:26, INFO: Layerwise_graph: False -2024-03-23 10:54:26, INFO: Skip_connection: True -2024-03-23 10:54:26, INFO: Number of layers: 1 -2024-03-23 10:54:26, INFO: Planning depth: 1 -2024-03-23 10:54:26, INFO: Planning width: 10 -2024-03-23 10:54:26, INFO: Sparse search: None -2024-03-23 10:54:26, INFO: human number: 10 -2024-03-23 10:54:26, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:54:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:54:26, INFO: Square width: 10, circle width: 4 -2024-03-23 10:54:26, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:54:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:54:28, INFO: Animation.save using -2024-03-23 10:54:34, INFO: Animation.save using -2024-03-23 10:54:44, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.974411 -2024-03-23 10:54:48, INFO: Using device: cpu -2024-03-23 10:54:48, INFO: Loaded RL weights with best VAL -2024-03-23 10:54:48, INFO: Similarity_func: concatenation -2024-03-23 10:54:48, INFO: Layerwise_graph: False -2024-03-23 10:54:48, INFO: Skip_connection: True -2024-03-23 10:54:48, INFO: Number of layers: 1 -2024-03-23 10:54:48, INFO: Similarity_func: concatenation -2024-03-23 10:54:48, INFO: Layerwise_graph: False -2024-03-23 10:54:48, INFO: Skip_connection: True -2024-03-23 10:54:48, INFO: Number of layers: 1 -2024-03-23 10:54:48, INFO: Planning depth: 1 -2024-03-23 10:54:48, INFO: Planning width: 10 -2024-03-23 10:54:48, INFO: Sparse search: None -2024-03-23 10:54:51, INFO: human number: 10 -2024-03-23 10:54:51, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:54:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:54:51, INFO: Square width: 10, circle width: 4 -2024-03-23 10:54:51, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:54:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:54:54, INFO: Animation.save using -2024-03-23 10:55:02, INFO: Animation.save using -2024-03-23 10:55:18, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.697078 -2024-03-23 10:55:18, INFO: Using device: cpu -2024-03-23 10:55:18, INFO: Loaded RL weights with best VAL -2024-03-23 10:55:18, INFO: Similarity_func: concatenation -2024-03-23 10:55:18, INFO: Layerwise_graph: False -2024-03-23 10:55:18, INFO: Skip_connection: True -2024-03-23 10:55:18, INFO: Number of layers: 1 -2024-03-23 10:55:18, INFO: Similarity_func: concatenation -2024-03-23 10:55:18, INFO: Layerwise_graph: False -2024-03-23 10:55:18, INFO: Skip_connection: True -2024-03-23 10:55:18, INFO: Number of layers: 1 -2024-03-23 10:55:18, INFO: Planning depth: 1 -2024-03-23 10:55:18, INFO: Planning width: 10 -2024-03-23 10:55:18, INFO: Sparse search: None -2024-03-23 10:55:18, INFO: human number: 10 -2024-03-23 10:55:18, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:55:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:55:18, INFO: Square width: 10, circle width: 4 -2024-03-23 10:55:18, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:55:18, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:55:20, INFO: Animation.save using -2024-03-23 10:55:28, INFO: Animation.save using -2024-03-23 10:55:43, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.697078 -2024-03-23 10:55:47, INFO: Using device: cpu -2024-03-23 10:55:47, INFO: Loaded RL weights with best VAL -2024-03-23 10:55:47, INFO: Similarity_func: concatenation -2024-03-23 10:55:47, INFO: Layerwise_graph: False -2024-03-23 10:55:47, INFO: Skip_connection: True -2024-03-23 10:55:47, INFO: Number of layers: 1 -2024-03-23 10:55:47, INFO: Similarity_func: concatenation -2024-03-23 10:55:47, INFO: Layerwise_graph: False -2024-03-23 10:55:47, INFO: Skip_connection: True -2024-03-23 10:55:47, INFO: Number of layers: 1 -2024-03-23 10:55:47, INFO: Planning depth: 1 -2024-03-23 10:55:47, INFO: Planning width: 10 -2024-03-23 10:55:47, INFO: Sparse search: None -2024-03-23 10:55:50, INFO: human number: 10 -2024-03-23 10:55:50, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:55:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:55:50, INFO: Square width: 10, circle width: 4 -2024-03-23 10:55:50, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:55:50, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:55:52, INFO: Animation.save using -2024-03-23 10:55:58, INFO: Animation.save using -2024-03-23 10:56:10, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.907486 -2024-03-23 10:56:10, INFO: Using device: cpu -2024-03-23 10:56:10, INFO: Loaded RL weights with best VAL -2024-03-23 10:56:10, INFO: Similarity_func: concatenation -2024-03-23 10:56:10, INFO: Layerwise_graph: False -2024-03-23 10:56:10, INFO: Skip_connection: True -2024-03-23 10:56:10, INFO: Number of layers: 1 -2024-03-23 10:56:10, INFO: Similarity_func: concatenation -2024-03-23 10:56:10, INFO: Layerwise_graph: False -2024-03-23 10:56:10, INFO: Skip_connection: True -2024-03-23 10:56:10, INFO: Number of layers: 1 -2024-03-23 10:56:10, INFO: Planning depth: 1 -2024-03-23 10:56:10, INFO: Planning width: 10 -2024-03-23 10:56:10, INFO: Sparse search: None -2024-03-23 10:56:10, INFO: human number: 10 -2024-03-23 10:56:10, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:56:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:56:10, INFO: Square width: 10, circle width: 4 -2024-03-23 10:56:10, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:56:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:56:12, INFO: Animation.save using -2024-03-23 10:56:18, INFO: Animation.save using -2024-03-23 10:56:29, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.907486 -2024-03-23 10:56:32, INFO: Using device: cpu -2024-03-23 10:56:32, INFO: Loaded RL weights with best VAL -2024-03-23 10:56:32, INFO: Similarity_func: concatenation -2024-03-23 10:56:32, INFO: Layerwise_graph: False -2024-03-23 10:56:32, INFO: Skip_connection: True -2024-03-23 10:56:32, INFO: Number of layers: 1 -2024-03-23 10:56:32, INFO: Similarity_func: concatenation -2024-03-23 10:56:32, INFO: Layerwise_graph: False -2024-03-23 10:56:32, INFO: Skip_connection: True -2024-03-23 10:56:32, INFO: Number of layers: 1 -2024-03-23 10:56:32, INFO: Planning depth: 1 -2024-03-23 10:56:32, INFO: Planning width: 10 -2024-03-23 10:56:32, INFO: Sparse search: None -2024-03-23 10:56:35, INFO: human number: 10 -2024-03-23 10:56:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:56:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:56:35, INFO: Square width: 10, circle width: 4 -2024-03-23 10:56:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:56:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:56:38, INFO: Animation.save using -2024-03-23 10:56:45, INFO: Animation.save using -2024-03-23 10:56:58, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.870490 -2024-03-23 10:56:58, INFO: Using device: cpu -2024-03-23 10:56:58, INFO: Loaded RL weights with best VAL -2024-03-23 10:56:58, INFO: Similarity_func: concatenation -2024-03-23 10:56:58, INFO: Layerwise_graph: False -2024-03-23 10:56:58, INFO: Skip_connection: True -2024-03-23 10:56:58, INFO: Number of layers: 1 -2024-03-23 10:56:58, INFO: Similarity_func: concatenation -2024-03-23 10:56:58, INFO: Layerwise_graph: False -2024-03-23 10:56:58, INFO: Skip_connection: True -2024-03-23 10:56:58, INFO: Number of layers: 1 -2024-03-23 10:56:58, INFO: Planning depth: 1 -2024-03-23 10:56:58, INFO: Planning width: 10 -2024-03-23 10:56:58, INFO: Sparse search: None -2024-03-23 10:56:58, INFO: human number: 10 -2024-03-23 10:56:58, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:56:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:56:58, INFO: Square width: 10, circle width: 4 -2024-03-23 10:56:58, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:56:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:57:01, INFO: Animation.save using -2024-03-23 10:57:08, INFO: Animation.save using -2024-03-23 10:57:21, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.870490 -2024-03-23 10:57:24, INFO: Using device: cpu -2024-03-23 10:57:24, INFO: Loaded RL weights with best VAL -2024-03-23 10:57:24, INFO: Similarity_func: concatenation -2024-03-23 10:57:24, INFO: Layerwise_graph: False -2024-03-23 10:57:24, INFO: Skip_connection: True -2024-03-23 10:57:24, INFO: Number of layers: 1 -2024-03-23 10:57:24, INFO: Similarity_func: concatenation -2024-03-23 10:57:24, INFO: Layerwise_graph: False -2024-03-23 10:57:24, INFO: Skip_connection: True -2024-03-23 10:57:24, INFO: Number of layers: 1 -2024-03-23 10:57:24, INFO: Planning depth: 1 -2024-03-23 10:57:24, INFO: Planning width: 10 -2024-03-23 10:57:24, INFO: Sparse search: None -2024-03-23 10:57:27, INFO: human number: 10 -2024-03-23 10:57:27, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:57:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:57:27, INFO: Square width: 10, circle width: 4 -2024-03-23 10:57:27, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:57:27, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:57:30, INFO: Animation.save using -2024-03-23 10:57:36, INFO: Animation.save using -2024-03-23 10:57:46, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.970098 -2024-03-23 10:57:46, INFO: Using device: cpu -2024-03-23 10:57:46, INFO: Loaded RL weights with best VAL -2024-03-23 10:57:46, INFO: Similarity_func: concatenation -2024-03-23 10:57:46, INFO: Layerwise_graph: False -2024-03-23 10:57:46, INFO: Skip_connection: True -2024-03-23 10:57:46, INFO: Number of layers: 1 -2024-03-23 10:57:46, INFO: Similarity_func: concatenation -2024-03-23 10:57:46, INFO: Layerwise_graph: False -2024-03-23 10:57:46, INFO: Skip_connection: True -2024-03-23 10:57:46, INFO: Number of layers: 1 -2024-03-23 10:57:46, INFO: Planning depth: 1 -2024-03-23 10:57:46, INFO: Planning width: 10 -2024-03-23 10:57:46, INFO: Sparse search: None -2024-03-23 10:57:46, INFO: human number: 10 -2024-03-23 10:57:46, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:57:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:57:46, INFO: Square width: 10, circle width: 4 -2024-03-23 10:57:46, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:57:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:57:48, INFO: Animation.save using -2024-03-23 10:57:54, INFO: Animation.save using -2024-03-23 10:58:05, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.970098 -2024-03-23 10:58:08, INFO: Using device: cpu -2024-03-23 10:58:08, INFO: Loaded RL weights with best VAL -2024-03-23 10:58:08, INFO: Similarity_func: concatenation -2024-03-23 10:58:08, INFO: Layerwise_graph: False -2024-03-23 10:58:08, INFO: Skip_connection: True -2024-03-23 10:58:08, INFO: Number of layers: 1 -2024-03-23 10:58:08, INFO: Similarity_func: concatenation -2024-03-23 10:58:08, INFO: Layerwise_graph: False -2024-03-23 10:58:08, INFO: Skip_connection: True -2024-03-23 10:58:08, INFO: Number of layers: 1 -2024-03-23 10:58:08, INFO: Planning depth: 1 -2024-03-23 10:58:08, INFO: Planning width: 10 -2024-03-23 10:58:08, INFO: Sparse search: None -2024-03-23 10:58:12, INFO: human number: 10 -2024-03-23 10:58:12, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:58:12, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:58:12, INFO: Square width: 10, circle width: 4 -2024-03-23 10:58:12, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:58:12, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:58:15, INFO: Animation.save using -2024-03-23 10:58:22, INFO: Animation.save using -2024-03-23 10:58:35, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.011781 -2024-03-23 10:58:35, INFO: Using device: cpu -2024-03-23 10:58:35, INFO: Loaded RL weights with best VAL -2024-03-23 10:58:35, INFO: Similarity_func: concatenation -2024-03-23 10:58:35, INFO: Layerwise_graph: False -2024-03-23 10:58:35, INFO: Skip_connection: True -2024-03-23 10:58:35, INFO: Number of layers: 1 -2024-03-23 10:58:35, INFO: Similarity_func: concatenation -2024-03-23 10:58:35, INFO: Layerwise_graph: False -2024-03-23 10:58:35, INFO: Skip_connection: True -2024-03-23 10:58:35, INFO: Number of layers: 1 -2024-03-23 10:58:35, INFO: Planning depth: 1 -2024-03-23 10:58:35, INFO: Planning width: 10 -2024-03-23 10:58:35, INFO: Sparse search: None -2024-03-23 10:58:35, INFO: human number: 10 -2024-03-23 10:58:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:58:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:58:35, INFO: Square width: 10, circle width: 4 -2024-03-23 10:58:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:58:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:58:37, INFO: Animation.save using -2024-03-23 10:58:44, INFO: Animation.save using -2024-03-23 10:58:57, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.011781 -2024-03-23 10:59:00, INFO: Using device: cpu -2024-03-23 10:59:00, INFO: Loaded RL weights with best VAL -2024-03-23 10:59:00, INFO: Similarity_func: concatenation -2024-03-23 10:59:00, INFO: Layerwise_graph: False -2024-03-23 10:59:00, INFO: Skip_connection: True -2024-03-23 10:59:00, INFO: Number of layers: 1 -2024-03-23 10:59:00, INFO: Similarity_func: concatenation -2024-03-23 10:59:00, INFO: Layerwise_graph: False -2024-03-23 10:59:00, INFO: Skip_connection: True -2024-03-23 10:59:00, INFO: Number of layers: 1 -2024-03-23 10:59:00, INFO: Planning depth: 1 -2024-03-23 10:59:00, INFO: Planning width: 10 -2024-03-23 10:59:00, INFO: Sparse search: None -2024-03-23 10:59:03, INFO: human number: 10 -2024-03-23 10:59:03, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:59:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:59:03, INFO: Square width: 10, circle width: 4 -2024-03-23 10:59:03, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:59:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:59:05, INFO: Animation.save using -2024-03-23 10:59:10, INFO: Animation.save using -2024-03-23 10:59:20, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.010542 -2024-03-23 10:59:20, INFO: Using device: cpu -2024-03-23 10:59:20, INFO: Loaded RL weights with best VAL -2024-03-23 10:59:20, INFO: Similarity_func: concatenation -2024-03-23 10:59:20, INFO: Layerwise_graph: False -2024-03-23 10:59:20, INFO: Skip_connection: True -2024-03-23 10:59:20, INFO: Number of layers: 1 -2024-03-23 10:59:20, INFO: Similarity_func: concatenation -2024-03-23 10:59:20, INFO: Layerwise_graph: False -2024-03-23 10:59:20, INFO: Skip_connection: True -2024-03-23 10:59:20, INFO: Number of layers: 1 -2024-03-23 10:59:20, INFO: Planning depth: 1 -2024-03-23 10:59:20, INFO: Planning width: 10 -2024-03-23 10:59:20, INFO: Sparse search: None -2024-03-23 10:59:20, INFO: human number: 10 -2024-03-23 10:59:20, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:59:20, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:59:20, INFO: Square width: 10, circle width: 4 -2024-03-23 10:59:20, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:59:20, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:59:22, INFO: Animation.save using -2024-03-23 10:59:27, INFO: Animation.save using -2024-03-23 10:59:37, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.010542 -2024-03-23 10:59:40, INFO: Using device: cpu -2024-03-23 10:59:40, INFO: Loaded RL weights with best VAL -2024-03-23 10:59:40, INFO: Similarity_func: concatenation -2024-03-23 10:59:40, INFO: Layerwise_graph: False -2024-03-23 10:59:40, INFO: Skip_connection: True -2024-03-23 10:59:40, INFO: Number of layers: 1 -2024-03-23 10:59:40, INFO: Similarity_func: concatenation -2024-03-23 10:59:40, INFO: Layerwise_graph: False -2024-03-23 10:59:40, INFO: Skip_connection: True -2024-03-23 10:59:40, INFO: Number of layers: 1 -2024-03-23 10:59:40, INFO: Planning depth: 1 -2024-03-23 10:59:40, INFO: Planning width: 10 -2024-03-23 10:59:40, INFO: Sparse search: None -2024-03-23 10:59:43, INFO: human number: 10 -2024-03-23 10:59:43, INFO: Not randomize human's radius and preferred speed -2024-03-23 10:59:43, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 10:59:43, INFO: Square width: 10, circle width: 4 -2024-03-23 10:59:43, INFO: rotation constraint: 3.141592653589793 -2024-03-23 10:59:43, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 10:59:46, INFO: Animation.save using -2024-03-23 10:59:53, INFO: Animation.save using -2024-03-23 11:00:07, INFO: It takes 14.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.799373 -2024-03-23 11:00:07, INFO: Using device: cpu -2024-03-23 11:00:07, INFO: Loaded RL weights with best VAL -2024-03-23 11:00:07, INFO: Similarity_func: concatenation -2024-03-23 11:00:07, INFO: Layerwise_graph: False -2024-03-23 11:00:07, INFO: Skip_connection: True -2024-03-23 11:00:07, INFO: Number of layers: 1 -2024-03-23 11:00:07, INFO: Similarity_func: concatenation -2024-03-23 11:00:07, INFO: Layerwise_graph: False -2024-03-23 11:00:07, INFO: Skip_connection: True -2024-03-23 11:00:07, INFO: Number of layers: 1 -2024-03-23 11:00:07, INFO: Planning depth: 1 -2024-03-23 11:00:07, INFO: Planning width: 10 -2024-03-23 11:00:07, INFO: Sparse search: None -2024-03-23 11:00:08, INFO: human number: 10 -2024-03-23 11:00:08, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:00:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:00:08, INFO: Square width: 10, circle width: 4 -2024-03-23 11:00:08, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:00:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:00:10, INFO: Animation.save using -2024-03-23 11:00:18, INFO: Animation.save using -2024-03-23 11:00:32, INFO: It takes 14.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.799373 -2024-03-23 11:00:35, INFO: Using device: cpu -2024-03-23 11:00:35, INFO: Loaded RL weights with best VAL -2024-03-23 11:00:35, INFO: Similarity_func: concatenation -2024-03-23 11:00:35, INFO: Layerwise_graph: False -2024-03-23 11:00:35, INFO: Skip_connection: True -2024-03-23 11:00:35, INFO: Number of layers: 1 -2024-03-23 11:00:35, INFO: Similarity_func: concatenation -2024-03-23 11:00:35, INFO: Layerwise_graph: False -2024-03-23 11:00:35, INFO: Skip_connection: True -2024-03-23 11:00:35, INFO: Number of layers: 1 -2024-03-23 11:00:35, INFO: Planning depth: 1 -2024-03-23 11:00:35, INFO: Planning width: 10 -2024-03-23 11:00:35, INFO: Sparse search: None -2024-03-23 11:00:38, INFO: human number: 10 -2024-03-23 11:00:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:00:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:00:38, INFO: Square width: 10, circle width: 4 -2024-03-23 11:00:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:00:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:00:40, INFO: Animation.save using -2024-03-23 11:00:45, INFO: Animation.save using -2024-03-23 11:00:54, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.039298 -2024-03-23 11:00:54, INFO: Using device: cpu -2024-03-23 11:00:54, INFO: Loaded RL weights with best VAL -2024-03-23 11:00:54, INFO: Similarity_func: concatenation -2024-03-23 11:00:54, INFO: Layerwise_graph: False -2024-03-23 11:00:54, INFO: Skip_connection: True -2024-03-23 11:00:54, INFO: Number of layers: 1 -2024-03-23 11:00:54, INFO: Similarity_func: concatenation -2024-03-23 11:00:54, INFO: Layerwise_graph: False -2024-03-23 11:00:54, INFO: Skip_connection: True -2024-03-23 11:00:54, INFO: Number of layers: 1 -2024-03-23 11:00:54, INFO: Planning depth: 1 -2024-03-23 11:00:54, INFO: Planning width: 10 -2024-03-23 11:00:54, INFO: Sparse search: None -2024-03-23 11:00:54, INFO: human number: 10 -2024-03-23 11:00:54, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:00:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:00:54, INFO: Square width: 10, circle width: 4 -2024-03-23 11:00:54, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:00:54, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:00:56, INFO: Animation.save using -2024-03-23 11:01:01, INFO: Animation.save using -2024-03-23 11:01:10, INFO: It takes 9.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.039298 -2024-03-23 11:01:13, INFO: Using device: cpu -2024-03-23 11:01:13, INFO: Loaded RL weights with best VAL -2024-03-23 11:01:13, INFO: Similarity_func: concatenation -2024-03-23 11:01:13, INFO: Layerwise_graph: False -2024-03-23 11:01:13, INFO: Skip_connection: True -2024-03-23 11:01:13, INFO: Number of layers: 1 -2024-03-23 11:01:13, INFO: Similarity_func: concatenation -2024-03-23 11:01:13, INFO: Layerwise_graph: False -2024-03-23 11:01:13, INFO: Skip_connection: True -2024-03-23 11:01:13, INFO: Number of layers: 1 -2024-03-23 11:01:13, INFO: Planning depth: 1 -2024-03-23 11:01:13, INFO: Planning width: 10 -2024-03-23 11:01:13, INFO: Sparse search: None -2024-03-23 11:01:16, INFO: human number: 10 -2024-03-23 11:01:16, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:01:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:01:16, INFO: Square width: 10, circle width: 4 -2024-03-23 11:01:16, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:01:16, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:01:18, INFO: Animation.save using -2024-03-23 11:01:24, INFO: Animation.save using -2024-03-23 11:01:34, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.025025 -2024-03-23 11:01:34, INFO: Using device: cpu -2024-03-23 11:01:34, INFO: Loaded RL weights with best VAL -2024-03-23 11:01:34, INFO: Similarity_func: concatenation -2024-03-23 11:01:34, INFO: Layerwise_graph: False -2024-03-23 11:01:34, INFO: Skip_connection: True -2024-03-23 11:01:34, INFO: Number of layers: 1 -2024-03-23 11:01:34, INFO: Similarity_func: concatenation -2024-03-23 11:01:34, INFO: Layerwise_graph: False -2024-03-23 11:01:34, INFO: Skip_connection: True -2024-03-23 11:01:34, INFO: Number of layers: 1 -2024-03-23 11:01:34, INFO: Planning depth: 1 -2024-03-23 11:01:34, INFO: Planning width: 10 -2024-03-23 11:01:34, INFO: Sparse search: None -2024-03-23 11:01:34, INFO: human number: 10 -2024-03-23 11:01:34, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:01:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:01:34, INFO: Square width: 10, circle width: 4 -2024-03-23 11:01:34, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:01:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:01:36, INFO: Animation.save using -2024-03-23 11:01:41, INFO: Animation.save using -2024-03-23 11:01:51, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.025025 -2024-03-23 11:01:54, INFO: Using device: cpu -2024-03-23 11:01:54, INFO: Loaded RL weights with best VAL -2024-03-23 11:01:54, INFO: Similarity_func: concatenation -2024-03-23 11:01:54, INFO: Layerwise_graph: False -2024-03-23 11:01:54, INFO: Skip_connection: True -2024-03-23 11:01:54, INFO: Number of layers: 1 -2024-03-23 11:01:54, INFO: Similarity_func: concatenation -2024-03-23 11:01:54, INFO: Layerwise_graph: False -2024-03-23 11:01:54, INFO: Skip_connection: True -2024-03-23 11:01:54, INFO: Number of layers: 1 -2024-03-23 11:01:54, INFO: Planning depth: 1 -2024-03-23 11:01:54, INFO: Planning width: 10 -2024-03-23 11:01:54, INFO: Sparse search: None -2024-03-23 11:01:57, INFO: human number: 10 -2024-03-23 11:01:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:01:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:01:57, INFO: Square width: 10, circle width: 4 -2024-03-23 11:01:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:01:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:02:00, INFO: Animation.save using -2024-03-23 11:02:06, INFO: Animation.save using -2024-03-23 11:02:17, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.689804 -2024-03-23 11:02:17, INFO: Using device: cpu -2024-03-23 11:02:17, INFO: Loaded RL weights with best VAL -2024-03-23 11:02:17, INFO: Similarity_func: concatenation -2024-03-23 11:02:17, INFO: Layerwise_graph: False -2024-03-23 11:02:17, INFO: Skip_connection: True -2024-03-23 11:02:17, INFO: Number of layers: 1 -2024-03-23 11:02:17, INFO: Similarity_func: concatenation -2024-03-23 11:02:17, INFO: Layerwise_graph: False -2024-03-23 11:02:17, INFO: Skip_connection: True -2024-03-23 11:02:17, INFO: Number of layers: 1 -2024-03-23 11:02:17, INFO: Planning depth: 1 -2024-03-23 11:02:17, INFO: Planning width: 10 -2024-03-23 11:02:17, INFO: Sparse search: None -2024-03-23 11:02:17, INFO: human number: 10 -2024-03-23 11:02:17, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:02:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:02:17, INFO: Square width: 10, circle width: 4 -2024-03-23 11:02:17, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:02:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:02:19, INFO: Animation.save using -2024-03-23 11:02:25, INFO: Animation.save using -2024-03-23 11:02:36, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.689804 -2024-03-23 11:02:39, INFO: Using device: cpu -2024-03-23 11:02:39, INFO: Loaded RL weights with best VAL -2024-03-23 11:02:39, INFO: Similarity_func: concatenation -2024-03-23 11:02:39, INFO: Layerwise_graph: False -2024-03-23 11:02:39, INFO: Skip_connection: True -2024-03-23 11:02:39, INFO: Number of layers: 1 -2024-03-23 11:02:39, INFO: Similarity_func: concatenation -2024-03-23 11:02:39, INFO: Layerwise_graph: False -2024-03-23 11:02:39, INFO: Skip_connection: True -2024-03-23 11:02:39, INFO: Number of layers: 1 -2024-03-23 11:02:39, INFO: Planning depth: 1 -2024-03-23 11:02:39, INFO: Planning width: 10 -2024-03-23 11:02:39, INFO: Sparse search: None -2024-03-23 11:02:42, INFO: human number: 10 -2024-03-23 11:02:42, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:02:42, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:02:42, INFO: Square width: 10, circle width: 4 -2024-03-23 11:02:42, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:02:42, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:02:45, INFO: Animation.save using -2024-03-23 11:02:51, INFO: Animation.save using -2024-03-23 11:03:03, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.880305 -2024-03-23 11:03:03, INFO: Using device: cpu -2024-03-23 11:03:03, INFO: Loaded RL weights with best VAL -2024-03-23 11:03:03, INFO: Similarity_func: concatenation -2024-03-23 11:03:03, INFO: Layerwise_graph: False -2024-03-23 11:03:03, INFO: Skip_connection: True -2024-03-23 11:03:03, INFO: Number of layers: 1 -2024-03-23 11:03:03, INFO: Similarity_func: concatenation -2024-03-23 11:03:03, INFO: Layerwise_graph: False -2024-03-23 11:03:03, INFO: Skip_connection: True -2024-03-23 11:03:03, INFO: Number of layers: 1 -2024-03-23 11:03:03, INFO: Planning depth: 1 -2024-03-23 11:03:03, INFO: Planning width: 10 -2024-03-23 11:03:03, INFO: Sparse search: None -2024-03-23 11:03:03, INFO: human number: 10 -2024-03-23 11:03:03, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:03:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:03:03, INFO: Square width: 10, circle width: 4 -2024-03-23 11:03:03, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:03:03, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:03:05, INFO: Animation.save using -2024-03-23 11:03:12, INFO: Animation.save using -2024-03-23 11:03:24, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.880305 -2024-03-23 11:03:27, INFO: Using device: cpu -2024-03-23 11:03:27, INFO: Loaded RL weights with best VAL -2024-03-23 11:03:27, INFO: Similarity_func: concatenation -2024-03-23 11:03:27, INFO: Layerwise_graph: False -2024-03-23 11:03:27, INFO: Skip_connection: True -2024-03-23 11:03:27, INFO: Number of layers: 1 -2024-03-23 11:03:27, INFO: Similarity_func: concatenation -2024-03-23 11:03:27, INFO: Layerwise_graph: False -2024-03-23 11:03:27, INFO: Skip_connection: True -2024-03-23 11:03:27, INFO: Number of layers: 1 -2024-03-23 11:03:27, INFO: Planning depth: 1 -2024-03-23 11:03:27, INFO: Planning width: 10 -2024-03-23 11:03:27, INFO: Sparse search: None -2024-03-23 11:03:30, INFO: human number: 10 -2024-03-23 11:03:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:03:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:03:30, INFO: Square width: 10, circle width: 4 -2024-03-23 11:03:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:03:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:03:33, INFO: Animation.save using -2024-03-23 11:03:39, INFO: Animation.save using -2024-03-23 11:03:51, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959918 -2024-03-23 11:03:51, INFO: Using device: cpu -2024-03-23 11:03:51, INFO: Loaded RL weights with best VAL -2024-03-23 11:03:51, INFO: Similarity_func: concatenation -2024-03-23 11:03:51, INFO: Layerwise_graph: False -2024-03-23 11:03:51, INFO: Skip_connection: True -2024-03-23 11:03:51, INFO: Number of layers: 1 -2024-03-23 11:03:51, INFO: Similarity_func: concatenation -2024-03-23 11:03:51, INFO: Layerwise_graph: False -2024-03-23 11:03:51, INFO: Skip_connection: True -2024-03-23 11:03:51, INFO: Number of layers: 1 -2024-03-23 11:03:51, INFO: Planning depth: 1 -2024-03-23 11:03:51, INFO: Planning width: 10 -2024-03-23 11:03:51, INFO: Sparse search: None -2024-03-23 11:03:51, INFO: human number: 10 -2024-03-23 11:03:51, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:03:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:03:51, INFO: Square width: 10, circle width: 4 -2024-03-23 11:03:51, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:03:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:03:53, INFO: Animation.save using -2024-03-23 11:03:59, INFO: Animation.save using -2024-03-23 11:04:11, INFO: It takes 12.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.959918 -2024-03-23 11:04:14, INFO: Using device: cpu -2024-03-23 11:04:14, INFO: Loaded RL weights with best VAL -2024-03-23 11:04:14, INFO: Similarity_func: concatenation -2024-03-23 11:04:14, INFO: Layerwise_graph: False -2024-03-23 11:04:14, INFO: Skip_connection: True -2024-03-23 11:04:14, INFO: Number of layers: 1 -2024-03-23 11:04:14, INFO: Similarity_func: concatenation -2024-03-23 11:04:14, INFO: Layerwise_graph: False -2024-03-23 11:04:14, INFO: Skip_connection: True -2024-03-23 11:04:14, INFO: Number of layers: 1 -2024-03-23 11:04:14, INFO: Planning depth: 1 -2024-03-23 11:04:14, INFO: Planning width: 10 -2024-03-23 11:04:14, INFO: Sparse search: None -2024-03-23 11:04:17, INFO: human number: 10 -2024-03-23 11:04:17, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:04:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:04:17, INFO: Square width: 10, circle width: 4 -2024-03-23 11:04:17, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:04:17, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:04:19, INFO: Animation.save using -2024-03-23 11:04:25, INFO: Animation.save using -2024-03-23 11:04:36, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.836668 -2024-03-23 11:04:36, INFO: Using device: cpu -2024-03-23 11:04:36, INFO: Loaded RL weights with best VAL -2024-03-23 11:04:36, INFO: Similarity_func: concatenation -2024-03-23 11:04:36, INFO: Layerwise_graph: False -2024-03-23 11:04:36, INFO: Skip_connection: True -2024-03-23 11:04:36, INFO: Number of layers: 1 -2024-03-23 11:04:36, INFO: Similarity_func: concatenation -2024-03-23 11:04:36, INFO: Layerwise_graph: False -2024-03-23 11:04:36, INFO: Skip_connection: True -2024-03-23 11:04:36, INFO: Number of layers: 1 -2024-03-23 11:04:36, INFO: Planning depth: 1 -2024-03-23 11:04:36, INFO: Planning width: 10 -2024-03-23 11:04:36, INFO: Sparse search: None -2024-03-23 11:04:36, INFO: human number: 10 -2024-03-23 11:04:36, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:04:36, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:04:36, INFO: Square width: 10, circle width: 4 -2024-03-23 11:04:36, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:04:36, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:04:38, INFO: Animation.save using -2024-03-23 11:04:44, INFO: Animation.save using -2024-03-23 11:04:55, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.836668 -2024-03-23 11:04:58, INFO: Using device: cpu -2024-03-23 11:04:58, INFO: Loaded RL weights with best VAL -2024-03-23 11:04:58, INFO: Similarity_func: concatenation -2024-03-23 11:04:58, INFO: Layerwise_graph: False -2024-03-23 11:04:58, INFO: Skip_connection: True -2024-03-23 11:04:58, INFO: Number of layers: 1 -2024-03-23 11:04:58, INFO: Similarity_func: concatenation -2024-03-23 11:04:58, INFO: Layerwise_graph: False -2024-03-23 11:04:58, INFO: Skip_connection: True -2024-03-23 11:04:58, INFO: Number of layers: 1 -2024-03-23 11:04:58, INFO: Planning depth: 1 -2024-03-23 11:04:58, INFO: Planning width: 10 -2024-03-23 11:04:58, INFO: Sparse search: None -2024-03-23 11:05:01, INFO: human number: 10 -2024-03-23 11:05:01, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:05:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:05:01, INFO: Square width: 10, circle width: 4 -2024-03-23 11:05:01, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:05:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:05:04, INFO: Animation.save using -2024-03-23 11:05:10, INFO: Animation.save using -2024-03-23 11:05:23, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.894676 -2024-03-23 11:05:23, INFO: Using device: cpu -2024-03-23 11:05:23, INFO: Loaded RL weights with best VAL -2024-03-23 11:05:23, INFO: Similarity_func: concatenation -2024-03-23 11:05:23, INFO: Layerwise_graph: False -2024-03-23 11:05:23, INFO: Skip_connection: True -2024-03-23 11:05:23, INFO: Number of layers: 1 -2024-03-23 11:05:23, INFO: Similarity_func: concatenation -2024-03-23 11:05:23, INFO: Layerwise_graph: False -2024-03-23 11:05:23, INFO: Skip_connection: True -2024-03-23 11:05:23, INFO: Number of layers: 1 -2024-03-23 11:05:23, INFO: Planning depth: 1 -2024-03-23 11:05:23, INFO: Planning width: 10 -2024-03-23 11:05:23, INFO: Sparse search: None -2024-03-23 11:05:24, INFO: human number: 10 -2024-03-23 11:05:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:05:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:05:24, INFO: Square width: 10, circle width: 4 -2024-03-23 11:05:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:05:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:05:26, INFO: Animation.save using -2024-03-23 11:05:33, INFO: Animation.save using -2024-03-23 11:05:46, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.894676 -2024-03-23 11:05:49, INFO: Using device: cpu -2024-03-23 11:05:49, INFO: Loaded RL weights with best VAL -2024-03-23 11:05:49, INFO: Similarity_func: concatenation -2024-03-23 11:05:49, INFO: Layerwise_graph: False -2024-03-23 11:05:49, INFO: Skip_connection: True -2024-03-23 11:05:49, INFO: Number of layers: 1 -2024-03-23 11:05:49, INFO: Similarity_func: concatenation -2024-03-23 11:05:49, INFO: Layerwise_graph: False -2024-03-23 11:05:49, INFO: Skip_connection: True -2024-03-23 11:05:49, INFO: Number of layers: 1 -2024-03-23 11:05:49, INFO: Planning depth: 1 -2024-03-23 11:05:49, INFO: Planning width: 10 -2024-03-23 11:05:49, INFO: Sparse search: None -2024-03-23 11:05:52, INFO: human number: 10 -2024-03-23 11:05:52, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:05:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:05:52, INFO: Square width: 10, circle width: 4 -2024-03-23 11:05:52, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:05:52, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:05:55, INFO: Animation.save using -2024-03-23 11:06:00, INFO: Animation.save using -2024-03-23 11:06:10, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.003433 -2024-03-23 11:06:10, INFO: Using device: cpu -2024-03-23 11:06:10, INFO: Loaded RL weights with best VAL -2024-03-23 11:06:10, INFO: Similarity_func: concatenation -2024-03-23 11:06:10, INFO: Layerwise_graph: False -2024-03-23 11:06:10, INFO: Skip_connection: True -2024-03-23 11:06:10, INFO: Number of layers: 1 -2024-03-23 11:06:10, INFO: Similarity_func: concatenation -2024-03-23 11:06:10, INFO: Layerwise_graph: False -2024-03-23 11:06:10, INFO: Skip_connection: True -2024-03-23 11:06:10, INFO: Number of layers: 1 -2024-03-23 11:06:10, INFO: Planning depth: 1 -2024-03-23 11:06:10, INFO: Planning width: 10 -2024-03-23 11:06:10, INFO: Sparse search: None -2024-03-23 11:06:11, INFO: human number: 10 -2024-03-23 11:06:11, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:06:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:06:11, INFO: Square width: 10, circle width: 4 -2024-03-23 11:06:11, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:06:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:06:12, INFO: Animation.save using -2024-03-23 11:06:18, INFO: Animation.save using -2024-03-23 11:06:28, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.003433 -2024-03-23 11:06:31, INFO: Using device: cpu -2024-03-23 11:06:31, INFO: Loaded RL weights with best VAL -2024-03-23 11:06:31, INFO: Similarity_func: concatenation -2024-03-23 11:06:31, INFO: Layerwise_graph: False -2024-03-23 11:06:31, INFO: Skip_connection: True -2024-03-23 11:06:31, INFO: Number of layers: 1 -2024-03-23 11:06:31, INFO: Similarity_func: concatenation -2024-03-23 11:06:31, INFO: Layerwise_graph: False -2024-03-23 11:06:31, INFO: Skip_connection: True -2024-03-23 11:06:31, INFO: Number of layers: 1 -2024-03-23 11:06:31, INFO: Planning depth: 1 -2024-03-23 11:06:31, INFO: Planning width: 10 -2024-03-23 11:06:31, INFO: Sparse search: None -2024-03-23 11:06:34, INFO: human number: 10 -2024-03-23 11:06:34, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:06:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:06:34, INFO: Square width: 10, circle width: 4 -2024-03-23 11:06:34, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:06:34, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:06:37, INFO: Animation.save using -2024-03-23 11:06:44, INFO: Animation.save using -2024-03-23 11:06:57, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.879628 -2024-03-23 11:06:57, INFO: Using device: cpu -2024-03-23 11:06:57, INFO: Loaded RL weights with best VAL -2024-03-23 11:06:57, INFO: Similarity_func: concatenation -2024-03-23 11:06:57, INFO: Layerwise_graph: False -2024-03-23 11:06:57, INFO: Skip_connection: True -2024-03-23 11:06:57, INFO: Number of layers: 1 -2024-03-23 11:06:57, INFO: Similarity_func: concatenation -2024-03-23 11:06:57, INFO: Layerwise_graph: False -2024-03-23 11:06:57, INFO: Skip_connection: True -2024-03-23 11:06:57, INFO: Number of layers: 1 -2024-03-23 11:06:57, INFO: Planning depth: 1 -2024-03-23 11:06:57, INFO: Planning width: 10 -2024-03-23 11:06:57, INFO: Sparse search: None -2024-03-23 11:06:57, INFO: human number: 10 -2024-03-23 11:06:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:06:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:06:57, INFO: Square width: 10, circle width: 4 -2024-03-23 11:06:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:06:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:07:00, INFO: Animation.save using -2024-03-23 11:07:06, INFO: Animation.save using -2024-03-23 11:07:20, INFO: It takes 13.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.879628 -2024-03-23 11:07:23, INFO: Using device: cpu -2024-03-23 11:07:23, INFO: Loaded RL weights with best VAL -2024-03-23 11:07:23, INFO: Similarity_func: concatenation -2024-03-23 11:07:23, INFO: Layerwise_graph: False -2024-03-23 11:07:23, INFO: Skip_connection: True -2024-03-23 11:07:23, INFO: Number of layers: 1 -2024-03-23 11:07:23, INFO: Similarity_func: concatenation -2024-03-23 11:07:23, INFO: Layerwise_graph: False -2024-03-23 11:07:23, INFO: Skip_connection: True -2024-03-23 11:07:23, INFO: Number of layers: 1 -2024-03-23 11:07:23, INFO: Planning depth: 1 -2024-03-23 11:07:23, INFO: Planning width: 10 -2024-03-23 11:07:23, INFO: Sparse search: None -2024-03-23 11:07:26, INFO: human number: 10 -2024-03-23 11:07:26, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:07:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:07:26, INFO: Square width: 10, circle width: 4 -2024-03-23 11:07:26, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:07:26, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:07:29, INFO: Animation.save using -2024-03-23 11:07:38, INFO: Animation.save using -2024-03-23 11:07:56, INFO: It takes 17.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.817044 -2024-03-23 11:07:56, INFO: Using device: cpu -2024-03-23 11:07:56, INFO: Loaded RL weights with best VAL -2024-03-23 11:07:56, INFO: Similarity_func: concatenation -2024-03-23 11:07:56, INFO: Layerwise_graph: False -2024-03-23 11:07:56, INFO: Skip_connection: True -2024-03-23 11:07:56, INFO: Number of layers: 1 -2024-03-23 11:07:56, INFO: Similarity_func: concatenation -2024-03-23 11:07:56, INFO: Layerwise_graph: False -2024-03-23 11:07:56, INFO: Skip_connection: True -2024-03-23 11:07:56, INFO: Number of layers: 1 -2024-03-23 11:07:56, INFO: Planning depth: 1 -2024-03-23 11:07:56, INFO: Planning width: 10 -2024-03-23 11:07:56, INFO: Sparse search: None -2024-03-23 11:07:56, INFO: human number: 10 -2024-03-23 11:07:56, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:07:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:07:56, INFO: Square width: 10, circle width: 4 -2024-03-23 11:07:56, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:07:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:07:59, INFO: Animation.save using -2024-03-23 11:08:08, INFO: Animation.save using -2024-03-23 11:08:25, INFO: It takes 17.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.817044 -2024-03-23 11:08:28, INFO: Using device: cpu -2024-03-23 11:08:28, INFO: Loaded RL weights with best VAL -2024-03-23 11:08:28, INFO: Similarity_func: concatenation -2024-03-23 11:08:28, INFO: Layerwise_graph: False -2024-03-23 11:08:28, INFO: Skip_connection: True -2024-03-23 11:08:28, INFO: Number of layers: 1 -2024-03-23 11:08:28, INFO: Similarity_func: concatenation -2024-03-23 11:08:28, INFO: Layerwise_graph: False -2024-03-23 11:08:28, INFO: Skip_connection: True -2024-03-23 11:08:28, INFO: Number of layers: 1 -2024-03-23 11:08:28, INFO: Planning depth: 1 -2024-03-23 11:08:28, INFO: Planning width: 10 -2024-03-23 11:08:28, INFO: Sparse search: None -2024-03-23 11:08:31, INFO: human number: 10 -2024-03-23 11:08:31, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:08:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:08:31, INFO: Square width: 10, circle width: 4 -2024-03-23 11:08:31, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:08:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:08:35, INFO: Animation.save using -2024-03-23 11:08:42, INFO: Animation.save using -2024-03-23 11:08:58, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.862439 -2024-03-23 11:08:58, INFO: Using device: cpu -2024-03-23 11:08:58, INFO: Loaded RL weights with best VAL -2024-03-23 11:08:58, INFO: Similarity_func: concatenation -2024-03-23 11:08:58, INFO: Layerwise_graph: False -2024-03-23 11:08:58, INFO: Skip_connection: True -2024-03-23 11:08:58, INFO: Number of layers: 1 -2024-03-23 11:08:58, INFO: Similarity_func: concatenation -2024-03-23 11:08:58, INFO: Layerwise_graph: False -2024-03-23 11:08:58, INFO: Skip_connection: True -2024-03-23 11:08:58, INFO: Number of layers: 1 -2024-03-23 11:08:58, INFO: Planning depth: 1 -2024-03-23 11:08:58, INFO: Planning width: 10 -2024-03-23 11:08:58, INFO: Sparse search: None -2024-03-23 11:08:58, INFO: human number: 10 -2024-03-23 11:08:58, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:08:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:08:58, INFO: Square width: 10, circle width: 4 -2024-03-23 11:08:58, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:08:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:09:00, INFO: Animation.save using -2024-03-23 11:09:08, INFO: Animation.save using -2024-03-23 11:09:23, INFO: It takes 15.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.862439 -2024-03-23 11:09:26, INFO: Using device: cpu -2024-03-23 11:09:26, INFO: Loaded RL weights with best VAL -2024-03-23 11:09:26, INFO: Similarity_func: concatenation -2024-03-23 11:09:26, INFO: Layerwise_graph: False -2024-03-23 11:09:26, INFO: Skip_connection: True -2024-03-23 11:09:26, INFO: Number of layers: 1 -2024-03-23 11:09:26, INFO: Similarity_func: concatenation -2024-03-23 11:09:26, INFO: Layerwise_graph: False -2024-03-23 11:09:26, INFO: Skip_connection: True -2024-03-23 11:09:26, INFO: Number of layers: 1 -2024-03-23 11:09:26, INFO: Planning depth: 1 -2024-03-23 11:09:26, INFO: Planning width: 10 -2024-03-23 11:09:26, INFO: Sparse search: None -2024-03-23 11:09:30, INFO: human number: 10 -2024-03-23 11:09:30, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:09:30, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:09:30, INFO: Square width: 10, circle width: 4 -2024-03-23 11:09:30, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:09:30, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:09:34, INFO: Animation.save using -2024-03-23 11:09:44, INFO: Animation.save using -2024-03-23 11:10:04, INFO: It takes 19.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.687466 -2024-03-23 11:10:04, INFO: Using device: cpu -2024-03-23 11:10:04, INFO: Loaded RL weights with best VAL -2024-03-23 11:10:04, INFO: Similarity_func: concatenation -2024-03-23 11:10:04, INFO: Layerwise_graph: False -2024-03-23 11:10:04, INFO: Skip_connection: True -2024-03-23 11:10:04, INFO: Number of layers: 1 -2024-03-23 11:10:04, INFO: Similarity_func: concatenation -2024-03-23 11:10:04, INFO: Layerwise_graph: False -2024-03-23 11:10:04, INFO: Skip_connection: True -2024-03-23 11:10:04, INFO: Number of layers: 1 -2024-03-23 11:10:04, INFO: Planning depth: 1 -2024-03-23 11:10:04, INFO: Planning width: 10 -2024-03-23 11:10:04, INFO: Sparse search: None -2024-03-23 11:10:04, INFO: human number: 10 -2024-03-23 11:10:04, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:10:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:10:04, INFO: Square width: 10, circle width: 4 -2024-03-23 11:10:04, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:10:04, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:10:08, INFO: Animation.save using -2024-03-23 11:10:18, INFO: Animation.save using -2024-03-23 11:10:38, INFO: It takes 19.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.687466 -2024-03-23 11:10:41, INFO: Using device: cpu -2024-03-23 11:10:41, INFO: Loaded RL weights with best VAL -2024-03-23 11:10:41, INFO: Similarity_func: concatenation -2024-03-23 11:10:41, INFO: Layerwise_graph: False -2024-03-23 11:10:41, INFO: Skip_connection: True -2024-03-23 11:10:41, INFO: Number of layers: 1 -2024-03-23 11:10:41, INFO: Similarity_func: concatenation -2024-03-23 11:10:41, INFO: Layerwise_graph: False -2024-03-23 11:10:41, INFO: Skip_connection: True -2024-03-23 11:10:41, INFO: Number of layers: 1 -2024-03-23 11:10:41, INFO: Planning depth: 1 -2024-03-23 11:10:41, INFO: Planning width: 10 -2024-03-23 11:10:41, INFO: Sparse search: None -2024-03-23 11:10:44, INFO: human number: 10 -2024-03-23 11:10:44, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:10:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:10:44, INFO: Square width: 10, circle width: 4 -2024-03-23 11:10:44, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:10:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:10:47, INFO: Animation.save using -2024-03-23 11:10:52, INFO: Animation.save using -2024-03-23 11:11:02, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.046247 -2024-03-23 11:11:02, INFO: Using device: cpu -2024-03-23 11:11:02, INFO: Loaded RL weights with best VAL -2024-03-23 11:11:02, INFO: Similarity_func: concatenation -2024-03-23 11:11:02, INFO: Layerwise_graph: False -2024-03-23 11:11:02, INFO: Skip_connection: True -2024-03-23 11:11:02, INFO: Number of layers: 1 -2024-03-23 11:11:02, INFO: Similarity_func: concatenation -2024-03-23 11:11:02, INFO: Layerwise_graph: False -2024-03-23 11:11:02, INFO: Skip_connection: True -2024-03-23 11:11:02, INFO: Number of layers: 1 -2024-03-23 11:11:02, INFO: Planning depth: 1 -2024-03-23 11:11:02, INFO: Planning width: 10 -2024-03-23 11:11:02, INFO: Sparse search: None -2024-03-23 11:11:02, INFO: human number: 10 -2024-03-23 11:11:02, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:11:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:11:02, INFO: Square width: 10, circle width: 4 -2024-03-23 11:11:02, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:11:02, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:11:04, INFO: Animation.save using -2024-03-23 11:11:09, INFO: Animation.save using -2024-03-23 11:11:19, INFO: It takes 10.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.046247 -2024-03-23 11:11:22, INFO: Using device: cpu -2024-03-23 11:11:22, INFO: Loaded RL weights with best VAL -2024-03-23 11:11:22, INFO: Similarity_func: concatenation -2024-03-23 11:11:22, INFO: Layerwise_graph: False -2024-03-23 11:11:22, INFO: Skip_connection: True -2024-03-23 11:11:22, INFO: Number of layers: 1 -2024-03-23 11:11:22, INFO: Similarity_func: concatenation -2024-03-23 11:11:22, INFO: Layerwise_graph: False -2024-03-23 11:11:22, INFO: Skip_connection: True -2024-03-23 11:11:22, INFO: Number of layers: 1 -2024-03-23 11:11:22, INFO: Planning depth: 1 -2024-03-23 11:11:22, INFO: Planning width: 10 -2024-03-23 11:11:22, INFO: Sparse search: None -2024-03-23 11:11:25, INFO: human number: 10 -2024-03-23 11:11:25, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:11:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:11:25, INFO: Square width: 10, circle width: 4 -2024-03-23 11:11:25, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:11:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:11:28, INFO: Animation.save using -2024-03-23 11:11:34, INFO: Animation.save using -2024-03-23 11:11:45, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.968091 -2024-03-23 11:11:45, INFO: Using device: cpu -2024-03-23 11:11:45, INFO: Loaded RL weights with best VAL -2024-03-23 11:11:45, INFO: Similarity_func: concatenation -2024-03-23 11:11:45, INFO: Layerwise_graph: False -2024-03-23 11:11:45, INFO: Skip_connection: True -2024-03-23 11:11:45, INFO: Number of layers: 1 -2024-03-23 11:11:45, INFO: Similarity_func: concatenation -2024-03-23 11:11:45, INFO: Layerwise_graph: False -2024-03-23 11:11:45, INFO: Skip_connection: True -2024-03-23 11:11:45, INFO: Number of layers: 1 -2024-03-23 11:11:45, INFO: Planning depth: 1 -2024-03-23 11:11:45, INFO: Planning width: 10 -2024-03-23 11:11:45, INFO: Sparse search: None -2024-03-23 11:11:45, INFO: human number: 10 -2024-03-23 11:11:45, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:11:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:11:45, INFO: Square width: 10, circle width: 4 -2024-03-23 11:11:45, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:11:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:11:47, INFO: Animation.save using -2024-03-23 11:11:53, INFO: Animation.save using -2024-03-23 11:12:05, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.968091 -2024-03-23 11:12:08, INFO: Using device: cpu -2024-03-23 11:12:08, INFO: Loaded RL weights with best VAL -2024-03-23 11:12:08, INFO: Similarity_func: concatenation -2024-03-23 11:12:08, INFO: Layerwise_graph: False -2024-03-23 11:12:08, INFO: Skip_connection: True -2024-03-23 11:12:08, INFO: Number of layers: 1 -2024-03-23 11:12:08, INFO: Similarity_func: concatenation -2024-03-23 11:12:08, INFO: Layerwise_graph: False -2024-03-23 11:12:08, INFO: Skip_connection: True -2024-03-23 11:12:08, INFO: Number of layers: 1 -2024-03-23 11:12:08, INFO: Planning depth: 1 -2024-03-23 11:12:08, INFO: Planning width: 10 -2024-03-23 11:12:08, INFO: Sparse search: None -2024-03-23 11:12:11, INFO: human number: 10 -2024-03-23 11:12:11, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:12:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:12:11, INFO: Square width: 10, circle width: 4 -2024-03-23 11:12:11, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:12:11, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:12:14, INFO: Animation.save using -2024-03-23 11:12:20, INFO: Animation.save using -2024-03-23 11:12:30, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.983758 -2024-03-23 11:12:30, INFO: Using device: cpu -2024-03-23 11:12:30, INFO: Loaded RL weights with best VAL -2024-03-23 11:12:31, INFO: Similarity_func: concatenation -2024-03-23 11:12:31, INFO: Layerwise_graph: False -2024-03-23 11:12:31, INFO: Skip_connection: True -2024-03-23 11:12:31, INFO: Number of layers: 1 -2024-03-23 11:12:31, INFO: Similarity_func: concatenation -2024-03-23 11:12:31, INFO: Layerwise_graph: False -2024-03-23 11:12:31, INFO: Skip_connection: True -2024-03-23 11:12:31, INFO: Number of layers: 1 -2024-03-23 11:12:31, INFO: Planning depth: 1 -2024-03-23 11:12:31, INFO: Planning width: 10 -2024-03-23 11:12:31, INFO: Sparse search: None -2024-03-23 11:12:31, INFO: human number: 10 -2024-03-23 11:12:31, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:12:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:12:31, INFO: Square width: 10, circle width: 4 -2024-03-23 11:12:31, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:12:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:12:33, INFO: Animation.save using -2024-03-23 11:12:38, INFO: Animation.save using -2024-03-23 11:12:49, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.983758 -2024-03-23 11:12:53, INFO: Using device: cpu -2024-03-23 11:12:53, INFO: Loaded RL weights with best VAL -2024-03-23 11:12:53, INFO: Similarity_func: concatenation -2024-03-23 11:12:53, INFO: Layerwise_graph: False -2024-03-23 11:12:53, INFO: Skip_connection: True -2024-03-23 11:12:53, INFO: Number of layers: 1 -2024-03-23 11:12:53, INFO: Similarity_func: concatenation -2024-03-23 11:12:53, INFO: Layerwise_graph: False -2024-03-23 11:12:53, INFO: Skip_connection: True -2024-03-23 11:12:53, INFO: Number of layers: 1 -2024-03-23 11:12:53, INFO: Planning depth: 1 -2024-03-23 11:12:53, INFO: Planning width: 10 -2024-03-23 11:12:53, INFO: Sparse search: None -2024-03-23 11:12:56, INFO: human number: 10 -2024-03-23 11:12:56, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:12:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:12:56, INFO: Square width: 10, circle width: 4 -2024-03-23 11:12:56, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:12:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:12:58, INFO: Animation.save using -2024-03-23 11:13:04, INFO: Animation.save using -2024-03-23 11:13:14, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980305 -2024-03-23 11:13:14, INFO: Using device: cpu -2024-03-23 11:13:14, INFO: Loaded RL weights with best VAL -2024-03-23 11:13:14, INFO: Similarity_func: concatenation -2024-03-23 11:13:14, INFO: Layerwise_graph: False -2024-03-23 11:13:14, INFO: Skip_connection: True -2024-03-23 11:13:14, INFO: Number of layers: 1 -2024-03-23 11:13:14, INFO: Similarity_func: concatenation -2024-03-23 11:13:14, INFO: Layerwise_graph: False -2024-03-23 11:13:14, INFO: Skip_connection: True -2024-03-23 11:13:14, INFO: Number of layers: 1 -2024-03-23 11:13:14, INFO: Planning depth: 1 -2024-03-23 11:13:14, INFO: Planning width: 10 -2024-03-23 11:13:14, INFO: Sparse search: None -2024-03-23 11:13:14, INFO: human number: 10 -2024-03-23 11:13:14, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:13:14, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:13:14, INFO: Square width: 10, circle width: 4 -2024-03-23 11:13:14, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:13:14, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:13:16, INFO: Animation.save using -2024-03-23 11:13:21, INFO: Animation.save using -2024-03-23 11:13:31, INFO: It takes 10.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980305 -2024-03-23 11:13:34, INFO: Using device: cpu -2024-03-23 11:13:34, INFO: Loaded RL weights with best VAL -2024-03-23 11:13:34, INFO: Similarity_func: concatenation -2024-03-23 11:13:34, INFO: Layerwise_graph: False -2024-03-23 11:13:34, INFO: Skip_connection: True -2024-03-23 11:13:34, INFO: Number of layers: 1 -2024-03-23 11:13:34, INFO: Similarity_func: concatenation -2024-03-23 11:13:34, INFO: Layerwise_graph: False -2024-03-23 11:13:34, INFO: Skip_connection: True -2024-03-23 11:13:34, INFO: Number of layers: 1 -2024-03-23 11:13:34, INFO: Planning depth: 1 -2024-03-23 11:13:34, INFO: Planning width: 10 -2024-03-23 11:13:34, INFO: Sparse search: None -2024-03-23 11:13:37, INFO: human number: 10 -2024-03-23 11:13:37, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:13:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:13:37, INFO: Square width: 10, circle width: 4 -2024-03-23 11:13:37, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:13:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:13:40, INFO: Animation.save using -2024-03-23 11:13:46, INFO: Animation.save using -2024-03-23 11:13:56, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.861731 -2024-03-23 11:13:56, INFO: Using device: cpu -2024-03-23 11:13:56, INFO: Loaded RL weights with best VAL -2024-03-23 11:13:56, INFO: Similarity_func: concatenation -2024-03-23 11:13:56, INFO: Layerwise_graph: False -2024-03-23 11:13:56, INFO: Skip_connection: True -2024-03-23 11:13:56, INFO: Number of layers: 1 -2024-03-23 11:13:57, INFO: Similarity_func: concatenation -2024-03-23 11:13:57, INFO: Layerwise_graph: False -2024-03-23 11:13:57, INFO: Skip_connection: True -2024-03-23 11:13:57, INFO: Number of layers: 1 -2024-03-23 11:13:57, INFO: Planning depth: 1 -2024-03-23 11:13:57, INFO: Planning width: 10 -2024-03-23 11:13:57, INFO: Sparse search: None -2024-03-23 11:13:57, INFO: human number: 10 -2024-03-23 11:13:57, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:13:57, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:13:57, INFO: Square width: 10, circle width: 4 -2024-03-23 11:13:57, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:13:57, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:13:59, INFO: Animation.save using -2024-03-23 11:14:04, INFO: Animation.save using -2024-03-23 11:14:15, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.861731 -2024-03-23 11:14:18, INFO: Using device: cpu -2024-03-23 11:14:18, INFO: Loaded RL weights with best VAL -2024-03-23 11:14:18, INFO: Similarity_func: concatenation -2024-03-23 11:14:18, INFO: Layerwise_graph: False -2024-03-23 11:14:18, INFO: Skip_connection: True -2024-03-23 11:14:18, INFO: Number of layers: 1 -2024-03-23 11:14:18, INFO: Similarity_func: concatenation -2024-03-23 11:14:18, INFO: Layerwise_graph: False -2024-03-23 11:14:18, INFO: Skip_connection: True -2024-03-23 11:14:18, INFO: Number of layers: 1 -2024-03-23 11:14:18, INFO: Planning depth: 1 -2024-03-23 11:14:18, INFO: Planning width: 10 -2024-03-23 11:14:18, INFO: Sparse search: None -2024-03-23 11:14:21, INFO: human number: 10 -2024-03-23 11:14:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:14:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:14:21, INFO: Square width: 10, circle width: 4 -2024-03-23 11:14:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:14:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:14:24, INFO: Animation.save using -2024-03-23 11:14:29, INFO: Animation.save using -2024-03-23 11:14:38, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.067943 -2024-03-23 11:14:38, INFO: Using device: cpu -2024-03-23 11:14:38, INFO: Loaded RL weights with best VAL -2024-03-23 11:14:38, INFO: Similarity_func: concatenation -2024-03-23 11:14:38, INFO: Layerwise_graph: False -2024-03-23 11:14:38, INFO: Skip_connection: True -2024-03-23 11:14:38, INFO: Number of layers: 1 -2024-03-23 11:14:38, INFO: Similarity_func: concatenation -2024-03-23 11:14:38, INFO: Layerwise_graph: False -2024-03-23 11:14:38, INFO: Skip_connection: True -2024-03-23 11:14:38, INFO: Number of layers: 1 -2024-03-23 11:14:38, INFO: Planning depth: 1 -2024-03-23 11:14:38, INFO: Planning width: 10 -2024-03-23 11:14:38, INFO: Sparse search: None -2024-03-23 11:14:38, INFO: human number: 10 -2024-03-23 11:14:38, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:14:38, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:14:38, INFO: Square width: 10, circle width: 4 -2024-03-23 11:14:38, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:14:38, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:14:40, INFO: Animation.save using -2024-03-23 11:14:44, INFO: Animation.save using -2024-03-23 11:14:53, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.067943 -2024-03-23 11:14:57, INFO: Using device: cpu -2024-03-23 11:14:57, INFO: Loaded RL weights with best VAL -2024-03-23 11:14:57, INFO: Similarity_func: concatenation -2024-03-23 11:14:57, INFO: Layerwise_graph: False -2024-03-23 11:14:57, INFO: Skip_connection: True -2024-03-23 11:14:57, INFO: Number of layers: 1 -2024-03-23 11:14:57, INFO: Similarity_func: concatenation -2024-03-23 11:14:57, INFO: Layerwise_graph: False -2024-03-23 11:14:57, INFO: Skip_connection: True -2024-03-23 11:14:57, INFO: Number of layers: 1 -2024-03-23 11:14:57, INFO: Planning depth: 1 -2024-03-23 11:14:57, INFO: Planning width: 10 -2024-03-23 11:14:57, INFO: Sparse search: None -2024-03-23 11:15:00, INFO: human number: 10 -2024-03-23 11:15:00, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:15:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:15:00, INFO: Square width: 10, circle width: 4 -2024-03-23 11:15:00, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:15:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:15:02, INFO: Animation.save using -2024-03-23 11:15:09, INFO: Animation.save using -2024-03-23 11:15:22, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.812610 -2024-03-23 11:15:22, INFO: Using device: cpu -2024-03-23 11:15:22, INFO: Loaded RL weights with best VAL -2024-03-23 11:15:22, INFO: Similarity_func: concatenation -2024-03-23 11:15:22, INFO: Layerwise_graph: False -2024-03-23 11:15:22, INFO: Skip_connection: True -2024-03-23 11:15:22, INFO: Number of layers: 1 -2024-03-23 11:15:22, INFO: Similarity_func: concatenation -2024-03-23 11:15:22, INFO: Layerwise_graph: False -2024-03-23 11:15:22, INFO: Skip_connection: True -2024-03-23 11:15:22, INFO: Number of layers: 1 -2024-03-23 11:15:22, INFO: Planning depth: 1 -2024-03-23 11:15:22, INFO: Planning width: 10 -2024-03-23 11:15:22, INFO: Sparse search: None -2024-03-23 11:15:22, INFO: human number: 10 -2024-03-23 11:15:22, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:15:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:15:22, INFO: Square width: 10, circle width: 4 -2024-03-23 11:15:22, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:15:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:15:25, INFO: Animation.save using -2024-03-23 11:15:31, INFO: Animation.save using -2024-03-23 11:15:44, INFO: It takes 13.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.812610 -2024-03-23 11:15:48, INFO: Using device: cpu -2024-03-23 11:15:48, INFO: Loaded RL weights with best VAL -2024-03-23 11:15:48, INFO: Similarity_func: concatenation -2024-03-23 11:15:48, INFO: Layerwise_graph: False -2024-03-23 11:15:48, INFO: Skip_connection: True -2024-03-23 11:15:48, INFO: Number of layers: 1 -2024-03-23 11:15:48, INFO: Similarity_func: concatenation -2024-03-23 11:15:48, INFO: Layerwise_graph: False -2024-03-23 11:15:48, INFO: Skip_connection: True -2024-03-23 11:15:48, INFO: Number of layers: 1 -2024-03-23 11:15:48, INFO: Planning depth: 1 -2024-03-23 11:15:48, INFO: Planning width: 10 -2024-03-23 11:15:48, INFO: Sparse search: None -2024-03-23 11:15:51, INFO: human number: 10 -2024-03-23 11:15:51, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:15:51, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:15:51, INFO: Square width: 10, circle width: 4 -2024-03-23 11:15:51, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:15:51, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:15:54, INFO: Animation.save using -2024-03-23 11:16:00, INFO: Animation.save using -2024-03-23 11:16:10, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980297 -2024-03-23 11:16:10, INFO: Using device: cpu -2024-03-23 11:16:10, INFO: Loaded RL weights with best VAL -2024-03-23 11:16:10, INFO: Similarity_func: concatenation -2024-03-23 11:16:10, INFO: Layerwise_graph: False -2024-03-23 11:16:10, INFO: Skip_connection: True -2024-03-23 11:16:10, INFO: Number of layers: 1 -2024-03-23 11:16:10, INFO: Similarity_func: concatenation -2024-03-23 11:16:10, INFO: Layerwise_graph: False -2024-03-23 11:16:10, INFO: Skip_connection: True -2024-03-23 11:16:10, INFO: Number of layers: 1 -2024-03-23 11:16:10, INFO: Planning depth: 1 -2024-03-23 11:16:10, INFO: Planning width: 10 -2024-03-23 11:16:10, INFO: Sparse search: None -2024-03-23 11:16:10, INFO: human number: 10 -2024-03-23 11:16:10, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:16:10, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:16:10, INFO: Square width: 10, circle width: 4 -2024-03-23 11:16:10, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:16:10, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:16:13, INFO: Animation.save using -2024-03-23 11:16:18, INFO: Animation.save using -2024-03-23 11:16:29, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.980297 -2024-03-23 11:16:32, INFO: Using device: cpu -2024-03-23 11:16:32, INFO: Loaded RL weights with best VAL -2024-03-23 11:16:32, INFO: Similarity_func: concatenation -2024-03-23 11:16:32, INFO: Layerwise_graph: False -2024-03-23 11:16:32, INFO: Skip_connection: True -2024-03-23 11:16:32, INFO: Number of layers: 1 -2024-03-23 11:16:32, INFO: Similarity_func: concatenation -2024-03-23 11:16:32, INFO: Layerwise_graph: False -2024-03-23 11:16:32, INFO: Skip_connection: True -2024-03-23 11:16:32, INFO: Number of layers: 1 -2024-03-23 11:16:32, INFO: Planning depth: 1 -2024-03-23 11:16:32, INFO: Planning width: 10 -2024-03-23 11:16:32, INFO: Sparse search: None -2024-03-23 11:16:35, INFO: human number: 10 -2024-03-23 11:16:35, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:16:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:16:35, INFO: Square width: 10, circle width: 4 -2024-03-23 11:16:35, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:16:35, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:16:38, INFO: Animation.save using -2024-03-23 11:16:46, INFO: Animation.save using -2024-03-23 11:17:01, INFO: It takes 15.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.833371 -2024-03-23 11:17:01, INFO: Using device: cpu -2024-03-23 11:17:01, INFO: Loaded RL weights with best VAL -2024-03-23 11:17:01, INFO: Similarity_func: concatenation -2024-03-23 11:17:01, INFO: Layerwise_graph: False -2024-03-23 11:17:01, INFO: Skip_connection: True -2024-03-23 11:17:01, INFO: Number of layers: 1 -2024-03-23 11:17:01, INFO: Similarity_func: concatenation -2024-03-23 11:17:01, INFO: Layerwise_graph: False -2024-03-23 11:17:01, INFO: Skip_connection: True -2024-03-23 11:17:01, INFO: Number of layers: 1 -2024-03-23 11:17:01, INFO: Planning depth: 1 -2024-03-23 11:17:01, INFO: Planning width: 10 -2024-03-23 11:17:01, INFO: Sparse search: None -2024-03-23 11:17:01, INFO: human number: 10 -2024-03-23 11:17:01, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:17:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:17:01, INFO: Square width: 10, circle width: 4 -2024-03-23 11:17:01, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:17:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:17:04, INFO: Animation.save using -2024-03-23 11:17:11, INFO: Animation.save using -2024-03-23 11:17:26, INFO: It takes 15.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.833371 -2024-03-23 11:17:29, INFO: Using device: cpu -2024-03-23 11:17:29, INFO: Loaded RL weights with best VAL -2024-03-23 11:17:29, INFO: Similarity_func: concatenation -2024-03-23 11:17:29, INFO: Layerwise_graph: False -2024-03-23 11:17:29, INFO: Skip_connection: True -2024-03-23 11:17:29, INFO: Number of layers: 1 -2024-03-23 11:17:29, INFO: Similarity_func: concatenation -2024-03-23 11:17:29, INFO: Layerwise_graph: False -2024-03-23 11:17:29, INFO: Skip_connection: True -2024-03-23 11:17:29, INFO: Number of layers: 1 -2024-03-23 11:17:29, INFO: Planning depth: 1 -2024-03-23 11:17:29, INFO: Planning width: 10 -2024-03-23 11:17:29, INFO: Sparse search: None -2024-03-23 11:17:32, INFO: human number: 10 -2024-03-23 11:17:32, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:17:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:17:32, INFO: Square width: 10, circle width: 4 -2024-03-23 11:17:32, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:17:32, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:17:35, INFO: Animation.save using -2024-03-23 11:17:42, INFO: Animation.save using -2024-03-23 11:17:56, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.938521 -2024-03-23 11:17:56, INFO: Using device: cpu -2024-03-23 11:17:56, INFO: Loaded RL weights with best VAL -2024-03-23 11:17:56, INFO: Similarity_func: concatenation -2024-03-23 11:17:56, INFO: Layerwise_graph: False -2024-03-23 11:17:56, INFO: Skip_connection: True -2024-03-23 11:17:56, INFO: Number of layers: 1 -2024-03-23 11:17:56, INFO: Similarity_func: concatenation -2024-03-23 11:17:56, INFO: Layerwise_graph: False -2024-03-23 11:17:56, INFO: Skip_connection: True -2024-03-23 11:17:56, INFO: Number of layers: 1 -2024-03-23 11:17:56, INFO: Planning depth: 1 -2024-03-23 11:17:56, INFO: Planning width: 10 -2024-03-23 11:17:56, INFO: Sparse search: None -2024-03-23 11:17:56, INFO: human number: 10 -2024-03-23 11:17:56, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:17:56, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:17:56, INFO: Square width: 10, circle width: 4 -2024-03-23 11:17:56, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:17:56, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:17:58, INFO: Animation.save using -2024-03-23 11:18:05, INFO: Animation.save using -2024-03-23 11:18:19, INFO: It takes 13.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.938521 -2024-03-23 11:18:22, INFO: Using device: cpu -2024-03-23 11:18:22, INFO: Loaded RL weights with best VAL -2024-03-23 11:18:22, INFO: Similarity_func: concatenation -2024-03-23 11:18:22, INFO: Layerwise_graph: False -2024-03-23 11:18:22, INFO: Skip_connection: True -2024-03-23 11:18:22, INFO: Number of layers: 1 -2024-03-23 11:18:22, INFO: Similarity_func: concatenation -2024-03-23 11:18:22, INFO: Layerwise_graph: False -2024-03-23 11:18:22, INFO: Skip_connection: True -2024-03-23 11:18:22, INFO: Number of layers: 1 -2024-03-23 11:18:22, INFO: Planning depth: 1 -2024-03-23 11:18:22, INFO: Planning width: 10 -2024-03-23 11:18:22, INFO: Sparse search: None -2024-03-23 11:18:25, INFO: human number: 10 -2024-03-23 11:18:25, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:18:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:18:25, INFO: Square width: 10, circle width: 4 -2024-03-23 11:18:25, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:18:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:18:27, INFO: Animation.save using -2024-03-23 11:18:33, INFO: Animation.save using -2024-03-23 11:18:44, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.945546 -2024-03-23 11:18:44, INFO: Using device: cpu -2024-03-23 11:18:44, INFO: Loaded RL weights with best VAL -2024-03-23 11:18:44, INFO: Similarity_func: concatenation -2024-03-23 11:18:44, INFO: Layerwise_graph: False -2024-03-23 11:18:44, INFO: Skip_connection: True -2024-03-23 11:18:44, INFO: Number of layers: 1 -2024-03-23 11:18:44, INFO: Similarity_func: concatenation -2024-03-23 11:18:44, INFO: Layerwise_graph: False -2024-03-23 11:18:44, INFO: Skip_connection: True -2024-03-23 11:18:44, INFO: Number of layers: 1 -2024-03-23 11:18:44, INFO: Planning depth: 1 -2024-03-23 11:18:44, INFO: Planning width: 10 -2024-03-23 11:18:44, INFO: Sparse search: None -2024-03-23 11:18:44, INFO: human number: 10 -2024-03-23 11:18:44, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:18:44, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:18:44, INFO: Square width: 10, circle width: 4 -2024-03-23 11:18:44, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:18:44, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:18:46, INFO: Animation.save using -2024-03-23 11:18:52, INFO: Animation.save using -2024-03-23 11:19:02, INFO: It takes 11.25 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.945546 -2024-03-23 11:19:06, INFO: Using device: cpu -2024-03-23 11:19:06, INFO: Loaded RL weights with best VAL -2024-03-23 11:19:06, INFO: Similarity_func: concatenation -2024-03-23 11:19:06, INFO: Layerwise_graph: False -2024-03-23 11:19:06, INFO: Skip_connection: True -2024-03-23 11:19:06, INFO: Number of layers: 1 -2024-03-23 11:19:06, INFO: Similarity_func: concatenation -2024-03-23 11:19:06, INFO: Layerwise_graph: False -2024-03-23 11:19:06, INFO: Skip_connection: True -2024-03-23 11:19:06, INFO: Number of layers: 1 -2024-03-23 11:19:06, INFO: Planning depth: 1 -2024-03-23 11:19:06, INFO: Planning width: 10 -2024-03-23 11:19:06, INFO: Sparse search: None -2024-03-23 11:19:09, INFO: human number: 10 -2024-03-23 11:19:09, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:19:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:19:09, INFO: Square width: 10, circle width: 4 -2024-03-23 11:19:09, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:19:09, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:19:11, INFO: Animation.save using -2024-03-23 11:19:16, INFO: Animation.save using -2024-03-23 11:19:24, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.113242 -2024-03-23 11:19:24, INFO: Using device: cpu -2024-03-23 11:19:24, INFO: Loaded RL weights with best VAL -2024-03-23 11:19:24, INFO: Similarity_func: concatenation -2024-03-23 11:19:24, INFO: Layerwise_graph: False -2024-03-23 11:19:24, INFO: Skip_connection: True -2024-03-23 11:19:24, INFO: Number of layers: 1 -2024-03-23 11:19:24, INFO: Similarity_func: concatenation -2024-03-23 11:19:24, INFO: Layerwise_graph: False -2024-03-23 11:19:24, INFO: Skip_connection: True -2024-03-23 11:19:24, INFO: Number of layers: 1 -2024-03-23 11:19:24, INFO: Planning depth: 1 -2024-03-23 11:19:24, INFO: Planning width: 10 -2024-03-23 11:19:24, INFO: Sparse search: None -2024-03-23 11:19:24, INFO: human number: 10 -2024-03-23 11:19:24, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:19:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:19:24, INFO: Square width: 10, circle width: 4 -2024-03-23 11:19:24, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:19:24, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:19:26, INFO: Animation.save using -2024-03-23 11:19:30, INFO: Animation.save using -2024-03-23 11:19:39, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.113242 -2024-03-23 11:19:42, INFO: Using device: cpu -2024-03-23 11:19:42, INFO: Loaded RL weights with best VAL -2024-03-23 11:19:42, INFO: Similarity_func: concatenation -2024-03-23 11:19:42, INFO: Layerwise_graph: False -2024-03-23 11:19:42, INFO: Skip_connection: True -2024-03-23 11:19:42, INFO: Number of layers: 1 -2024-03-23 11:19:42, INFO: Similarity_func: concatenation -2024-03-23 11:19:42, INFO: Layerwise_graph: False -2024-03-23 11:19:42, INFO: Skip_connection: True -2024-03-23 11:19:42, INFO: Number of layers: 1 -2024-03-23 11:19:42, INFO: Planning depth: 1 -2024-03-23 11:19:42, INFO: Planning width: 10 -2024-03-23 11:19:42, INFO: Sparse search: None -2024-03-23 11:19:45, INFO: human number: 10 -2024-03-23 11:19:45, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:19:45, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:19:45, INFO: Square width: 10, circle width: 4 -2024-03-23 11:19:45, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:19:45, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:19:47, INFO: Animation.save using -2024-03-23 11:19:51, INFO: Animation.save using -2024-03-23 11:20:00, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.118356 -2024-03-23 11:20:00, INFO: Using device: cpu -2024-03-23 11:20:00, INFO: Loaded RL weights with best VAL -2024-03-23 11:20:00, INFO: Similarity_func: concatenation -2024-03-23 11:20:00, INFO: Layerwise_graph: False -2024-03-23 11:20:00, INFO: Skip_connection: True -2024-03-23 11:20:00, INFO: Number of layers: 1 -2024-03-23 11:20:00, INFO: Similarity_func: concatenation -2024-03-23 11:20:00, INFO: Layerwise_graph: False -2024-03-23 11:20:00, INFO: Skip_connection: True -2024-03-23 11:20:00, INFO: Number of layers: 1 -2024-03-23 11:20:00, INFO: Planning depth: 1 -2024-03-23 11:20:00, INFO: Planning width: 10 -2024-03-23 11:20:00, INFO: Sparse search: None -2024-03-23 11:20:00, INFO: human number: 10 -2024-03-23 11:20:00, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:20:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:20:00, INFO: Square width: 10, circle width: 4 -2024-03-23 11:20:00, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:20:00, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:20:02, INFO: Animation.save using -2024-03-23 11:20:06, INFO: Animation.save using -2024-03-23 11:20:15, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.118356 -2024-03-23 11:20:18, INFO: Using device: cpu -2024-03-23 11:20:18, INFO: Loaded RL weights with best VAL -2024-03-23 11:20:18, INFO: Similarity_func: concatenation -2024-03-23 11:20:18, INFO: Layerwise_graph: False -2024-03-23 11:20:18, INFO: Skip_connection: True -2024-03-23 11:20:18, INFO: Number of layers: 1 -2024-03-23 11:20:18, INFO: Similarity_func: concatenation -2024-03-23 11:20:18, INFO: Layerwise_graph: False -2024-03-23 11:20:18, INFO: Skip_connection: True -2024-03-23 11:20:18, INFO: Number of layers: 1 -2024-03-23 11:20:18, INFO: Planning depth: 1 -2024-03-23 11:20:18, INFO: Planning width: 10 -2024-03-23 11:20:18, INFO: Sparse search: None -2024-03-23 11:20:21, INFO: human number: 10 -2024-03-23 11:20:21, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:20:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:20:21, INFO: Square width: 10, circle width: 4 -2024-03-23 11:20:21, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:20:21, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:20:23, INFO: Animation.save using -2024-03-23 11:20:27, INFO: Animation.save using -2024-03-23 11:20:36, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.060402 -2024-03-23 11:20:37, INFO: Using device: cpu -2024-03-23 11:20:37, INFO: Loaded RL weights with best VAL -2024-03-23 11:20:37, INFO: Similarity_func: concatenation -2024-03-23 11:20:37, INFO: Layerwise_graph: False -2024-03-23 11:20:37, INFO: Skip_connection: True -2024-03-23 11:20:37, INFO: Number of layers: 1 -2024-03-23 11:20:37, INFO: Similarity_func: concatenation -2024-03-23 11:20:37, INFO: Layerwise_graph: False -2024-03-23 11:20:37, INFO: Skip_connection: True -2024-03-23 11:20:37, INFO: Number of layers: 1 -2024-03-23 11:20:37, INFO: Planning depth: 1 -2024-03-23 11:20:37, INFO: Planning width: 10 -2024-03-23 11:20:37, INFO: Sparse search: None -2024-03-23 11:20:37, INFO: human number: 10 -2024-03-23 11:20:37, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:20:37, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:20:37, INFO: Square width: 10, circle width: 4 -2024-03-23 11:20:37, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:20:37, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:20:38, INFO: Animation.save using -2024-03-23 11:20:43, INFO: Animation.save using -2024-03-23 11:20:52, INFO: It takes 9.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.060402 -2024-03-23 11:20:55, INFO: Using device: cpu -2024-03-23 11:20:55, INFO: Loaded RL weights with best VAL -2024-03-23 11:20:55, INFO: Similarity_func: concatenation -2024-03-23 11:20:55, INFO: Layerwise_graph: False -2024-03-23 11:20:55, INFO: Skip_connection: True -2024-03-23 11:20:55, INFO: Number of layers: 1 -2024-03-23 11:20:55, INFO: Similarity_func: concatenation -2024-03-23 11:20:55, INFO: Layerwise_graph: False -2024-03-23 11:20:55, INFO: Skip_connection: True -2024-03-23 11:20:55, INFO: Number of layers: 1 -2024-03-23 11:20:55, INFO: Planning depth: 1 -2024-03-23 11:20:55, INFO: Planning width: 10 -2024-03-23 11:20:55, INFO: Sparse search: None -2024-03-23 11:20:58, INFO: human number: 10 -2024-03-23 11:20:58, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:20:58, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:20:58, INFO: Square width: 10, circle width: 4 -2024-03-23 11:20:58, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:20:58, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:21:01, INFO: Animation.save using -2024-03-23 11:21:07, INFO: Animation.save using -2024-03-23 11:21:19, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.923466 -2024-03-23 11:21:19, INFO: Using device: cpu -2024-03-23 11:21:19, INFO: Loaded RL weights with best VAL -2024-03-23 11:21:19, INFO: Similarity_func: concatenation -2024-03-23 11:21:19, INFO: Layerwise_graph: False -2024-03-23 11:21:19, INFO: Skip_connection: True -2024-03-23 11:21:19, INFO: Number of layers: 1 -2024-03-23 11:21:19, INFO: Similarity_func: concatenation -2024-03-23 11:21:19, INFO: Layerwise_graph: False -2024-03-23 11:21:19, INFO: Skip_connection: True -2024-03-23 11:21:19, INFO: Number of layers: 1 -2024-03-23 11:21:19, INFO: Planning depth: 1 -2024-03-23 11:21:19, INFO: Planning width: 10 -2024-03-23 11:21:19, INFO: Sparse search: None -2024-03-23 11:21:19, INFO: human number: 10 -2024-03-23 11:21:19, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:21:19, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:21:19, INFO: Square width: 10, circle width: 4 -2024-03-23 11:21:19, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:21:19, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:21:22, INFO: Animation.save using -2024-03-23 11:21:28, INFO: Animation.save using -2024-03-23 11:21:40, INFO: It takes 12.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.923466 -2024-03-23 11:21:43, INFO: Using device: cpu -2024-03-23 11:21:43, INFO: Loaded RL weights with best VAL -2024-03-23 11:21:43, INFO: Similarity_func: concatenation -2024-03-23 11:21:43, INFO: Layerwise_graph: False -2024-03-23 11:21:43, INFO: Skip_connection: True -2024-03-23 11:21:43, INFO: Number of layers: 1 -2024-03-23 11:21:43, INFO: Similarity_func: concatenation -2024-03-23 11:21:43, INFO: Layerwise_graph: False -2024-03-23 11:21:43, INFO: Skip_connection: True -2024-03-23 11:21:43, INFO: Number of layers: 1 -2024-03-23 11:21:43, INFO: Planning depth: 1 -2024-03-23 11:21:43, INFO: Planning width: 10 -2024-03-23 11:21:43, INFO: Sparse search: None -2024-03-23 11:21:46, INFO: human number: 10 -2024-03-23 11:21:46, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:21:46, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:21:46, INFO: Square width: 10, circle width: 4 -2024-03-23 11:21:46, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:21:46, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:21:48, INFO: Animation.save using -2024-03-23 11:21:53, INFO: Animation.save using -2024-03-23 11:22:01, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.110397 -2024-03-23 11:22:01, INFO: Using device: cpu -2024-03-23 11:22:01, INFO: Loaded RL weights with best VAL -2024-03-23 11:22:01, INFO: Similarity_func: concatenation -2024-03-23 11:22:01, INFO: Layerwise_graph: False -2024-03-23 11:22:01, INFO: Skip_connection: True -2024-03-23 11:22:01, INFO: Number of layers: 1 -2024-03-23 11:22:01, INFO: Similarity_func: concatenation -2024-03-23 11:22:01, INFO: Layerwise_graph: False -2024-03-23 11:22:01, INFO: Skip_connection: True -2024-03-23 11:22:01, INFO: Number of layers: 1 -2024-03-23 11:22:01, INFO: Planning depth: 1 -2024-03-23 11:22:01, INFO: Planning width: 10 -2024-03-23 11:22:01, INFO: Sparse search: None -2024-03-23 11:22:01, INFO: human number: 10 -2024-03-23 11:22:01, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:22:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:22:01, INFO: Square width: 10, circle width: 4 -2024-03-23 11:22:01, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:22:01, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:22:03, INFO: Animation.save using -2024-03-23 11:22:07, INFO: Animation.save using -2024-03-23 11:22:15, INFO: It takes 8.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.110397 -2024-03-23 11:22:19, INFO: Using device: cpu -2024-03-23 11:22:19, INFO: Loaded RL weights with best VAL -2024-03-23 11:22:19, INFO: Similarity_func: concatenation -2024-03-23 11:22:19, INFO: Layerwise_graph: False -2024-03-23 11:22:19, INFO: Skip_connection: True -2024-03-23 11:22:19, INFO: Number of layers: 1 -2024-03-23 11:22:19, INFO: Similarity_func: concatenation -2024-03-23 11:22:19, INFO: Layerwise_graph: False -2024-03-23 11:22:19, INFO: Skip_connection: True -2024-03-23 11:22:19, INFO: Number of layers: 1 -2024-03-23 11:22:19, INFO: Planning depth: 1 -2024-03-23 11:22:19, INFO: Planning width: 10 -2024-03-23 11:22:19, INFO: Sparse search: None -2024-03-23 11:22:22, INFO: human number: 10 -2024-03-23 11:22:22, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:22:22, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:22:22, INFO: Square width: 10, circle width: 4 -2024-03-23 11:22:22, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:22:22, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:22:24, INFO: Animation.save using -2024-03-23 11:22:30, INFO: Animation.save using -2024-03-23 11:22:41, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.941905 -2024-03-23 11:22:41, INFO: Using device: cpu -2024-03-23 11:22:41, INFO: Loaded RL weights with best VAL -2024-03-23 11:22:41, INFO: Similarity_func: concatenation -2024-03-23 11:22:41, INFO: Layerwise_graph: False -2024-03-23 11:22:41, INFO: Skip_connection: True -2024-03-23 11:22:41, INFO: Number of layers: 1 -2024-03-23 11:22:41, INFO: Similarity_func: concatenation -2024-03-23 11:22:41, INFO: Layerwise_graph: False -2024-03-23 11:22:41, INFO: Skip_connection: True -2024-03-23 11:22:41, INFO: Number of layers: 1 -2024-03-23 11:22:41, INFO: Planning depth: 1 -2024-03-23 11:22:41, INFO: Planning width: 10 -2024-03-23 11:22:41, INFO: Sparse search: None -2024-03-23 11:22:41, INFO: human number: 10 -2024-03-23 11:22:41, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:22:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:22:41, INFO: Square width: 10, circle width: 4 -2024-03-23 11:22:41, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:22:41, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:22:43, INFO: Animation.save using -2024-03-23 11:22:49, INFO: Animation.save using -2024-03-23 11:22:59, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.941905 -2024-03-23 11:23:03, INFO: Using device: cpu -2024-03-23 11:23:03, INFO: Loaded RL weights with best VAL -2024-03-23 11:23:03, INFO: Similarity_func: concatenation -2024-03-23 11:23:03, INFO: Layerwise_graph: False -2024-03-23 11:23:03, INFO: Skip_connection: True -2024-03-23 11:23:03, INFO: Number of layers: 1 -2024-03-23 11:23:03, INFO: Similarity_func: concatenation -2024-03-23 11:23:03, INFO: Layerwise_graph: False -2024-03-23 11:23:03, INFO: Skip_connection: True -2024-03-23 11:23:03, INFO: Number of layers: 1 -2024-03-23 11:23:03, INFO: Planning depth: 1 -2024-03-23 11:23:03, INFO: Planning width: 10 -2024-03-23 11:23:03, INFO: Sparse search: None -2024-03-23 11:23:06, INFO: human number: 10 -2024-03-23 11:23:06, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:23:06, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:23:06, INFO: Square width: 10, circle width: 4 -2024-03-23 11:23:06, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:23:06, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:23:08, INFO: Animation.save using -2024-03-23 11:23:14, INFO: Animation.save using -2024-03-23 11:23:25, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.040104 -2024-03-23 11:23:25, INFO: Using device: cpu -2024-03-23 11:23:25, INFO: Loaded RL weights with best VAL -2024-03-23 11:23:25, INFO: Similarity_func: concatenation -2024-03-23 11:23:25, INFO: Layerwise_graph: False -2024-03-23 11:23:25, INFO: Skip_connection: True -2024-03-23 11:23:25, INFO: Number of layers: 1 -2024-03-23 11:23:25, INFO: Similarity_func: concatenation -2024-03-23 11:23:25, INFO: Layerwise_graph: False -2024-03-23 11:23:25, INFO: Skip_connection: True -2024-03-23 11:23:25, INFO: Number of layers: 1 -2024-03-23 11:23:25, INFO: Planning depth: 1 -2024-03-23 11:23:25, INFO: Planning width: 10 -2024-03-23 11:23:25, INFO: Sparse search: None -2024-03-23 11:23:25, INFO: human number: 10 -2024-03-23 11:23:25, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:23:25, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:23:25, INFO: Square width: 10, circle width: 4 -2024-03-23 11:23:25, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:23:25, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:23:27, INFO: Animation.save using -2024-03-23 11:23:32, INFO: Animation.save using -2024-03-23 11:23:43, INFO: It takes 11.50 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.040104 -2024-03-23 11:23:46, INFO: Using device: cpu -2024-03-23 11:23:46, INFO: Loaded RL weights with best VAL -2024-03-23 11:23:46, INFO: Similarity_func: concatenation -2024-03-23 11:23:46, INFO: Layerwise_graph: False -2024-03-23 11:23:46, INFO: Skip_connection: True -2024-03-23 11:23:46, INFO: Number of layers: 1 -2024-03-23 11:23:46, INFO: Similarity_func: concatenation -2024-03-23 11:23:46, INFO: Layerwise_graph: False -2024-03-23 11:23:46, INFO: Skip_connection: True -2024-03-23 11:23:46, INFO: Number of layers: 1 -2024-03-23 11:23:46, INFO: Planning depth: 1 -2024-03-23 11:23:46, INFO: Planning width: 10 -2024-03-23 11:23:46, INFO: Sparse search: None -2024-03-23 11:23:49, INFO: human number: 10 -2024-03-23 11:23:49, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:23:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:23:49, INFO: Square width: 10, circle width: 4 -2024-03-23 11:23:49, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:23:49, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:23:52, INFO: Animation.save using -2024-03-23 11:23:57, INFO: Animation.save using -2024-03-23 11:24:07, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.009956 -2024-03-23 11:24:07, INFO: Using device: cpu -2024-03-23 11:24:07, INFO: Loaded RL weights with best VAL -2024-03-23 11:24:07, INFO: Similarity_func: concatenation -2024-03-23 11:24:07, INFO: Layerwise_graph: False -2024-03-23 11:24:07, INFO: Skip_connection: True -2024-03-23 11:24:07, INFO: Number of layers: 1 -2024-03-23 11:24:07, INFO: Similarity_func: concatenation -2024-03-23 11:24:07, INFO: Layerwise_graph: False -2024-03-23 11:24:07, INFO: Skip_connection: True -2024-03-23 11:24:07, INFO: Number of layers: 1 -2024-03-23 11:24:07, INFO: Planning depth: 1 -2024-03-23 11:24:07, INFO: Planning width: 10 -2024-03-23 11:24:07, INFO: Sparse search: None -2024-03-23 11:24:07, INFO: human number: 10 -2024-03-23 11:24:07, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:24:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:24:07, INFO: Square width: 10, circle width: 4 -2024-03-23 11:24:07, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:24:07, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:24:09, INFO: Animation.save using -2024-03-23 11:24:15, INFO: Animation.save using -2024-03-23 11:24:25, INFO: It takes 10.75 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.009956 -2024-03-23 11:24:28, INFO: Using device: cpu -2024-03-23 11:24:28, INFO: Loaded RL weights with best VAL -2024-03-23 11:24:28, INFO: Similarity_func: concatenation -2024-03-23 11:24:28, INFO: Layerwise_graph: False -2024-03-23 11:24:28, INFO: Skip_connection: True -2024-03-23 11:24:28, INFO: Number of layers: 1 -2024-03-23 11:24:28, INFO: Similarity_func: concatenation -2024-03-23 11:24:28, INFO: Layerwise_graph: False -2024-03-23 11:24:28, INFO: Skip_connection: True -2024-03-23 11:24:28, INFO: Number of layers: 1 -2024-03-23 11:24:28, INFO: Planning depth: 1 -2024-03-23 11:24:28, INFO: Planning width: 10 -2024-03-23 11:24:28, INFO: Sparse search: None -2024-03-23 11:24:31, INFO: human number: 10 -2024-03-23 11:24:31, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:24:31, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:24:31, INFO: Square width: 10, circle width: 4 -2024-03-23 11:24:31, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:24:31, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:24:34, INFO: Animation.save using -2024-03-23 11:24:38, INFO: Animation.save using -2024-03-23 11:24:47, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.097303 -2024-03-23 11:24:47, INFO: Using device: cpu -2024-03-23 11:24:47, INFO: Loaded RL weights with best VAL -2024-03-23 11:24:47, INFO: Similarity_func: concatenation -2024-03-23 11:24:47, INFO: Layerwise_graph: False -2024-03-23 11:24:47, INFO: Skip_connection: True -2024-03-23 11:24:47, INFO: Number of layers: 1 -2024-03-23 11:24:47, INFO: Similarity_func: concatenation -2024-03-23 11:24:47, INFO: Layerwise_graph: False -2024-03-23 11:24:47, INFO: Skip_connection: True -2024-03-23 11:24:47, INFO: Number of layers: 1 -2024-03-23 11:24:47, INFO: Planning depth: 1 -2024-03-23 11:24:47, INFO: Planning width: 10 -2024-03-23 11:24:47, INFO: Sparse search: None -2024-03-23 11:24:47, INFO: human number: 10 -2024-03-23 11:24:47, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:24:47, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:24:47, INFO: Square width: 10, circle width: 4 -2024-03-23 11:24:47, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:24:47, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:24:48, INFO: Animation.save using -2024-03-23 11:24:53, INFO: Animation.save using -2024-03-23 11:25:02, INFO: It takes 9.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 1.097303 -2024-03-23 11:25:04, INFO: Using device: cpu -2024-03-23 11:25:04, INFO: Loaded RL weights with best VAL -2024-03-23 11:25:05, INFO: Similarity_func: concatenation -2024-03-23 11:25:05, INFO: Layerwise_graph: False -2024-03-23 11:25:05, INFO: Skip_connection: True -2024-03-23 11:25:05, INFO: Number of layers: 1 -2024-03-23 11:25:05, INFO: Similarity_func: concatenation -2024-03-23 11:25:05, INFO: Layerwise_graph: False -2024-03-23 11:25:05, INFO: Skip_connection: True -2024-03-23 11:25:05, INFO: Number of layers: 1 -2024-03-23 11:25:05, INFO: Planning depth: 1 -2024-03-23 11:25:05, INFO: Planning width: 10 -2024-03-23 11:25:05, INFO: Sparse search: None -2024-03-23 11:25:08, INFO: human number: 10 -2024-03-23 11:25:08, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:25:08, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:25:08, INFO: Square width: 10, circle width: 4 -2024-03-23 11:25:08, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:25:08, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:25:10, INFO: Animation.save using -2024-03-23 11:25:16, INFO: Animation.save using -2024-03-23 11:25:28, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 -2024-03-23 11:25:28, INFO: Using device: cpu -2024-03-23 11:25:28, INFO: Loaded RL weights with best VAL -2024-03-23 11:25:28, INFO: Similarity_func: concatenation -2024-03-23 11:25:28, INFO: Layerwise_graph: False -2024-03-23 11:25:28, INFO: Skip_connection: True -2024-03-23 11:25:28, INFO: Number of layers: 1 -2024-03-23 11:25:28, INFO: Similarity_func: concatenation -2024-03-23 11:25:28, INFO: Layerwise_graph: False -2024-03-23 11:25:28, INFO: Skip_connection: True -2024-03-23 11:25:28, INFO: Number of layers: 1 -2024-03-23 11:25:28, INFO: Planning depth: 1 -2024-03-23 11:25:28, INFO: Planning width: 10 -2024-03-23 11:25:28, INFO: Sparse search: None -2024-03-23 11:25:28, INFO: human number: 10 -2024-03-23 11:25:28, INFO: Not randomize human's radius and preferred speed -2024-03-23 11:25:28, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2024-03-23 11:25:28, INFO: Square width: 10, circle width: 4 -2024-03-23 11:25:28, INFO: rotation constraint: 3.141592653589793 -2024-03-23 11:25:28, INFO: Agent is invisible and has unicycle kinematic constraint -2024-03-23 11:25:30, INFO: Animation.save using -2024-03-23 11:25:36, INFO: Animation.save using -2024-03-23 11:25:47, INFO: It takes 12.00 seconds to finish. Final status is Reaching goal, cumulative_reward is 0.966072 ->>>>>>> e65c0cc (updated visualization) diff --git a/crowd_nav/record b/crowd_nav/record deleted file mode 100644 index 19acb91..0000000 --- a/crowd_nav/record +++ /dev/null @@ -1,719 +0,0 @@ -for ((i=3;i<5;i+=1)) -do - for((j=1;j<3;j+=1)) - do - python test.py \ - --policy model-predictive-rl \ - --model_dir data/5human_invisible_holonomic/mprl/$i \ - --planning_depth $j \ - --planning_width 2 - done -done - -for ((i=2;i<5;i+=1)) -do - for((j=1;j<4;j+=1)) - do - python test.py \ - --policy tree-search-rl \ - --model_dir data/5human_invisible_holonomic/tsrl/$i \ - --planning_depth $j - - done -done - -for ((i=0;i<3;i+=1)) -do - for((j=1;j<3;j+=1)) - do - python test.py \ - --policy model-predictive-rl \ - --model_dir data/5human_invisible_holonomic/mprl/$i \ - --planning_depth $j \ - --planning_width 2 - done -done - -The Script begin at 1110 -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 09:24:41, INFO: Using device: cpu -2021-11-10 09:24:41, INFO: Loaded RL weights with best VAL -2021-11-10 09:24:41, INFO: Similarity_func: embedded_gaussian -2021-11-10 09:24:41, INFO: Layerwise_graph: False -2021-11-10 09:24:41, INFO: Skip_connection: True -2021-11-10 09:24:41, INFO: Number of layers: 2 -2021-11-10 09:24:41, INFO: Similarity_func: embedded_gaussian -2021-11-10 09:24:41, INFO: Layerwise_graph: False -2021-11-10 09:24:41, INFO: Skip_connection: True -2021-11-10 09:24:41, INFO: Number of layers: 2 -2021-11-10 09:24:41, INFO: Planning depth: 1 -2021-11-10 09:24:41, INFO: Planning width: 2 -2021-11-10 09:24:41, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 09:24:41, INFO: human number: 5 -2021-11-10 09:24:41, INFO: Not randomize human's radius and preferred speed -2021-11-10 09:24:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 09:24:41, INFO: Square width: 10, circle width: 4 -2021-11-10 09:24:41, INFO: rotation constraint: 3.141592653589793 -2021-11-10 09:24:41, INFO: Agent is invisible and has unicycle kinematic constraint - 14%|█████████████▍ | 143/1000 [03:09<17:23, 1.22s/it]collision happen %f 11.25 - 25%|███████████████████████ | 246/1000 [05:23<17:19, 1.38s/it]timeout happen %f 29.25 - 29%|███████████████████████████▎ | 290/1000 [06:21<14:35, 1.23s/it]collision happen %f 7.5 - 65%|█████████████████████████████████████████████████████████████▍ | 653/1000 [14:14<07:34, 1.31s/it]collision happen %f 5.75 - 84%|██████████████████████████████████████████████████████████████████████████████▌ | 836/1000 [18:07<03:27, 1.26s/it]collision happen %f 10.75 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [21:48<00:00, 1.35s/it]2021-11-10 09:46:30, INFO: TEST has success rate: 0.995, collision rate: 0.004, nav time: 10.475, total reward: 1787.9098, average return: 0.7421 -2021-11-10 09:46:30, INFO: Frequency of being in danger: 0.036 and average min separate distance in danger: 0.19 -2021-11-10 09:46:30, INFO: discomfor nums is 1530 and return is 0.7346 and length is 41950 -2021-11-10 09:46:30, INFO: Collision cases: 143 290 653 836 -2021-11-10 09:46:30, INFO: Timeout cases: 246 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [21:48<00:00, 1.31s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 09:46:32, INFO: Using device: cpu -2021-11-10 09:46:32, INFO: Loaded RL weights with best VAL -2021-11-10 09:46:32, INFO: Similarity_func: embedded_gaussian -2021-11-10 09:46:32, INFO: Layerwise_graph: False -2021-11-10 09:46:32, INFO: Skip_connection: True -2021-11-10 09:46:32, INFO: Number of layers: 2 -2021-11-10 09:46:32, INFO: Similarity_func: embedded_gaussian -2021-11-10 09:46:32, INFO: Layerwise_graph: False -2021-11-10 09:46:32, INFO: Skip_connection: True -2021-11-10 09:46:32, INFO: Number of layers: 2 -2021-11-10 09:46:32, INFO: Planning depth: 2 -2021-11-10 09:46:32, INFO: Planning width: 2 -2021-11-10 09:46:32, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 09:46:32, INFO: human number: 5 -2021-11-10 09:46:32, INFO: Not randomize human's radius and preferred speed -2021-11-10 09:46:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 09:46:32, INFO: Square width: 10, circle width: 4 -2021-11-10 09:46:32, INFO: rotation constraint: 3.141592653589793 -2021-11-10 09:46:32, INFO: Agent is invisible and has unicycle kinematic constraint - 29%|███████████████████████████▎ | 290/1000 [18:52<41:43, 3.53s/it]collision happen %f 7.75 - 44%|█████████████████████████████████████████▎ | 440/1000 [28:27<35:30, 3.80s/it]collision happen %f 13.0 - 71%|██████████████████████████████████████████████████████████████████▍ | 707/1000 [46:00<18:55, 3.87s/it]collision happen %f 6.0 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:05:01<00:00, 3.70s/it]2021-11-10 10:51:34, INFO: TEST has success rate: 0.997, collision rate: 0.003, nav time: 10.291, total reward: 1792.9668, average return: 0.7493 -2021-11-10 10:51:34, INFO: Frequency of being in danger: 0.029 and average min separate distance in danger: 0.19 -2021-11-10 10:51:34, INFO: discomfor nums is 1228 and return is 0.7447 and length is 41148 -2021-11-10 10:51:34, INFO: Collision cases: 290 440 707 -2021-11-10 10:51:34, INFO: Timeout cases: -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:05:01<00:00, 3.90s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 10:51:35, INFO: Using device: cpu -2021-11-10 10:51:35, INFO: Loaded RL weights with best VAL -2021-11-10 10:51:35, INFO: Similarity_func: embedded_gaussian -2021-11-10 10:51:35, INFO: Layerwise_graph: False -2021-11-10 10:51:35, INFO: Skip_connection: True -2021-11-10 10:51:35, INFO: Number of layers: 2 -2021-11-10 10:51:35, INFO: Similarity_func: embedded_gaussian -2021-11-10 10:51:35, INFO: Layerwise_graph: False -2021-11-10 10:51:35, INFO: Skip_connection: True -2021-11-10 10:51:35, INFO: Number of layers: 2 -2021-11-10 10:51:35, INFO: Planning depth: 1 -2021-11-10 10:51:35, INFO: Planning width: 2 -2021-11-10 10:51:35, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 10:51:35, INFO: human number: 5 -2021-11-10 10:51:35, INFO: Not randomize human's radius and preferred speed -2021-11-10 10:51:35, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 10:51:35, INFO: Square width: 10, circle width: 4 -2021-11-10 10:51:35, INFO: rotation constraint: 3.141592653589793 -2021-11-10 10:51:35, INFO: Agent is invisible and has unicycle kinematic constraint - 67%|██████████████████████████████████████████████████████████████▋ | 667/1000 [15:07<07:18, 1.32s/it]collision happen %f 6.0 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [22:40<00:00, 1.47s/it]2021-11-10 11:14:16, INFO: TEST has success rate: 0.999, collision rate: 0.001, nav time: 10.600, total reward: 1790.9464, average return: 0.7360 -2021-11-10 11:14:16, INFO: Frequency of being in danger: 0.033 and average min separate distance in danger: 0.18 -2021-11-10 11:14:16, INFO: discomfor nums is 1471 and return is 0.7304 and length is 42381 -2021-11-10 11:14:16, INFO: Collision cases: 667 -2021-11-10 11:14:16, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [22:40<00:00, 1.36s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 11:14:18, INFO: Using device: cpu -2021-11-10 11:14:18, INFO: Loaded RL weights with best VAL -2021-11-10 11:14:18, INFO: Similarity_func: embedded_gaussian -2021-11-10 11:14:18, INFO: Layerwise_graph: False -2021-11-10 11:14:18, INFO: Skip_connection: True -2021-11-10 11:14:18, INFO: Number of layers: 2 -2021-11-10 11:14:18, INFO: Similarity_func: embedded_gaussian -2021-11-10 11:14:18, INFO: Layerwise_graph: False -2021-11-10 11:14:18, INFO: Skip_connection: True -2021-11-10 11:14:18, INFO: Number of layers: 2 -2021-11-10 11:14:18, INFO: Planning depth: 2 -2021-11-10 11:14:18, INFO: Planning width: 2 -2021-11-10 11:14:18, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 11:14:18, INFO: human number: 5 -2021-11-10 11:14:18, INFO: Not randomize human's radius and preferred speed -2021-11-10 11:14:18, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 11:14:18, INFO: Square width: 10, circle width: 4 -2021-11-10 11:14:18, INFO: rotation constraint: 3.141592653589793 -2021-11-10 11:14:18, INFO: Agent is invisible and has unicycle kinematic constraint - 54%|██████████████████████████████████████████████████▍ | 536/1000 [35:01<28:42, 3.71s/it]collision happen %f 7.75 - 55%|███████████████████████████████████████████████████▌ | 548/1000 [35:49<33:07, 4.40s/it]collision happen %f 11.0 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:05:07<00:00, 3.81s/it]2021-11-10 12:19:25, INFO: TEST has success rate: 0.998, collision rate: 0.002, nav time: 10.423, total reward: 1798.4600, average return: 0.7443 -2021-11-10 12:19:25, INFO: Frequency of being in danger: 0.028 and average min separate distance in danger: 0.19 -2021-11-10 12:19:25, INFO: discomfor nums is 1207 and return is 0.7392 and length is 41685 -2021-11-10 12:19:25, INFO: Collision cases: 536 548 -2021-11-10 12:19:25, INFO: Timeout cases: -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:05:07<00:00, 3.91s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 12:19:26, INFO: Using device: cpu -2021-11-10 12:19:26, INFO: Loaded RL weights with best VAL -2021-11-10 12:19:26, INFO: Similarity_func: concatenation -2021-11-10 12:19:26, INFO: Layerwise_graph: False -2021-11-10 12:19:26, INFO: Skip_connection: True -2021-11-10 12:19:26, INFO: Number of layers: 1 -2021-11-10 12:19:26, INFO: Similarity_func: concatenation -2021-11-10 12:19:26, INFO: Layerwise_graph: False -2021-11-10 12:19:26, INFO: Skip_connection: True -2021-11-10 12:19:26, INFO: Number of layers: 1 -2021-11-10 12:19:26, INFO: Planning depth: 1 -2021-11-10 12:19:26, INFO: Planning width: 10 -2021-11-10 12:19:26, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 12:19:26, INFO: human number: 5 -2021-11-10 12:19:26, INFO: Not randomize human's radius and preferred speed -2021-11-10 12:19:26, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 12:19:26, INFO: Square width: 10, circle width: 4 -2021-11-10 12:19:26, INFO: rotation constraint: 3.141592653589793 -2021-11-10 12:19:26, INFO: Agent is invisible and has unicycle kinematic constraint - 55%|███████████████████████████████████████████████████▌ | 548/1000 [02:30<02:04, 3.62it/s]collision happen %f 2.25 - 81%|████████████████████████████████████████████████████████████████████████████▏ | 810/1000 [03:43<00:52, 3.61it/s]collision happen %f 5.0 - 90%|█████████████████████████████████████████████████████████████████████████████████████ | 905/1000 [04:09<00:27, 3.45it/s]collision happen %f 4.5 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:35<00:00, 3.66it/s]2021-11-10 12:24:02, INFO: TEST has success rate: 0.997, collision rate: 0.003, nav time: 10.172, total reward: 1779.5206, average return: 0.7429 -2021-11-10 12:24:02, INFO: Frequency of being in danger: 0.022 and average min separate distance in danger: 0.18 -2021-11-10 12:24:02, INFO: discomfor nums is 927 and return is 0.7413 and length is 40612 -2021-11-10 12:24:02, INFO: Collision cases: 548 810 905 -2021-11-10 12:24:02, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:35<00:00, 3.62it/s] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 12:24:04, INFO: Using device: cpu -2021-11-10 12:24:04, INFO: Loaded RL weights with best VAL -2021-11-10 12:24:04, INFO: Similarity_func: concatenation -2021-11-10 12:24:04, INFO: Layerwise_graph: False -2021-11-10 12:24:04, INFO: Skip_connection: True -2021-11-10 12:24:04, INFO: Number of layers: 1 -2021-11-10 12:24:04, INFO: Similarity_func: concatenation -2021-11-10 12:24:04, INFO: Layerwise_graph: False -2021-11-10 12:24:04, INFO: Skip_connection: True -2021-11-10 12:24:04, INFO: Number of layers: 1 -2021-11-10 12:24:04, INFO: Planning depth: 2 -2021-11-10 12:24:04, INFO: Planning width: 10 -2021-11-10 12:24:04, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 12:24:04, INFO: human number: 5 -2021-11-10 12:24:04, INFO: Not randomize human's radius and preferred speed -2021-11-10 12:24:04, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 12:24:04, INFO: Square width: 10, circle width: 4 -2021-11-10 12:24:04, INFO: rotation constraint: 3.141592653589793 -2021-11-10 12:24:04, INFO: Agent is invisible and has unicycle kinematic constraint - 7%|██████▍ | 68/1000 [01:14<16:16, 1.05s/it]collision happen %f 4.75 - 26%|████████████████████████▉ | 265/1000 [04:49<12:32, 1.02s/it]collision happen %f 4.25 - 81%|████████████████████████████████████████████████████████████████████████████▏ | 810/1000 [14:41<03:26, 1.09s/it]collision happen %f 5.0 - 94%|████████████████████████████████████████████████████████████████████████████████████████ | 937/1000 [16:58<01:10, 1.13s/it]collision happen %f 4.5 - 95%|█████████████████████████████████████████████████████████████████████████████████████████▍ | 952/1000 [17:14<00:52, 1.09s/it]collision happen %f 4.5 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:05<00:00, 1.07s/it]2021-11-10 12:42:10, INFO: TEST has success rate: 0.995, collision rate: 0.005, nav time: 9.959, total reward: 1781.6846, average return: 0.7508 -2021-11-10 12:42:10, INFO: Frequency of being in danger: 0.016 and average min separate distance in danger: 0.18 -2021-11-10 12:42:10, INFO: discomfor nums is 657 and return is 0.7502 and length is 39727 -2021-11-10 12:42:10, INFO: Collision cases: 68 265 810 937 952 -2021-11-10 12:42:10, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:05<00:00, 1.09s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 12:42:11, INFO: Using device: cpu -2021-11-10 12:42:11, INFO: Loaded RL weights with best VAL -2021-11-10 12:42:11, INFO: Similarity_func: concatenation -2021-11-10 12:42:11, INFO: Layerwise_graph: False -2021-11-10 12:42:11, INFO: Skip_connection: True -2021-11-10 12:42:11, INFO: Number of layers: 1 -2021-11-10 12:42:11, INFO: Similarity_func: concatenation -2021-11-10 12:42:11, INFO: Layerwise_graph: False -2021-11-10 12:42:11, INFO: Skip_connection: True -2021-11-10 12:42:11, INFO: Number of layers: 1 -2021-11-10 12:42:11, INFO: Planning depth: 3 -2021-11-10 12:42:11, INFO: Planning width: 10 -2021-11-10 12:42:11, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 12:42:11, INFO: human number: 5 -2021-11-10 12:42:11, INFO: Not randomize human's radius and preferred speed -2021-11-10 12:42:11, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 12:42:11, INFO: Square width: 10, circle width: 4 -2021-11-10 12:42:11, INFO: rotation constraint: 3.141592653589793 -2021-11-10 12:42:11, INFO: Agent is invisible and has unicycle kinematic constraint - 7%|██████▎ | 68/1000 [05:39<1:11:26, 4.60s/it]collision happen %f 4.75 - 26%|████████████████████████▉ | 265/1000 [21:52<57:35, 4.70s/it]collision happen %f 4.25 - 81%|██████████████████████████████████████████████████████████████████████████▌ | 810/1000 [1:06:26<15:12, 4.80s/it]collision happen %f 5.0 - 97%|█████████████████████████████████████████████████████████████████████████████████████████▏ | 969/1000 [1:19:17<02:33, 4.94s/it]collision happen %f 10.75 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:21:47<00:00, 4.82s/it]2021-11-10 14:03:59, INFO: TEST has success rate: 0.996, collision rate: 0.004, nav time: 9.902, total reward: 1785.5789, average return: 0.7546 -2021-11-10 14:03:59, INFO: Frequency of being in danger: 0.017 and average min separate distance in danger: 0.18 -2021-11-10 14:03:59, INFO: discomfor nums is 680 and return is 0.7530 and length is 39547 -2021-11-10 14:03:59, INFO: Collision cases: 68 265 810 969 -2021-11-10 14:03:59, INFO: Timeout cases: -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:21:47<00:00, 4.91s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 14:04:01, INFO: Using device: cpu -2021-11-10 14:04:01, INFO: Loaded RL weights with best VAL -2021-11-10 14:04:01, INFO: Similarity_func: concatenation -2021-11-10 14:04:01, INFO: Layerwise_graph: False -2021-11-10 14:04:01, INFO: Skip_connection: True -2021-11-10 14:04:01, INFO: Number of layers: 1 -2021-11-10 14:04:01, INFO: Similarity_func: concatenation -2021-11-10 14:04:01, INFO: Layerwise_graph: False -2021-11-10 14:04:01, INFO: Skip_connection: True -2021-11-10 14:04:01, INFO: Number of layers: 1 -2021-11-10 14:04:01, INFO: Planning depth: 1 -2021-11-10 14:04:01, INFO: Planning width: 10 -2021-11-10 14:04:01, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 14:04:01, INFO: human number: 5 -2021-11-10 14:04:01, INFO: Not randomize human's radius and preferred speed -2021-11-10 14:04:01, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 14:04:01, INFO: Square width: 10, circle width: 4 -2021-11-10 14:04:01, INFO: rotation constraint: 3.141592653589793 -2021-11-10 14:04:01, INFO: Agent is invisible and has unicycle kinematic constraint - 15%|██████████████▎ | 152/1000 [00:41<03:49, 3.69it/s]collision happen %f 5.75 - 30%|████████████████████████████▍ | 303/1000 [01:22<02:54, 3.99it/s]collision happen %f 4.75 - 32%|██████████████████████████████▎ | 322/1000 [01:27<03:14, 3.48it/s]collision happen %f 5.0 - 41%|██████████████████████████████████████▋ | 411/1000 [01:52<02:36, 3.77it/s]collision happen %f 4.25 - 55%|███████████████████████████████████████████████████▌ | 548/1000 [02:29<02:05, 3.61it/s]collision happen %f 2.25 - 65%|█████████████████████████████████████████████████████████████▎ | 652/1000 [02:57<01:43, 3.37it/s]collision happen %f 3.25 - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [02:58<01:28, 3.90it/s]collision happen %f 3.25 - 82%|█████████████████████████████████████████████████████████████████████████████▎ | 822/1000 [03:43<00:48, 3.65it/s]collision happen %f 7.75 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:32<00:00, 3.74it/s]2021-11-10 14:08:33, INFO: TEST has success rate: 0.992, collision rate: 0.008, nav time: 10.075, total reward: 1773.4770, average return: 0.7410 -2021-11-10 14:08:33, INFO: Frequency of being in danger: 0.016 and average min separate distance in danger: 0.17 -2021-11-10 14:08:33, INFO: discomfor nums is 666 and return is 0.7420 and length is 40122 -2021-11-10 14:08:33, INFO: Collision cases: 152 303 322 411 548 652 656 822 -2021-11-10 14:08:33, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:32<00:00, 3.67it/s] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 14:08:34, INFO: Using device: cpu -2021-11-10 14:08:34, INFO: Loaded RL weights with best VAL -2021-11-10 14:08:34, INFO: Similarity_func: concatenation -2021-11-10 14:08:34, INFO: Layerwise_graph: False -2021-11-10 14:08:34, INFO: Skip_connection: True -2021-11-10 14:08:34, INFO: Number of layers: 1 -2021-11-10 14:08:34, INFO: Similarity_func: concatenation -2021-11-10 14:08:34, INFO: Layerwise_graph: False -2021-11-10 14:08:34, INFO: Skip_connection: True -2021-11-10 14:08:34, INFO: Number of layers: 1 -2021-11-10 14:08:34, INFO: Planning depth: 2 -2021-11-10 14:08:34, INFO: Planning width: 10 -2021-11-10 14:08:34, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 14:08:34, INFO: human number: 5 -2021-11-10 14:08:34, INFO: Not randomize human's radius and preferred speed -2021-11-10 14:08:34, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 14:08:34, INFO: Square width: 10, circle width: 4 -2021-11-10 14:08:34, INFO: rotation constraint: 3.141592653589793 -2021-11-10 14:08:34, INFO: Agent is invisible and has unicycle kinematic constraint - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [11:56<06:24, 1.12s/it]collision happen %f 3.75 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:13<00:00, 1.05s/it]2021-11-10 14:26:48, INFO: TEST has success rate: 0.999, collision rate: 0.001, nav time: 9.899, total reward: 1780.6627, average return: 0.7498 -2021-11-10 14:26:48, INFO: Frequency of being in danger: 0.013 and average min separate distance in danger: 0.17 -2021-11-10 14:26:48, INFO: discomfor nums is 576 and return is 0.7471 and length is 39573 -2021-11-10 14:26:48, INFO: Collision cases: 656 -2021-11-10 14:26:48, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:13<00:00, 1.09s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 14:26:50, INFO: Using device: cpu -2021-11-10 14:26:50, INFO: Loaded RL weights with best VAL -2021-11-10 14:26:50, INFO: Similarity_func: concatenation -2021-11-10 14:26:50, INFO: Layerwise_graph: False -2021-11-10 14:26:50, INFO: Skip_connection: True -2021-11-10 14:26:50, INFO: Number of layers: 1 -2021-11-10 14:26:50, INFO: Similarity_func: concatenation -2021-11-10 14:26:50, INFO: Layerwise_graph: False -2021-11-10 14:26:50, INFO: Skip_connection: True -2021-11-10 14:26:50, INFO: Number of layers: 1 -2021-11-10 14:26:50, INFO: Planning depth: 3 -2021-11-10 14:26:50, INFO: Planning width: 10 -2021-11-10 14:26:50, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 14:26:50, INFO: human number: 5 -2021-11-10 14:26:50, INFO: Not randomize human's radius and preferred speed -2021-11-10 14:26:50, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 14:26:50, INFO: Square width: 10, circle width: 4 -2021-11-10 14:26:50, INFO: rotation constraint: 3.141592653589793 -2021-11-10 14:26:50, INFO: Agent is invisible and has unicycle kinematic constraint - 39%|████████████████████████████████████▋ | 390/1000 [31:56<52:57, 5.21s/it]collision happen %f 5.75 - 42%|███████████████████████████████████████▍ | 420/1000 [34:30<53:53, 5.57s/it] 49%|██████████████████████████████████████████████▏ | 491/1000 [40:27<43:28, 5.12s/it]^CTraceback (most recent call last): - File "test.py", line 189, in - main(sys_args) - File "test.py", line 155, in main - explorer.run_k_episodes(env.case_size[args.phase], args.phase, print_failure=True) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/utils/explorer.py", line 58, in run_k_episodes - action, action_index = self.robot.act(ob) - File "/home/nubot1/workspace/2021TITS2/crowd_sim/envs/utils/robot.py", line 14, in act - action, action_index = self.policy.predict(state) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/policy/tree_searchrl.py", line 223, in predict - max_value, max_action_index, max_traj = self.V_planning(state_tensor, self.planning_depth, self.planning_width) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/policy/tree_searchrl.py", line 345, in V_planning - next_values, next_action_indexes, next_trajs = self.V_planning(next_state_batch, depth-1, cur_width) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/policy/tree_searchrl.py", line 345, in V_planning - next_values, next_action_indexes, next_trajs = self.V_planning(next_state_batch, depth-1, cur_width) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/policy/tree_searchrl.py", line 339, in V_planning - tensor_to_joint_state(cur_state), tensor_to_joint_state((next_robot_state, next_human_state))) - File "/home/nubot1/workspace/2021TITS2/crowd_nav/policy/reward_estimate.py", line 58, in estimate_reward_on_predictor - closest_dist = point_to_segment_dist(px, py, ex, ey, 0, 0) - human.radius - robot_state.radius - File "/home/nubot1/workspace/2021TITS2/crowd_sim/envs/utils/utils.py", line 15, in point_to_segment_dist - u = ((x3 - x1) * px + (y3 - y1) * py) / (px * px + py * py) -KeyboardInterrupt - 49%|██████████████████████████████████████████████▏ | 491/1000 [40:30<41:59, 4.95s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 15:07:21, INFO: Using device: cpu -2021-11-10 15:07:21, INFO: Loaded RL weights with best VAL -2021-11-10 15:07:21, INFO: Similarity_func: concatenation -2021-11-10 15:07:21, INFO: Layerwise_graph: False -2021-11-10 15:07:21, INFO: Skip_connection: True -2021-11-10 15:07:21, INFO: Number of layers: 1 -2021-11-10 15:07:21, INFO: Similarity_func: concatenation -2021-11-10 15:07:21, INFO: Layerwise_graph: False -2021-11-10 15:07:21, INFO: Skip_connection: True -2021-11-10 15:07:21, INFO: Number of layers: 1 -2021-11-10 15:07:21, INFO: Planning depth: 1 -2021-11-10 15:07:21, INFO: Planning width: 10 -2021-11-10 15:07:21, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 15:07:21, INFO: human number: 5 -2021-11-10 15:07:21, INFO: Not randomize human's radius and preferred speed -2021-11-10 15:07:21, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 15:07:21, INFO: Square width: 10, circle width: 4 -2021-11-10 15:07:21, INFO: rotation constraint: 3.141592653589793 -2021-11-10 15:07:21, INFO: Agent is invisible and has unicycle kinematic constraint - 15%|█████████████▋ | 146/1000 [00:41<03:57, 3.59it/s]collision happen %f 5.25 - 41%|██████████████████████████████████████▋ | 411/1000 [01:58<02:53, 3.39it/s]collision happen %f 4.25 - 78%|█████████████████████████████████████████████████████████████████████████▋ | 784/1000 [03:45<00:56, 3.85it/s]collision happen %f 5.0 - 87%|█████████████████████████████████████████████████████████████████████████████████▌ | 868/1000 [04:09<00:35, 3.72it/s]collision happen %f 4.5 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:46<00:00, 3.52it/s]2021-11-10 15:12:08, INFO: TEST has success rate: 0.996, collision rate: 0.004, nav time: 10.118, total reward: 1774.9803, average return: 0.7366 -2021-11-10 15:12:08, INFO: Frequency of being in danger: 0.024 and average min separate distance in danger: 0.18 -2021-11-10 15:12:08, INFO: discomfor nums is 999 and return is 0.7340 and length is 40387 -2021-11-10 15:12:08, INFO: Collision cases: 146 411 784 868 -2021-11-10 15:12:08, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [04:46<00:00, 3.49it/s] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 15:12:09, INFO: Using device: cpu -2021-11-10 15:12:09, INFO: Loaded RL weights with best VAL -2021-11-10 15:12:09, INFO: Similarity_func: concatenation -2021-11-10 15:12:09, INFO: Layerwise_graph: False -2021-11-10 15:12:09, INFO: Skip_connection: True -2021-11-10 15:12:09, INFO: Number of layers: 1 -2021-11-10 15:12:09, INFO: Similarity_func: concatenation -2021-11-10 15:12:09, INFO: Layerwise_graph: False -2021-11-10 15:12:09, INFO: Skip_connection: True -2021-11-10 15:12:09, INFO: Number of layers: 1 -2021-11-10 15:12:09, INFO: Planning depth: 2 -2021-11-10 15:12:09, INFO: Planning width: 10 -2021-11-10 15:12:09, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 15:12:09, INFO: human number: 5 -2021-11-10 15:12:09, INFO: Not randomize human's radius and preferred speed -2021-11-10 15:12:09, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 15:12:09, INFO: Square width: 10, circle width: 4 -2021-11-10 15:12:09, INFO: rotation constraint: 3.141592653589793 -2021-11-10 15:12:09, INFO: Agent is invisible and has unicycle kinematic constraint -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:43<00:00, 1.11s/it]2021-11-10 15:30:53, INFO: TEST has success rate: 1.000, collision rate: 0.000, nav time: 9.938, total reward: 1785.8073, average return: 0.7474 -2021-11-10 15:30:53, INFO: Frequency of being in danger: 0.020 and average min separate distance in danger: 0.18 -2021-11-10 15:30:53, INFO: discomfor nums is 818 and return is 0.7433 and length is 39751 -2021-11-10 15:30:53, INFO: Collision cases: -2021-11-10 15:30:53, INFO: Timeout cases: -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [18:43<00:00, 1.12s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 15:30:55, INFO: Using device: cpu -2021-11-10 15:30:55, INFO: Loaded RL weights with best VAL -2021-11-10 15:30:55, INFO: Similarity_func: concatenation -2021-11-10 15:30:55, INFO: Layerwise_graph: False -2021-11-10 15:30:55, INFO: Skip_connection: True -2021-11-10 15:30:55, INFO: Number of layers: 1 -2021-11-10 15:30:55, INFO: Similarity_func: concatenation -2021-11-10 15:30:55, INFO: Layerwise_graph: False -2021-11-10 15:30:55, INFO: Skip_connection: True -2021-11-10 15:30:55, INFO: Number of layers: 1 -2021-11-10 15:30:55, INFO: Planning depth: 3 -2021-11-10 15:30:55, INFO: Planning width: 10 -2021-11-10 15:30:55, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 15:30:55, INFO: human number: 5 -2021-11-10 15:30:55, INFO: Not randomize human's radius and preferred speed -2021-11-10 15:30:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 15:30:55, INFO: Square width: 10, circle width: 4 -2021-11-10 15:30:55, INFO: rotation constraint: 3.141592653589793 -2021-11-10 15:30:55, INFO: Agent is invisible and has unicycle kinematic constraint -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:25:17<00:00, 5.71s/it]2021-11-10 16:56:12, INFO: TEST has success rate: 1.000, collision rate: 0.000, nav time: 9.872, total reward: 1786.5664, average return: 0.7503 -2021-11-10 16:56:12, INFO: Frequency of being in danger: 0.019 and average min separate distance in danger: 0.18 -2021-11-10 16:56:12, INFO: discomfor nums is 775 and return is 0.7465 and length is 39489 -2021-11-10 16:56:12, INFO: Collision cases: -2021-11-10 16:56:12, INFO: Timeout cases: -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:25:17<00:00, 5.12s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 16:56:13, INFO: Using device: cpu -2021-11-10 16:56:13, INFO: Loaded RL weights with best VAL -2021-11-10 16:56:13, INFO: Similarity_func: embedded_gaussian -2021-11-10 16:56:13, INFO: Layerwise_graph: False -2021-11-10 16:56:13, INFO: Skip_connection: True -2021-11-10 16:56:13, INFO: Number of layers: 2 -2021-11-10 16:56:13, INFO: Similarity_func: embedded_gaussian -2021-11-10 16:56:13, INFO: Layerwise_graph: False -2021-11-10 16:56:13, INFO: Skip_connection: True -2021-11-10 16:56:13, INFO: Number of layers: 2 -2021-11-10 16:56:13, INFO: Planning depth: 1 -2021-11-10 16:56:13, INFO: Planning width: 2 -2021-11-10 16:56:13, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 16:56:13, INFO: human number: 5 -2021-11-10 16:56:13, INFO: Not randomize human's radius and preferred speed -2021-11-10 16:56:13, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 16:56:13, INFO: Square width: 10, circle width: 4 -2021-11-10 16:56:13, INFO: rotation constraint: 3.141592653589793 -2021-11-10 16:56:13, INFO: Agent is invisible and has unicycle kinematic constraint - 27%|█████████████████████████▊ | 274/1000 [06:20<15:43, 1.30s/it]collision happen %f 5.25 - 38%|███████████████████████████████████▌ | 378/1000 [08:50<16:29, 1.59s/it]timeout happen %f 29.25 - 53%|█████████████████████████████████████████████████▍ | 526/1000 [12:26<11:33, 1.46s/it]collision happen %f 6.0 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [23:25<00:00, 1.44s/it]2021-11-10 17:19:39, INFO: TEST has success rate: 0.997, collision rate: 0.002, nav time: 10.814, total reward: 1791.0935, average return: 0.7254 -2021-11-10 17:19:39, INFO: Frequency of being in danger: 0.018 and average min separate distance in danger: 0.18 -2021-11-10 17:19:39, INFO: discomfor nums is 819 and return is 0.7167 and length is 43290 -2021-11-10 17:19:39, INFO: Collision cases: 274 526 -2021-11-10 17:19:39, INFO: Timeout cases: 378 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [23:25<00:00, 1.41s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 17:19:41, INFO: Using device: cpu -2021-11-10 17:19:41, INFO: Loaded RL weights with best VAL -2021-11-10 17:19:41, INFO: Similarity_func: embedded_gaussian -2021-11-10 17:19:41, INFO: Layerwise_graph: False -2021-11-10 17:19:41, INFO: Skip_connection: True -2021-11-10 17:19:41, INFO: Number of layers: 2 -2021-11-10 17:19:41, INFO: Similarity_func: embedded_gaussian -2021-11-10 17:19:41, INFO: Layerwise_graph: False -2021-11-10 17:19:41, INFO: Skip_connection: True -2021-11-10 17:19:41, INFO: Number of layers: 2 -2021-11-10 17:19:41, INFO: Planning depth: 2 -2021-11-10 17:19:41, INFO: Planning width: 2 -2021-11-10 17:19:41, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 17:19:41, INFO: human number: 5 -2021-11-10 17:19:41, INFO: Not randomize human's radius and preferred speed -2021-11-10 17:19:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 17:19:41, INFO: Square width: 10, circle width: 4 -2021-11-10 17:19:41, INFO: rotation constraint: 3.141592653589793 -2021-11-10 17:19:41, INFO: Agent is invisible and has unicycle kinematic constraint - 40%|█████████████████████████████████████▊ | 402/1000 [25:57<40:20, 4.05s/it]collision happen %f 3.5 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:04:16<00:00, 3.94s/it]2021-11-10 18:23:57, INFO: TEST has success rate: 0.999, collision rate: 0.001, nav time: 10.550, total reward: 1797.8591, average return: 0.7373 -2021-11-10 18:23:57, INFO: Frequency of being in danger: 0.016 and average min separate distance in danger: 0.18 -2021-11-10 18:23:57, INFO: discomfor nums is 697 and return is 0.7314 and length is 42173 -2021-11-10 18:23:57, INFO: Collision cases: 402 -2021-11-10 18:23:57, INFO: Timeout cases: -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:04:16<00:00, 3.86s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 18:23:59, INFO: Using device: cpu -2021-11-10 18:23:59, INFO: Loaded RL weights with best VAL -2021-11-10 18:23:59, INFO: Similarity_func: embedded_gaussian -2021-11-10 18:23:59, INFO: Layerwise_graph: False -2021-11-10 18:23:59, INFO: Skip_connection: True -2021-11-10 18:23:59, INFO: Number of layers: 2 -2021-11-10 18:23:59, INFO: Similarity_func: embedded_gaussian -2021-11-10 18:23:59, INFO: Layerwise_graph: False -2021-11-10 18:23:59, INFO: Skip_connection: True -2021-11-10 18:23:59, INFO: Number of layers: 2 -2021-11-10 18:23:59, INFO: Planning depth: 1 -2021-11-10 18:23:59, INFO: Planning width: 2 -2021-11-10 18:23:59, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 18:23:59, INFO: human number: 5 -2021-11-10 18:23:59, INFO: Not randomize human's radius and preferred speed -2021-11-10 18:23:59, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 18:23:59, INFO: Square width: 10, circle width: 4 -2021-11-10 18:23:59, INFO: rotation constraint: 3.141592653589793 -2021-11-10 18:23:59, INFO: Agent is invisible and has unicycle kinematic constraint - 17%|███████████████▊ | 168/1000 [03:45<19:45, 1.43s/it]timeout happen %f 29.25 - 46%|██████████████████████████████████████████▊ | 455/1000 [10:15<11:53, 1.31s/it]collision happen %f 7.75 - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [14:50<07:46, 1.36s/it]collision happen %f 11.0 - 71%|██████████████████████████████████████████████████████████████████▍ | 707/1000 [15:57<06:01, 1.23s/it]collision happen %f 6.0 - 84%|██████████████████████████████████████████████████████████████████████████████▌ | 836/1000 [18:47<03:21, 1.23s/it]collision happen %f 11.0 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [22:26<00:00, 1.33s/it]2021-11-10 18:46:25, INFO: TEST has success rate: 0.995, collision rate: 0.004, nav time: 10.475, total reward: 1787.0371, average return: 0.7393 -2021-11-10 18:46:25, INFO: Frequency of being in danger: 0.018 and average min separate distance in danger: 0.17 -2021-11-10 18:46:25, INFO: discomfor nums is 778 and return is 0.7323 and length is 41950 -2021-11-10 18:46:25, INFO: Collision cases: 455 656 707 836 -2021-11-10 18:46:25, INFO: Timeout cases: 168 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [22:26<00:00, 1.35s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 18:46:27, INFO: Using device: cpu -2021-11-10 18:46:27, INFO: Loaded RL weights with best VAL -2021-11-10 18:46:27, INFO: Similarity_func: embedded_gaussian -2021-11-10 18:46:27, INFO: Layerwise_graph: False -2021-11-10 18:46:27, INFO: Skip_connection: True -2021-11-10 18:46:27, INFO: Number of layers: 2 -2021-11-10 18:46:27, INFO: Similarity_func: embedded_gaussian -2021-11-10 18:46:27, INFO: Layerwise_graph: False -2021-11-10 18:46:27, INFO: Skip_connection: True -2021-11-10 18:46:27, INFO: Number of layers: 2 -2021-11-10 18:46:27, INFO: Planning depth: 2 -2021-11-10 18:46:27, INFO: Planning width: 2 -2021-11-10 18:46:27, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 18:46:27, INFO: human number: 5 -2021-11-10 18:46:27, INFO: Not randomize human's radius and preferred speed -2021-11-10 18:46:27, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 18:46:27, INFO: Square width: 10, circle width: 4 -2021-11-10 18:46:27, INFO: rotation constraint: 3.141592653589793 -2021-11-10 18:46:27, INFO: Agent is invisible and has unicycle kinematic constraint - 17%|███████████████▊ | 168/1000 [10:38<57:22, 4.14s/it]timeout happen %f 29.25 - 46%|██████████████████████████████████████████▊ | 455/1000 [29:14<33:04, 3.64s/it]collision happen %f 7.75 - 50%|███████████████████████████████████████████████▍ | 505/1000 [32:20<31:05, 3.77s/it]collision happen %f 11.5 - 75%|██████████████████████████████████████████████████████████████████████▋ | 752/1000 [48:08<15:13, 3.68s/it]collision happen %f 10.0 - 84%|██████████████████████████████████████████████████████████████████████████████▌ | 836/1000 [53:28<10:43, 3.92s/it]collision happen %f 11.0 - 90%|████████████████████████████████████████████████████████████████████████████████████▎ | 897/1000 [57:26<06:49, 3.97s/it]collision happen %f 5.0 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:04:25<00:00, 3.91s/it]2021-11-10 19:50:52, INFO: TEST has success rate: 0.994, collision rate: 0.005, nav time: 10.233, total reward: 1792.4722, average return: 0.7486 -2021-11-10 19:50:52, INFO: Frequency of being in danger: 0.016 and average min separate distance in danger: 0.18 -2021-11-10 19:50:52, INFO: discomfor nums is 674 and return is 0.7439 and length is 40985 -2021-11-10 19:50:52, INFO: Collision cases: 455 505 752 836 897 -2021-11-10 19:50:52, INFO: Timeout cases: 168 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:04:25<00:00, 3.87s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 19:50:54, INFO: Using device: cpu -2021-11-10 19:50:54, INFO: Loaded RL weights with best VAL -2021-11-10 19:50:54, INFO: Similarity_func: embedded_gaussian -2021-11-10 19:50:54, INFO: Layerwise_graph: False -2021-11-10 19:50:54, INFO: Skip_connection: True -2021-11-10 19:50:54, INFO: Number of layers: 2 -2021-11-10 19:50:54, INFO: Similarity_func: embedded_gaussian -2021-11-10 19:50:54, INFO: Layerwise_graph: False -2021-11-10 19:50:54, INFO: Skip_connection: True -2021-11-10 19:50:54, INFO: Number of layers: 2 -2021-11-10 19:50:54, INFO: Planning depth: 1 -2021-11-10 19:50:54, INFO: Planning width: 2 -2021-11-10 19:50:54, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 19:50:54, INFO: human number: 5 -2021-11-10 19:50:54, INFO: Not randomize human's radius and preferred speed -2021-11-10 19:50:54, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 19:50:54, INFO: Square width: 10, circle width: 4 -2021-11-10 19:50:54, INFO: rotation constraint: 3.141592653589793 -2021-11-10 19:50:54, INFO: Agent is invisible and has unicycle kinematic constraint - 12%|██████████▉ | 116/1000 [02:50<21:47, 1.48s/it]collision happen %f 4.75 - 30%|████████████████████████████▏ | 300/1000 [07:15<21:06, 1.81s/it]timeout happen %f 29.25 - 31%|█████████████████████████████▍ | 313/1000 [07:37<17:01, 1.49s/it]collision happen %f 10.5 - 39%|████████████████████████████████████▋ | 390/1000 [09:27<16:36, 1.63s/it]collision happen %f 5.25 - 49%|██████████████████████████████████████████████▏ | 492/1000 [11:55<11:53, 1.41s/it]timeout happen %f 29.25 - 63%|██████████████████████████████████████████████████████████▉ | 627/1000 [15:11<09:19, 1.50s/it]timeout happen %f 29.25 - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [15:54<07:45, 1.35s/it]collision happen %f 6.25 - 70%|█████████████████████████████████████████████████████████████████▊ | 700/1000 [16:55<07:04, 1.42s/it]timeout happen %f 29.25 - 70%|█████████████████████████████████████████████████████████████████▉ | 702/1000 [17:01<09:33, 1.92s/it]timeout happen %f 29.25 - 70%|██████████████████████████████████████████████████████████████████ | 703/1000 [17:04<12:15, 2.48s/it]timeout happen %f 29.25 - 80%|██████████████████████████████████████████████████████████████████████████▉ | 797/1000 [19:21<04:44, 1.40s/it]timeout happen %f 29.25 - 86%|████████████████████████████████████████████████████████████████████████████████▉ | 861/1000 [20:53<03:23, 1.46s/it]collision happen %f 12.0 - 94%|████████████████████████████████████████████████████████████████████████████████████████ | 937/1000 [22:36<01:27, 1.39s/it]timeout happen %f 29.25 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [24:06<00:00, 1.40s/it]2021-11-10 20:15:01, INFO: TEST has success rate: 0.987, collision rate: 0.005, nav time: 10.816, total reward: 1773.6182, average return: 0.7183 -2021-11-10 20:15:01, INFO: Frequency of being in danger: 0.020 and average min separate distance in danger: 0.18 -2021-11-10 20:15:01, INFO: discomfor nums is 900 and return is 0.7046 and length is 43794 -2021-11-10 20:15:01, INFO: Collision cases: 116 313 390 656 861 -2021-11-10 20:15:01, INFO: Timeout cases: 300 492 627 700 702 703 797 937 -100%|█████████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [24:06<00:00, 1.45s/it] -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/torch/cuda/__init__.py:52: UserWarning: CUDA initialization: Unexpected error from cudaGetDeviceCount(). Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-10 20:15:02, INFO: Using device: cpu -2021-11-10 20:15:02, INFO: Loaded RL weights with best VAL -2021-11-10 20:15:02, INFO: Similarity_func: embedded_gaussian -2021-11-10 20:15:02, INFO: Layerwise_graph: False -2021-11-10 20:15:02, INFO: Skip_connection: True -2021-11-10 20:15:02, INFO: Number of layers: 2 -2021-11-10 20:15:02, INFO: Similarity_func: embedded_gaussian -2021-11-10 20:15:02, INFO: Layerwise_graph: False -2021-11-10 20:15:02, INFO: Skip_connection: True -2021-11-10 20:15:02, INFO: Number of layers: 2 -2021-11-10 20:15:02, INFO: Planning depth: 2 -2021-11-10 20:15:02, INFO: Planning width: 2 -2021-11-10 20:15:02, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 20:15:02, INFO: human number: 5 -2021-11-10 20:15:02, INFO: Not randomize human's radius and preferred speed -2021-11-10 20:15:02, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 20:15:02, INFO: Square width: 10, circle width: 4 -2021-11-10 20:15:02, INFO: rotation constraint: 3.141592653589793 -2021-11-10 20:15:02, INFO: Agent is invisible and has unicycle kinematic constraint - 1%|█ | 12/1000 [00:48<1:09:32, 4.22s/it]collision happen %f 11.75 - 2%|█▊ | 19/1000 [01:18<1:07:24, 4.12s/it]collision happen %f 4.0 - 12%|██████████▉ | 116/1000 [07:37<59:22, 4.03s/it]collision happen %f 5.0 - 28%|██████████████████████████▏ | 278/1000 [18:21<46:55, 3.90s/it]timeout happen %f 29.25 - 30%|████████████████████████████▏ | 300/1000 [19:55<51:16, 4.39s/it]timeout happen %f 29.25 - 39%|████████████████████████████████████▎ | 386/1000 [25:46<41:54, 4.09s/it]collision happen %f 12.25 - 39%|████████████████████████████████████▋ | 390/1000 [26:03<42:15, 4.16s/it]collision happen %f 6.0 - 49%|██████████████████████████████████████████████▏ | 492/1000 [32:53<33:19, 3.94s/it]timeout happen %f 29.25 - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [43:39<22:06, 3.86s/it]collision happen %f 6.25 - 70%|█████████████████████████████████████████████████████████████████▉ | 702/1000 [46:30<19:09, 3.86s/it]timeout happen %f 29.25 - 73%|████████████████████████████████████████████████████████████████████▉ | 734/1000 [48:45<18:26, 4.16s/it]collision happen %f 9.75 - 84%|██████████████████████████████████████████████████████████████████████████████▌ | 836/1000 [55:26<10:46, 3.94s/it]collision happen %f 11.0 - 85%|████████████████████████████████████████████████████████████████████████████████▎ | 854/1000 [56:35<09:19, 3.83s/it]collision happen %f 11.5 - 88%|██████████████████████████████████████████████████████████████████████████████████▎ | 876/1000 [58:03<07:52, 3.81s/it]timeout happen %f 29.25 - 94%|██████████████████████████████████████████████████████████████████████████████████████▏ | 937/1000 [1:02:17<04:20, 4.14s/it]timeout happen %f 29.25 - 96%|███████████████████████████████████████████████████████████████████████████████████████▊ | 955/1000 [1:03:39<03:11, 4.26s/it]collision happen %f 5.25 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:06:45<00:00, 3.95s/it]2021-11-10 21:21:48, INFO: TEST has success rate: 0.984, collision rate: 0.010, nav time: 10.532, total reward: 1769.3109, average return: 0.7225 -2021-11-10 21:21:48, INFO: Frequency of being in danger: 0.017 and average min separate distance in danger: 0.18 -2021-11-10 21:21:48, INFO: discomfor nums is 787 and return is 0.7144 and length is 42488 -2021-11-10 21:21:48, INFO: Collision cases: 12 19 116 386 390 656 734 836 854 955 -2021-11-10 21:21:48, INFO: Timeout cases: 278 300 492 702 876 937 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:06:45<00:00, 4.01s/it] - - - -中间间断的那一次 - -2021-11-10 21:33:29, INFO: Using device: cpu -2021-11-10 21:33:29, INFO: Loaded RL weights with best VAL -2021-11-10 21:33:29, INFO: Similarity_func: concatenation -2021-11-10 21:33:29, INFO: Layerwise_graph: False -2021-11-10 21:33:29, INFO: Skip_connection: True -2021-11-10 21:33:29, INFO: Number of layers: 1 -2021-11-10 21:33:29, INFO: Similarity_func: concatenation -2021-11-10 21:33:29, INFO: Layerwise_graph: False -2021-11-10 21:33:29, INFO: Skip_connection: True -2021-11-10 21:33:29, INFO: Number of layers: 1 -2021-11-10 21:33:29, INFO: Planning depth: 3 -2021-11-10 21:33:29, INFO: Planning width: 10 -2021-11-10 21:33:29, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 21:33:29, INFO: human number: 5 -2021-11-10 21:33:29, INFO: Not randomize human's radius and preferred speed -2021-11-10 21:33:29, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 21:33:29, INFO: Square width: 10, circle width: 4 -2021-11-10 21:33:29, INFO: rotation constraint: 3.141592653589793 -2021-11-10 21:33:29, INFO: Agent is invisible and has unicycle kinematic constraint - 39%|████████████████████████████████████▋ | 390/1000 [33:00<55:54, 5.50s/it]collision happen %f 5.75 - 66%|█████████████████████████████████████████████████████████████▋ | 656/1000 [55:36<29:21, 5.12s/it]collision happen %f 5.0 -100%|███████████████████████████████████████████████████████████████████████████████████████████| 1000/1000 [1:25:02<00:00, 5.05s/it]2021-11-10 22:58:32, INFO: TEST has success rate: 0.998, collision rate: 0.002, nav time: 9.829, total reward: 1779.4944, average return: 0.7509 -2021-11-10 22:58:32, INFO: Frequency of being in danger: 0.013 and average min separate distance in danger: 0.17 -2021-11-10 22:58:32, INFO: discomfor nums is 574 and return is 0.7487 and length is 39282 -2021-11-10 22:58:32, INFO: Collision cases: 390 656 -2021-11-10 22:58:32, INFO: Timeout cases: diff --git a/crowd_nav/social-forces-failing.txt b/crowd_nav/social-forces-failing.txt deleted file mode 100644 index 08d0be9..0000000 --- a/crowd_nav/social-forces-failing.txt +++ /dev/null @@ -1,277 +0,0 @@ - -Episode 0: -v: 0.00, 0.00, 0.01, 0.02, 0.05, 0.09, 0.14, 0.24, 0.24, 0.29, 0.34, 0.43, 0.43, 0.53, 0.58, 0.63, 0.67, 0.72, 0.77, -0.00, -0.00, 0.00, 0.04, 0.04, 0.07, 0.12, 0.22, 0.27, 0.32, 0.32, 0.37, 0.46, 0.51, 0.56, 0.66, 0.71, 0.85, 0.85, 0.85, 0.90, 0.95, 1.01, 1.35, 1.11, 1.15, 1.20, 1.30, 1.34, 1.03, 1.38, 1.40, 1.39, 1.39, 1.38, 1.38, 1.38, 1.38, 1.37, 1.36, 1.36, 1.35, 1.35, 1.34, 1.33, 1.33, 1.32, 1.63, 1.30, 1.62, 1.28, 1.27, 1.26, 1.25, 1.23, 1.22, 1.21, 1.20, 1.47, 1.15, 1.43, 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Did you run some cuda functions before calling NumCudaDevices() that might have already set an error? Error 804: forward compatibility was attempted on non supported HW (Triggered internally at /pytorch/c10/cuda/CUDAFunctions.cpp:115.) - return torch._C._cuda_getDeviceCount() > 0 -2021-11-09 21:06:15, INFO: Using device: cpu -2021-11-09 21:06:15, INFO: Loaded RL weights with best VAL -2021-11-09 21:06:15, INFO: Similarity_func: concatenation -2021-11-09 21:06:15, INFO: Layerwise_graph: False -2021-11-09 21:06:15, INFO: Skip_connection: True -2021-11-09 21:06:15, INFO: Number of layers: 1 -2021-11-09 21:06:15, INFO: Similarity_func: concatenation -2021-11-09 21:06:15, INFO: Layerwise_graph: False -2021-11-09 21:06:15, INFO: Skip_connection: True -2021-11-09 21:06:15, INFO: Number of layers: 1 -2021-11-09 21:06:15, INFO: Planning depth: 1 -2021-11-09 21:06:15, INFO: Planning width: 10 -2021-11-09 21:06:15, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 21:06:15, INFO: human number: 5 -2021-11-09 21:06:15, INFO: Not randomize human's radius and preferred speed -2021-11-09 21:06:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 21:06:15, INFO: Square width: 10, circle width: 4 -2021-11-09 21:06:15, INFO: rotation constraint: 3.141592653589793 -2021-11-09 21:06:15, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-09 21:11:03, INFO: Using device: cpu -2021-11-09 21:11:03, INFO: Loaded RL weights with best VAL -2021-11-09 21:11:03, INFO: Similarity_func: concatenation -2021-11-09 21:11:03, INFO: Layerwise_graph: False -2021-11-09 21:11:03, INFO: Skip_connection: True -2021-11-09 21:11:03, INFO: Number of layers: 1 -2021-11-09 21:11:03, INFO: Similarity_func: concatenation -2021-11-09 21:11:03, INFO: Layerwise_graph: False -2021-11-09 21:11:03, INFO: Skip_connection: True -2021-11-09 21:11:03, INFO: Number of layers: 1 -2021-11-09 21:11:03, INFO: Planning depth: 2 -2021-11-09 21:11:03, INFO: Planning width: 10 -2021-11-09 21:11:03, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 21:11:03, INFO: human number: 5 -2021-11-09 21:11:03, INFO: Not randomize human's radius and preferred speed -2021-11-09 21:11:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 21:11:03, INFO: Square width: 10, circle width: 4 -2021-11-09 21:11:03, INFO: rotation constraint: 3.141592653589793 -2021-11-09 21:11:03, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-09 21:30:07, INFO: Using device: cpu -2021-11-09 21:30:07, INFO: Loaded RL weights with best VAL -2021-11-09 21:30:07, INFO: Similarity_func: concatenation -2021-11-09 21:30:07, INFO: Layerwise_graph: False -2021-11-09 21:30:07, INFO: Skip_connection: True -2021-11-09 21:30:07, INFO: Number of layers: 1 -2021-11-09 21:30:07, INFO: Similarity_func: concatenation -2021-11-09 21:30:07, INFO: Layerwise_graph: False -2021-11-09 21:30:07, INFO: Skip_connection: True -2021-11-09 21:30:07, INFO: Number of layers: 1 -2021-11-09 21:30:07, INFO: Planning depth: 3 -2021-11-09 21:30:07, INFO: Planning width: 10 -2021-11-09 21:30:07, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 21:30:07, INFO: human number: 5 -2021-11-09 21:30:07, INFO: Not randomize human's radius and preferred speed -2021-11-09 21:30:07, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 21:30:07, INFO: Square width: 10, circle width: 4 -2021-11-09 21:30:07, INFO: rotation constraint: 3.141592653589793 -2021-11-09 21:30:07, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-09 22:54:17, INFO: Using device: cpu -2021-11-09 22:54:17, INFO: Loaded RL weights with best VAL -2021-11-09 22:54:17, INFO: Similarity_func: concatenation -2021-11-09 22:54:17, INFO: Layerwise_graph: False -2021-11-09 22:54:17, INFO: Skip_connection: True -2021-11-09 22:54:17, INFO: Number of layers: 1 -2021-11-09 22:54:17, INFO: Similarity_func: concatenation -2021-11-09 22:54:17, INFO: Layerwise_graph: False -2021-11-09 22:54:17, INFO: Skip_connection: True -2021-11-09 22:54:17, INFO: Number of layers: 1 -2021-11-09 22:54:17, INFO: Planning depth: 1 -2021-11-09 22:54:17, INFO: Planning width: 10 -2021-11-09 22:54:17, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 22:54:17, INFO: human number: 5 -2021-11-09 22:54:17, INFO: Not randomize human's radius and preferred speed -2021-11-09 22:54:17, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 22:54:17, INFO: Square width: 10, circle width: 4 -2021-11-09 22:54:17, INFO: rotation constraint: 3.141592653589793 -2021-11-09 22:54:17, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-09 22:58:52, INFO: Using device: cpu -2021-11-09 22:58:52, INFO: Loaded RL weights with best VAL -2021-11-09 22:58:52, INFO: Similarity_func: concatenation -2021-11-09 22:58:52, INFO: Layerwise_graph: False -2021-11-09 22:58:52, INFO: Skip_connection: True -2021-11-09 22:58:52, INFO: Number of layers: 1 -2021-11-09 22:58:52, INFO: Similarity_func: concatenation -2021-11-09 22:58:52, INFO: Layerwise_graph: False -2021-11-09 22:58:52, INFO: Skip_connection: True -2021-11-09 22:58:52, INFO: Number of layers: 1 -2021-11-09 22:58:52, INFO: Planning depth: 2 -2021-11-09 22:58:52, INFO: Planning width: 10 -2021-11-09 22:58:52, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 22:58:52, INFO: human number: 5 -2021-11-09 22:58:52, INFO: Not randomize human's radius and preferred speed -2021-11-09 22:58:52, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 22:58:52, INFO: Square width: 10, circle width: 4 -2021-11-09 22:58:52, INFO: rotation constraint: 3.141592653589793 -2021-11-09 22:58:52, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-09 23:18:16, INFO: Using device: cpu -2021-11-09 23:18:16, INFO: Loaded RL weights with best VAL -2021-11-09 23:18:16, INFO: Similarity_func: concatenation -2021-11-09 23:18:16, INFO: Layerwise_graph: False -2021-11-09 23:18:16, INFO: Skip_connection: True -2021-11-09 23:18:16, INFO: Number of layers: 1 -2021-11-09 23:18:16, INFO: Similarity_func: concatenation -2021-11-09 23:18:16, INFO: Layerwise_graph: False -2021-11-09 23:18:16, INFO: Skip_connection: True -2021-11-09 23:18:16, INFO: Number of layers: 1 -2021-11-09 23:18:16, INFO: Planning depth: 3 -2021-11-09 23:18:16, INFO: Planning width: 10 -2021-11-09 23:18:16, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-09 23:18:16, INFO: human number: 5 -2021-11-09 23:18:16, INFO: Not randomize human's radius and preferred speed -2021-11-09 23:18:16, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-09 23:18:16, INFO: Square width: 10, circle width: 4 -2021-11-09 23:18:16, INFO: rotation constraint: 3.141592653589793 -2021-11-09 23:18:16, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:43:41, INFO: Using device: cpu -2021-11-10 00:43:41, INFO: Loaded RL weights with best VAL -2021-11-10 00:43:41, INFO: Similarity_func: concatenation -2021-11-10 00:43:41, INFO: Layerwise_graph: False -2021-11-10 00:43:41, INFO: Skip_connection: True -2021-11-10 00:43:41, INFO: Number of layers: 1 -2021-11-10 00:43:41, INFO: Similarity_func: concatenation -2021-11-10 00:43:41, INFO: Layerwise_graph: False -2021-11-10 00:43:41, INFO: Skip_connection: True -2021-11-10 00:43:41, INFO: Number of layers: 1 -2021-11-10 00:43:41, INFO: Planning depth: 1 -2021-11-10 00:43:41, INFO: Planning width: 10 -2021-11-10 00:43:41, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:43:41, INFO: human number: 5 -2021-11-10 00:43:41, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:43:41, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:43:41, INFO: Square width: 10, circle width: 4 -2021-11-10 00:43:41, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:43:41, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:03, INFO: Using device: cpu -2021-11-10 00:46:03, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:03, INFO: Similarity_func: concatenation -2021-11-10 00:46:03, INFO: Layerwise_graph: False -2021-11-10 00:46:03, INFO: Skip_connection: True -2021-11-10 00:46:03, INFO: Number of layers: 1 -2021-11-10 00:46:03, INFO: Similarity_func: concatenation -2021-11-10 00:46:03, INFO: Layerwise_graph: False -2021-11-10 00:46:03, INFO: Skip_connection: True -2021-11-10 00:46:03, INFO: Number of layers: 1 -2021-11-10 00:46:03, INFO: Planning depth: 2 -2021-11-10 00:46:03, INFO: Planning width: 10 -2021-11-10 00:46:03, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:03, INFO: human number: 5 -2021-11-10 00:46:03, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:03, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:03, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:03, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:03, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:15, INFO: Using device: cpu -2021-11-10 00:46:15, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:15, INFO: Similarity_func: concatenation -2021-11-10 00:46:15, INFO: Layerwise_graph: False -2021-11-10 00:46:15, INFO: Skip_connection: True -2021-11-10 00:46:15, INFO: Number of layers: 1 -2021-11-10 00:46:15, INFO: Similarity_func: concatenation -2021-11-10 00:46:15, INFO: Layerwise_graph: False -2021-11-10 00:46:15, INFO: Skip_connection: True -2021-11-10 00:46:15, INFO: Number of layers: 1 -2021-11-10 00:46:15, INFO: Planning depth: 3 -2021-11-10 00:46:15, INFO: Planning width: 10 -2021-11-10 00:46:15, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:15, INFO: human number: 5 -2021-11-10 00:46:15, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:15, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:15, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:15, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:15, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:24, INFO: Using device: cpu -2021-11-10 00:46:24, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:24, INFO: Similarity_func: concatenation -2021-11-10 00:46:24, INFO: Layerwise_graph: False -2021-11-10 00:46:24, INFO: Skip_connection: True -2021-11-10 00:46:24, INFO: Number of layers: 1 -2021-11-10 00:46:24, INFO: Similarity_func: concatenation -2021-11-10 00:46:24, INFO: Layerwise_graph: False -2021-11-10 00:46:24, INFO: Skip_connection: True -2021-11-10 00:46:24, INFO: Number of layers: 1 -2021-11-10 00:46:24, INFO: Planning depth: 1 -2021-11-10 00:46:24, INFO: Planning width: 10 -2021-11-10 00:46:24, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:24, INFO: human number: 5 -2021-11-10 00:46:24, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:24, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:24, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:24, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:24, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:32, INFO: Using device: cpu -2021-11-10 00:46:32, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:32, INFO: Similarity_func: concatenation -2021-11-10 00:46:32, INFO: Layerwise_graph: False -2021-11-10 00:46:32, INFO: Skip_connection: True -2021-11-10 00:46:32, INFO: Number of layers: 1 -2021-11-10 00:46:32, INFO: Similarity_func: concatenation -2021-11-10 00:46:32, INFO: Layerwise_graph: False -2021-11-10 00:46:32, INFO: Skip_connection: True -2021-11-10 00:46:32, INFO: Number of layers: 1 -2021-11-10 00:46:32, INFO: Planning depth: 2 -2021-11-10 00:46:32, INFO: Planning width: 10 -2021-11-10 00:46:32, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:32, INFO: human number: 5 -2021-11-10 00:46:32, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:32, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:32, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:32, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:32, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:39, INFO: Using device: cpu -2021-11-10 00:46:39, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:39, INFO: Similarity_func: concatenation -2021-11-10 00:46:39, INFO: Layerwise_graph: False -2021-11-10 00:46:39, INFO: Skip_connection: True -2021-11-10 00:46:39, INFO: Number of layers: 1 -2021-11-10 00:46:39, INFO: Similarity_func: concatenation -2021-11-10 00:46:39, INFO: Layerwise_graph: False -2021-11-10 00:46:39, INFO: Skip_connection: True -2021-11-10 00:46:39, INFO: Number of layers: 1 -2021-11-10 00:46:39, INFO: Planning depth: 3 -2021-11-10 00:46:39, INFO: Planning width: 10 -2021-11-10 00:46:39, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:39, INFO: human number: 5 -2021-11-10 00:46:39, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:39, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:39, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:39, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:39, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:49, INFO: Using device: cpu -2021-11-10 00:46:49, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:49, INFO: Similarity_func: concatenation -2021-11-10 00:46:49, INFO: Layerwise_graph: False -2021-11-10 00:46:49, INFO: Skip_connection: True -2021-11-10 00:46:49, INFO: Number of layers: 1 -2021-11-10 00:46:49, INFO: Similarity_func: concatenation -2021-11-10 00:46:49, INFO: Layerwise_graph: False -2021-11-10 00:46:49, INFO: Skip_connection: True -2021-11-10 00:46:49, INFO: Number of layers: 1 -2021-11-10 00:46:49, INFO: Planning depth: 1 -2021-11-10 00:46:49, INFO: Planning width: 10 -2021-11-10 00:46:49, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:49, INFO: human number: 5 -2021-11-10 00:46:49, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:49, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:49, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:49, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:49, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:46:55, INFO: Using device: cpu -2021-11-10 00:46:55, INFO: Loaded RL weights with best VAL -2021-11-10 00:46:55, INFO: Similarity_func: concatenation -2021-11-10 00:46:55, INFO: Layerwise_graph: False -2021-11-10 00:46:55, INFO: Skip_connection: True -2021-11-10 00:46:55, INFO: Number of layers: 1 -2021-11-10 00:46:55, INFO: Similarity_func: concatenation -2021-11-10 00:46:55, INFO: Layerwise_graph: False -2021-11-10 00:46:55, INFO: Skip_connection: True -2021-11-10 00:46:55, INFO: Number of layers: 1 -2021-11-10 00:46:55, INFO: Planning depth: 2 -2021-11-10 00:46:55, INFO: Planning width: 10 -2021-11-10 00:46:55, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:46:55, INFO: human number: 5 -2021-11-10 00:46:55, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:46:55, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:46:55, INFO: Square width: 10, circle width: 4 -2021-11-10 00:46:55, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:46:55, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0 -2021-11-10 00:47:00, INFO: Using device: cpu -2021-11-10 00:47:00, INFO: Loaded RL weights with best VAL -2021-11-10 00:47:00, INFO: Similarity_func: concatenation -2021-11-10 00:47:00, INFO: Layerwise_graph: False -2021-11-10 00:47:00, INFO: Skip_connection: True -2021-11-10 00:47:00, INFO: Number of layers: 1 -2021-11-10 00:47:00, INFO: Similarity_func: concatenation -2021-11-10 00:47:00, INFO: Layerwise_graph: False -2021-11-10 00:47:00, INFO: Skip_connection: True -2021-11-10 00:47:00, INFO: Number of layers: 1 -2021-11-10 00:47:00, INFO: Planning depth: 3 -2021-11-10 00:47:00, INFO: Planning width: 10 -2021-11-10 00:47:00, INFO: Sparse search: None -/home/nubot1/anaconda3/envs/sgdqn/lib/python3.6/site-packages/gym/logger.py:30: UserWarning: WARN: Box bound precision lowered by casting to float32 - warnings.warn(colorize('%s: %s'%('WARN', msg % args), 'yellow')) -2021-11-10 00:47:00, INFO: human number: 5 -2021-11-10 00:47:00, INFO: Not randomize human's radius and preferred speed -2021-11-10 00:47:00, INFO: Training simulation: circle_crossing, test simulation: circle_crossing -2021-11-10 00:47:00, INFO: Square width: 10, circle width: 4 -2021-11-10 00:47:00, INFO: rotation constraint: 3.141592653589793 -2021-11-10 00:47:00, INFO: Agent is invisible and has unicycle kinematic constraint - 0%| | 0/1000 [00:00 0.5: - sign = -1 - else: - sign = 1 - while True: - px = np.random.random() * self.square_width * 0.5 * sign - py = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - if norm((px - agent.px, py - agent.py)) < human.radius + agent.radius + self.discomfort_dist: - collide = True - break - if not collide: - break - while True: - gx = np.random.random() * self.square_width * 0.5 * (- sign) - gy = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - if norm((gx - agent.gx, gy - agent.gy)) < human.radius + agent.radius + self.discomfort_dist: - collide = True - break - if not collide: - break - human.start_pos.append((px, py)) - human.set(px, py, gx, gy, 0, 0, 0) - elif square is True and non_stop is True: - if np.random.random() > 0.5: - sign = -1 - else: - sign = 1 - goal_count = 0 - while True: - goal_count = goal_count + 1 - px = human.px - py = human.py - gx = np.random.random() * self.square_width * 0.5 * (- sign) - gy = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - min_dist = human.radius + agent.radius + self.discomfort_dist - # if norm((px - agent.px, py - agent.py)) == 0.0: - # break - if norm((gx - agent.gx, gy - agent.gy))= 0: - # np.random.seed(base_seed[phase] + self.case_counter[phase]) - # random.seed(base_seed[phase] + self.case_counter[phase]) - # random.seed(2100) - - if phase == 'test': - logging.debug('current test seed is:{}'.format(base_seed[phase] + self.case_counter[phase])) - # print('current test seed is:{}'.format(base_seed[phase] + self.case_counter[phase])) - if not self.robot.policy.multiagent_training and phase in ['train', 'val']: - human_num = 1 - self.current_scenario = 'circle_crossing' - else: - self.current_scenario = self.test_scenario - human_num = self.human_num - self.humans = [] - for i in range(human_num): - if self.current_scenario == 'circle_crossing': - if human_num > 5 and i > 4: - self.humans.append(self.generate_human(square=True)) - else: - self.humans.append(self.generate_human()) - else: - self.humans.append(self.generate_human(square=True)) - - # case_counter is always between 0 and case_size[phase] - self.case_counter[phase] = (self.case_counter[phase] + 1) % self.case_size[phase] - else: - assert phase == 'test' - if self.case_counter[phase] == -1: - # for debugging purposes - self.human_num = 3 - self.humans = [Human(self.config, 'humans') for _ in range(self.human_num)] - self.humans[0].set(0, -6, 0, 5, 0, 0, np.pi / 2) - self.humans[1].set(-5, -5, -5, 5, 0, 0, np.pi / 2) - self.humans[2].set(5, -5, 5, 5, 0, 0, np.pi / 2) - else: - raise NotImplementedError - for agent in [self.robot] + self.humans: - agent.time_step = self.time_step - agent.policy.time_step = self.time_step - - if self.centralized_planning: - self.centralized_planner.time_step = self.time_step - - self.states = list() - self.robot_actions = list() - self.rewards = list() - if hasattr(self.robot.policy, 'action_values'): - self.action_values = list() - if hasattr(self.robot.policy, 'get_attention_weights'): - self.attention_weights = list() - if hasattr(self.robot.policy, 'get_matrix_A'): - self.As = list() - if hasattr(self.robot.policy, 'get_feat'): - self.feats = list() - if hasattr(self.robot.policy, 'get_X'): - self.Xs = list() - if hasattr(self.robot.policy, 'traj'): - self.trajs = list() - - # get current observation - if self.robot.sensor == 'coordinates': - ob = self.compute_observation_for(self.robot) - elif self.robot.sensor == 'RGB': - raise NotImplementedError - - return ob - - def onestep_lookahead(self, action): - return self.step(action, update=False) - - def step(self, action, update=True): - """ - Compute actions for all agents, detect collision, update environment and return (ob, reward, done, info) - """ - if self.centralized_planning: - agent_states = [human.get_full_state() for human in self.humans] - if self.robot.visible: - agent_states.append(self.robot.get_full_state()) - human_actions = self.centralized_planner.predict(agent_states)[:-1] - else: - human_actions = self.centralized_planner.predict(agent_states) - else: - human_actions = [] - for human in self.humans: - ob = self.compute_observation_for(human) - human_actions.append(human.act(ob)) - - weight_goal = self.goal_factor - weight_safe = self.discomfort_penalty_factor - weight_terminal = 1.0 - re_collision = self.collision_penalty - re_arrival = self.success_reward - # collision detection - dmin = float('inf') - collision = False - safety_penalty = 0.0 - num_discom = 0 - for i, human in enumerate(self.humans): - px = human.px - self.robot.px - py = human.py - self.robot.py - if self.robot.kinematics == 'holonomic': - vx = human_actions[i].vx - action.vx - vy = human_actions[i].vy - action.vy - else: - vx = human_actions[i].vx - action.v * np.cos(action.r + self.robot.theta) - vy = human_actions[i].vy - action.v * np.sin(action.r + self.robot.theta) - ex = px + vx * self.time_step - ey = py + vy * self.time_step - # closest distance between boundaries of two agents - closest_dist = point_to_segment_dist(px, py, ex, ey, 0, 0) - human.radius - self.robot.radius - if closest_dist < 0: - collision = True - logging.debug("Collision: distance between robot and p{} is {:.2E} at time {:.2E}".format(human.id, closest_dist, self.global_time)) - if closest_dist < dmin: - dmin = closest_dist - if closest_dist < self.discomfort_dist: - safety_penalty = safety_penalty + (closest_dist - self.discomfort_dist) - num_discom = num_discom + 1 - # dis_begin = np.sqrt(px**2 + py**2) - human.radius - self.robot.radius - # dis_end = np.sqrt(ex**2 + ey**2) - human.radius - self.robot.radius - # penalty_begin = 0 - # penalty_end = 0 - # if dis_begin < self.discomfort_dist: - # penalty_begin = dis_begin - self.discomfort_dist - # if dis_end < self.discomfort_dist: - # penalty_end = dis_end - self.discomfort_dist - # safety_penalty = safety_penalty + (penalty_end - penalty_begin) - - # collision detection between humans - human_num = len(self.humans) - for i in range(human_num): - for j in range(i + 1, human_num): - dx = self.humans[i].px - self.humans[j].px - dy = self.humans[i].py - self.humans[j].py - dist = (dx ** 2 + dy ** 2) ** (1 / 2) - self.humans[i].radius - self.humans[j].radius - if dist < 0: - # detect collision but don't take humans' collision into account - logging.debug('Collision happens between humans in step()') - - # check if reaching the goal - end_position = np.array(self.robot.compute_position(action, self.time_step)) - cur_position = np.array((self.robot.px, self.robot.py)) - goal_position = np.array(self.robot.get_goal_position()) - reward_goal = (norm(cur_position - goal_position) - norm(end_position - goal_position)) - reaching_goal = norm(end_position - goal_position) < self.robot.radius - delta_w = 0.0 - if delta_w < 0.5: - reward_omega = -0.01 * (0.5 - delta_w) * (0.5 - delta_w) - else: - reward_omega = 0.0 - reward_col = 0.0 - reward_arrival = 0.0 - if self.global_time >= self.time_limit - 1: - done = True - info = Timeout() - elif collision: - reward_col = re_collision - done = True - info = Collision() - elif reaching_goal: - reward_arrival = re_arrival - done = True - info = ReachGoal() - elif dmin < self.discomfort_dist: - done = False - info = Discomfort(dmin) - info.num = num_discom - else: - done = False - info = Nothing() - reward_terminal = reward_arrival + reward_col - reward = weight_terminal * reward_terminal + weight_goal * reward_goal + weight_safe * safety_penalty - - if update: - # store state, action value and attention weights - if hasattr(self.robot.policy, 'action_values'): - self.action_values.append(self.robot.policy.action_values) - if hasattr(self.robot.policy, 'get_attention_weights'): - self.attention_weights.append(self.robot.policy.get_attention_weights()) - if hasattr(self.robot.policy, 'get_matrix_A'): - self.As.append(self.robot.policy.get_matrix_A()) - if hasattr(self.robot.policy, 'get_feat'): - self.feats.append(self.robot.policy.get_feat()) - if hasattr(self.robot.policy, 'get_X'): - self.Xs.append(self.robot.policy.get_X()) - if hasattr(self.robot.policy, 'traj'): - self.trajs.append(self.robot.policy.get_traj()) - - # update all agents - self.robot.step(action) - for human, action in zip(self.humans, human_actions): - human.step(action) - if self.nonstop_human and human.reached_destination(): - human.reach_count = human.reach_count + 1 - if human.reach_count == 2: - if self.current_scenario == 'circle_crossing': - self.generate_human(human, non_stop=True) - human.reach_count = 0 - else: - self.generate_human(human, non_stop=True, square=True) - human.reach_count = 0 - - self.global_time += self.time_step - self.states.append([self.robot.get_full_state(), [human.get_full_state() for human in self.humans], - [human.id for human in self.humans]]) - self.robot_actions.append(action) - self.rewards.append(reward) - - # compute the observation - if self.robot.sensor == 'coordinates': - ob = self.compute_observation_for(self.robot) - elif self.robot.sensor == 'RGB': - raise NotImplementedError - else: - if self.robot.sensor == 'coordinates': - ob = [human.get_next_observable_state(action) for human, action in zip(self.humans, human_actions)] - elif self.robot.sensor == 'RGB': - raise NotImplementedError - - return ob, reward, done, info - - def peds_predict(self, agent_states, robot_state): - if self.robot.visible: - agent_states.append(robot_state) - human_actions = self.centralized_planner.predict(agent_states)[:-1] - else: - human_actions = self.centralized_planner.predict(agent_states) - return human_actions - - def compute_observation_for(self, agent): - if agent == self.robot: - ob = [] - for human in self.humans: - if self.test_changing_size is False: - ob.append(human.get_observable_state()) - else: - dis2 = (human.px - agent.px) * (human.px - agent.px) + (human.py - agent.py) * (human.py - agent.py) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - ob.append(human.get_observable_state()) - else: - ob = [other_human.get_observable_state() for other_human in self.humans if other_human != agent] - if self.robot.visible: - ob += [self.robot.get_observable_state()] - return ob - - def render(self, mode='video', output_file=None): - from matplotlib import animation - import matplotlib.pyplot as plt - # plt.rcParams['animation.ffmpeg_path'] = '/usr/bin/ffmpeg' - x_offset = 0.3 - y_offset = 0.4 - cmap = plt.cm.get_cmap('terrain', 200) - cmap2 = plt.cm.get_cmap('tab10', 10) - robot_color = 'black' - arrow_style = patches.ArrowStyle.Fancy(head_length=4, head_width=2, tail_width=.6) - - # patches.ArrowStyle("->", head_length=4, head_width=2) - display_numbers = True - - if mode == 'traj': - fig, ax = plt.subplots(figsize=(7, 7)) - ax.axis('equal') - ax.tick_params(labelsize=16) - ax.set_xlim(-self.panel_width/2, self.panel_width/2) - ax.set_ylim(-self.panel_height/2, self.panel_height/2) - ax.set_xlabel('x(m)', fontsize=16) - ax.set_ylabel('y(m)', fontsize=16) - - # add human start positions and goals - human_colors = [cmap2(i) for i in range(len(self.humans))] - for i in range(len(self.humans)): - human = self.humans[i] - human_goal = mlines.Line2D([human.get_goal_position()[0]], [human.get_goal_position()[1]], - color=human_colors[i], - marker='*', linestyle='None', markersize=10) - ax.add_artist(human_goal) - for j in range(len(human.start_pos)): - pos = human.start_pos[j] - if j ==0: - test_start = mlines.Line2D([pos[0]], [pos[1]], color=human_colors[i], marker=4, - linestyle='None', markersize=10) - else: - test_start = mlines.Line2D([pos[0]], [pos[1]], color=human_colors[i], marker='s', - linestyle='None', markersize=10) - ax.add_artist(test_start) - # human_start = mlines.Line2D([human.get_start_position()[0]], [human.get_start_position()[1]], - # color=human_colors[i], - # marker='s', linestyle='None', markersize=10) - # ax.add_artist(human_start) - - robot_positions = [self.states[i][0].position for i in range(len(self.states))] - human_positions = [[self.states[i][1][j].position for j in range(len(self.humans))] - for i in range(len(self.states))] - - for k in range(len(self.states)): - if k % 4 == 0 or k == len(self.states) - 1: - robot = plt.Circle(robot_positions[k], self.robot.radius/4, fill=True, color=robot_color) - humans = [plt.Circle(human_positions[k][i], self.humans[i].radius/4, fill=True, color=human_colors[i]) - for i in range(len(self.humans))] - ax.add_artist(robot) - for human in humans: - ax.add_artist(human) - - # add time annotation - global_time = k * self.time_step - if global_time % 5 == 0 or k == len(self.states) - 1: - agents = humans + [robot] - times = [plt.text(agents[i].center[0]+0.1, agents[i].center[1]+0.1, - '{:.1f}'.format(global_time), - color='black', fontsize=12) for i in range(self.human_num + 1)] - for time in times: - ax.add_artist(time) - if k != 0: - nav_direction = plt.arrow(self.states[k - 1][0].px, self.states[k - 1][0].py, - self.states[k][0].px - self.states[k - 1][0].px, - self.states[k][0].py - self.states[k - 1][0].py, - length_includes_head=True, head_width=0.08, lw=0.8, color='black') - human_directions = [plt.arrow(self.states[k - 1][1][i].px, self.states[k - 1][1][i].py, self.states[k][1][i].px - self.states[k - 1][1][i].px,self.states[k][1][i].py - self.states[k - 1][1][i].py, - length_includes_head=True, head_width=0.08, lw=0.5, - color=human_colors[i]) for i in range(self.human_num)] - # - # human_directions = [plt.Line2D((self.states[k - 1][1][i].px, self.states[k][1][i].px), - # (self.states[k - 1][1][i].py, self.states[k][1][i].py), - # color=human_colors[i], ls='solid') - # for i in range(self.human_num)] - ax.add_artist(nav_direction) - for human_direction in human_directions: - ax.add_artist(human_direction) - plt.legend([robot], ['Robot'], fontsize=16) - plt.show() - elif mode == 'video': - fig, ax = plt.subplots(figsize=(7, 7)) - ax.tick_params(labelsize=12) - ax.set_xlim(-self.panel_width/2, self.panel_width/2) - ax.set_ylim(-self.panel_height/2, self.panel_height/2) - ax.set_xlabel('x(m)', fontsize=14) - ax.set_ylabel('y(m)', fontsize=14) - show_human_start_goal = False - robot_color = 'black' - # add human start positions and goals - human_colors = [cmap(20) for i in range(len(self.humans))] - if False: - for i in range(len(self.humans)): - human = self.humans[i] - human_goal = mlines.Line2D([human.get_goal_position()[0]], [human.get_goal_position()[1]], - color=human_colors[i], - marker='*', linestyle='None', markersize=8) - ax.add_artist(human_goal) - human_start = mlines.Line2D([human.get_start_position()[0]], [human.get_start_position()[1]], - color=human_colors[i], - marker='o', linestyle='None', markersize=8) - ax.add_artist(human_start) - # add robot start position - robot_start = mlines.Line2D([self.robot.get_start_position()[0]], [self.robot.get_start_position()[1]], - color=robot_color, - marker='o', linestyle='None', markersize=15) - robot_start_position = [self.robot.get_start_position()[0], self.robot.get_start_position()[1]] - ax.add_artist(robot_start) - # add robot and its goal - robot_positions = [state[0].position for state in self.states] - goal = mlines.Line2D([self.robot.get_goal_position()[0]], [self.robot.get_goal_position()[1]], - color='red', marker='*', linestyle='None', - markersize=15, label='Goal') - robot = plt.Circle(robot_positions[0], self.robot.radius, fill=True, color="blue") - # sensor_range = plt.Circle(robot_positions[0], self.robot_sensor_range, fill=False, ls='dashed') - ax.add_artist(robot) - ax.add_artist(goal) - - if len(self.humans) == 0: - if display_numbers: - if hasattr(self.robot.policy, 'get_attention_weights'): - attentions =[plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]),color='black',fontsize=12)] - # add time annotation - time = plt.text(0.4, 1.02, 'Time: {}'.format(0), fontsize=20, transform=ax.transAxes) - ax.add_artist(time) - radius = self.robot.radius - orientations = [] - for i in range(self.human_num + 1): - orientation = [] - for state in self.states: - agent_state = state[0] if i == 0 else state[1][i - 1] - if self.robot.kinematics == 'unicycle' and i == 0: - direction = ( - (agent_state.px, agent_state.py), (agent_state.px + radius * np.cos(agent_state.theta), - agent_state.py + radius * np.sin(agent_state.theta))) - else: - theta = np.arctan2(agent_state.vy, agent_state.vx) - direction = ((agent_state.px, agent_state.py), (agent_state.px + 1.5*radius * np.cos(theta), - agent_state.py + 1.5*radius * np.sin(theta))) - orientation.append(direction) - orientations.append(orientation) - if i == 0: - robot_arrow_color = 'red' - arrows = [patches.FancyArrowPatch(*orientation[0], color=robot_arrow_color, arrowstyle=arrow_style)] - else: - human_arrow_color = 'red' - arrows.extend( - [patches.FancyArrowPatch(*orientation[0], color=human_arrow_color, arrowstyle=arrow_style)]) - - for arrow in arrows: - ax.add_artist(arrow) - global_step = 0 - else: - # add humans and their numbers - human_positions = [[state[1][j].position for j in range(len(self.humans))] for state in self.states] - humans = [plt.Circle(human_positions[0][i], self.humans[i].radius, fill=False, color=human_colors[i]) - for i in range(len(self.humans))] - plt.legend([robot, humans[0], goal], ['Robot', 'Human', 'Goal'], fontsize=14) - # disable showing human numbers - if display_numbers: - human_numbers = [plt.text(humans[i].center[0] - x_offset, humans[i].center[1] + y_offset, str(i+1), - color='black', fontsize=12) for i in range(len(self.humans))] - if hasattr(self.robot.policy, 'get_attention_weights'): - if self.test_changing_size is True: - robot_attention = [plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]), color='black', - fontsize=12)] - human_attentions = [] - count = 0 - for i in range(len(self.humans)): - human = humans[i] - dis2 = (human.center[0] - robot.center[0]) * (human.center[0] - robot.center[0]) + ( - human.center[1] - robot.center[1]) * (human.center[1] - robot.center[1]) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - human_attentions = human_attentions + [ - plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][count + 1]), - color='black', fontsize=12)] - count = count + 1 - else: - human_attentions = human_attentions + [ - plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, - 'n', - color='red', fontsize=12)] - attentions = robot_attention + human_attentions - else: - attentions =[plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]),color='black',fontsize=12)] + \ - [plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, '{:.2f}'.format(self.attention_weights[0][i+1]), - color='black',fontsize=12) for i in range(len(self.humans))] - for i, human in enumerate(humans): - ax.add_artist(human) - if display_numbers: - ax.add_artist(human_numbers[i]) - - # add time annotation - time = plt.text(0.32, 1.02, 'Time: {}'.format(0), fontsize=25, transform=ax.transAxes) - ax.add_artist(time) - - # visualize attention scores - # if hasattr(self.robot.policy, 'get_attention_weights'): - # attention_scores = [plt.text(-5.5, 5, 'robot {}: {:.2f}'.format(0, self.attention_weights[0][0]), - # fontsize=16)] + [plt.text(-5.5, 5 - 0.5 * (i+1), 'Human {}: {:.2f}'.format(i+1, self.attention_weights[0][i+1]), - # fontsize=16) for i in range(len(self.humans))] - - # compute orientation in each step and use arrow to show the direction - radius = self.robot.radius - orientations = [] - for i in range(self.human_num + 1): - orientation = [] - for state in self.states: - agent_state = state[0] if i == 0 else state[1][i - 1] - if self.robot.kinematics == 'unicycle' and i == 0: - direction = ( - (agent_state.px, agent_state.py), (agent_state.px + radius * np.cos(agent_state.theta), - agent_state.py + radius * np.sin(agent_state.theta))) - else: - theta = np.arctan2(agent_state.vy, agent_state.vx) - direction = ((agent_state.px, agent_state.py), (agent_state.px + 1.5*radius * np.cos(theta), - agent_state.py + 1.5*radius * np.sin(theta))) - orientation.append(direction) - orientations.append(orientation) - if i == 0: - robot_arrow_color = 'red' - arrows = [patches.FancyArrowPatch(*orientation[0], color=robot_arrow_color, arrowstyle=arrow_style)] - else: - human_arrow_color = 'red' - arrows.extend( - [patches.FancyArrowPatch(*orientation[0], color=human_arrow_color, arrowstyle=arrow_style)]) - - for arrow in arrows: - ax.add_artist(arrow) - global_step = 0 - - # if len(self.trajs) != 0: - # human_future_positions = [] - # human_future_circles = [] - # for traj in self.trajs: - # human_future_position = [[tensor_to_joint_state(traj[step+1][0]).human_states[i].position - # for step in range(self.robot.policy.planning_depth)] - # for i in range(self.human_num)] - # human_future_positions.append(human_future_position) - # - # for i in range(self.human_num): - # circles = [] - # for j in range(self.robot.policy.planning_depth): - # circle = plt.Circle(human_future_positions[0][i][j], self.humans[0].radius/(1.7+j), fill=False, color=cmap(i)) - # ax.add_artist(circle) - # circles.append(circle) - # human_future_circles.append(circles) - - # add human start positions and goals - - robot_trajs = [plt.Circle(robot_positions[0], self.robot.radius/8, fill=True, color="blue")] - ax.add_artist(robot_trajs[-1]) - - def update(frame_num): - nonlocal global_step - nonlocal arrows - # nonlocal scores - global_step = frame_num - robot.center = robot_positions[frame_num] - if self.human_num >0: - for i, human in enumerate(humans): - human.center = human_positions[frame_num][i] - if display_numbers: - human_numbers[i].set_position((human.center[0], human.center[1])) - # if hasattr(self.robot.policy, 'get_attention_weights'): - # self_attention_scores = [plt.text(robot.center[0] - x_offset, robot.center[1] + y_offset, - # '{:.2f}'.format(self.attention_weights[0][0]), color='black')] - if hasattr(self.robot.policy, 'get_attention_weights'): - human_attentions = [] - count = 0 - for i in range(self.human_num + 1): - if i ==0: - attentions[i].set_position((robot.center[0]- 0.05, robot.center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][i])) - else: - if self.test_changing_size is True: - human = humans[i-1] - dis2 = (human.center[0] - robot.center[0]) * (human.center[0] - robot.center[0]) + ( - human.center[1] - robot.center[1]) * (human.center[1] - robot.center[1]) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][count])) - attentions[i].set_color('black') - else: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('n') - attentions[i].set_color('red') - else: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][i])) - # self_attention_dis = plt.text(robot.center[0] - x_offset, robot.center[1] + y_offset, - # '{:.2f}'.format(self.attention_weights[0][0]), color='black') - # ax.add_artist(self_attention_dis) - - for arrow in arrows: - arrow.remove() - - for i in range(self.human_num + 1): - orientation = orientations[i] - if i == 0: - arrows = [patches.FancyArrowPatch(*orientation[frame_num], color=robot_arrow_color, - arrowstyle=arrow_style)] - else: - arrows.extend([patches.FancyArrowPatch(*orientation[frame_num], color=human_arrow_color, - arrowstyle=arrow_style)]) - for arrow in arrows: - ax.add_artist(arrow) - - robot_trajs.append(plt.Circle(robot_positions[frame_num], self.robot.radius/8, fill=True, color="blue")) - ax.add_artist(robot_trajs[-1]) - - - time.set_text('Time: {:.2f}'.format(frame_num * self.time_step)) - - # if len(self.trajs) != 0: - # for i, circles in enumerate(human_future_circles): - # for j, circle in enumerate(circles): - # circle.center = human_future_positions[global_step][i][j] - - def plot_value_heatmap(): - if self.robot.kinematics != 'holonomic': - print('Kinematics is not holonomic') - return - # for agent in [self.states[global_step][0]] + self.states[global_step][1]: - # print(('{:.4f}, ' * 6 + '{:.4f}').format(agent.px, agent.py, agent.gx, agent.gy, - # agent.vx, agent.vy, agent.theta)) - - # when any key is pressed draw the action value plot - fig, axis = plt.subplots() - speeds = [0] + self.robot.policy.speeds - rotations = self.robot.policy.rotations + [np.pi * 2] - r, th = np.meshgrid(speeds, rotations) - z = np.array(self.action_values[global_step % len(self.states)][1:]) - z = (z - np.min(z)) / (np.max(z) - np.min(z)) - z = np.reshape(z, (self.robot.policy.rotation_samples, self.robot.policy.speed_samples)) - polar = plt.subplot(projection="polar") - polar.tick_params(labelsize=16) - mesh = plt.pcolormesh(th, r, z, vmin=0, vmax=1) - plt.plot(rotations, r, color='k', ls='none') - plt.grid() - cbaxes = fig.add_axes([0.85, 0.1, 0.03, 0.8]) - cbar = plt.colorbar(mesh, cax=cbaxes) - cbar.ax.tick_params(labelsize=16) - plt.show() - - def print_matrix_A(): - # with np.printoptions(precision=3, suppress=True): - # print(self.As[global_step]) - h, w = self.As[global_step].shape - print(' ' + ' '.join(['{:>5}'.format(i - 1) for i in range(w)])) - for i in range(h): - print('{:<3}'.format(i-1) + ' '.join(['{:.3f}'.format(self.As[global_step][i][j]) for j in range(w)])) - # with np.printoptions(precision=3, suppress=True): - # print('A is: ') - # print(self.As[global_step]) - - def print_feat(): - with np.printoptions(precision=3, suppress=True): - print('feat is: ') - print(self.feats[global_step]) - - def print_X(): - with np.printoptions(precision=3, suppress=True): - print('X is: ') - print(self.Xs[global_step]) - - def on_click(event): - if anim.running: - anim.event_source.stop() - if event.key == 'a': - if hasattr(self.robot.policy, 'get_matrix_A'): - print_matrix_A() - if hasattr(self.robot.policy, 'get_feat'): - print_feat() - if hasattr(self.robot.policy, 'get_X'): - print_X() - # if hasattr(self.robot.policy, 'action_values'): - # plot_value_heatmap() - else: - anim.event_source.start() - anim.running ^= True - - fig.canvas.mpl_connect('key_press_event', on_click) - anim = animation.FuncAnimation(fig, update, frames=len(self.states), interval=self.time_step * 1000) - anim.running = True - - if output_file is not None: - # save as video - ffmpeg_writer = animation.FFMpegWriter(fps=4, metadata=dict(artist='Me'), bitrate=1800) - # writer = ffmpeg_writer(fps=10, metadata=(artist='Me'), bitrate=1800) - anim.save(output_file, writer=ffmpeg_writer) - - - # save output file as gif if imagemagic is installed - # anim.save(output_file, writer='imagemagic', fps=12) - else: - plt.show() - else: - raise NotImplementedError diff --git a/crowd_sim/envs/crowd_sim_temp.py b/crowd_sim/envs/crowd_sim_temp.py deleted file mode 100644 index 15eb3d1..0000000 --- a/crowd_sim/envs/crowd_sim_temp.py +++ /dev/null @@ -1,1213 +0,0 @@ -import logging -import math -import random - -import gym -import matplotlib -import matplotlib.lines as mlines -import numpy as np -from gym import spaces -from matplotlib import patches -from numpy.linalg import norm - -from crowd_sim.envs.policy.policy_factory import policy_factory -from crowd_sim.envs.utils.action import ActionRot -from crowd_sim.envs.utils.human import Human -from crowd_sim.envs.utils.info import * -from crowd_sim.envs.utils.state import JointState, tensor_to_joint_state -from crowd_sim.envs.utils.utils import point_to_segment_dist - -import pdb - -class CrowdSim(gym.Env): - metadata = {'render.modes': ['human']} - - def __init__(self): - """ - Movement simulation for n+1 agents - Agent can either be human or robot. - humans are controlled by a unknown and fixed policy. - robot is controlled by a known and learnable policy. - - """ - self.time_limit = None - self.time_step = None - self.robot = None - self.humans = None - self.global_time = None - self.robot_sensor_range = None - # reward function - self.success_reward = None - self.collision_penalty = None - self.discomfort_dist = None - self.goal_factor = None - self.discomfort_penalty_factor = None - # simulation configuration - self.config = None - self.case_capacity = None - self.case_size = None - self.case_counter = None - self.randomize_attributes = None - self.train_val_scenario = None - self.test_scenario = None - self.current_scenario = None - self.square_width = None - self.circle_radius = None - self.human_num = None - self.nonstop_human = None - self.centralized_planning = None - self.centralized_planner = None - self.test_changing_size = False - - # for visualization - self.states = None - self.action_values = None - self.attention_weights = None - self.robot_actions = None - self.rewards = None - self.As = None - self.Xs = None - self.feats = None - self.trajs = list() - self.panel_width = 10 - self.panel_height = 10 - self.panel_scale = 1 - self.random_seed = 0 - self.test_scene_seeds = [] - self.dynamic_human_num = [] - self.human_starts = [] - self.human_goals = [] - - # 动作空间: 速度，朝向 - self.action_space = spaces.Box( - low=np.array([0, -np.pi]), - high=np.array([1, np.pi]), - dtype=np.float32 - ) - self.phase = None - - def configure(self, config): - self.config = config - self.time_limit = config.env.time_limit - self.time_step = config.env.time_step - self.randomize_attributes = config.env.randomize_attributes - self.robot_sensor_range = config.env.robot_sensor_range - self.success_reward = config.reward.success_reward - self.collision_penalty = config.reward.collision_penalty - self.goal_factor = config.reward.goal_factor - self.discomfort_penalty_factor = config.reward.discomfort_penalty_factor - self.discomfort_dist = config.reward.discomfort_dist - self.case_capacity = {'train': np.iinfo(np.uint32).max - 2000, 'val': 1000, 'test': 1000} - self.case_size = {'train': config.env.train_size, 'val': config.env.val_size, - 'test': config.env.test_size} - self.train_val_scenario = config.sim.train_val_scenario - self.test_scenario = config.sim.test_scenario - self.square_width = config.sim.square_width - self.circle_radius = config.sim.circle_radius - self.human_num = config.sim.human_num - - self.nonstop_human = config.sim.nonstop_human - self.centralized_planning = config.sim.centralized_planning - self.case_counter = {'train': 0, 'test': 0, 'val': 0} - - human_policy = config.humans.policy - if self.centralized_planning: - if human_policy == 'socialforce': - logging.warning('Current socialforce policy only works in decentralized way with visible robot!') - self.centralized_planner = policy_factory['centralized_' + human_policy]() - - logging.info('human number: {}'.format(self.human_num)) - if self.randomize_attributes: - logging.info("Randomize human's radius and preferred speed") - else: - logging.info("Not randomize human's radius and preferred speed") - logging.info('Training simulation: {}, test simulation: {}'.format(self.train_val_scenario, self.test_scenario)) - logging.info('Square width: {}, circle width: {}'.format(self.square_width, self.circle_radius)) - - def set_robot(self, robot): - self.robot = robot - - if self.robot.kinematics == "holonomic": - # 动作空间: 速度，朝向 - self.action_space = spaces.Box( - low=np.array([0, -np.pi]), - high=np.array([1, np.pi]), - dtype=np.float32 - ) - else: - self.action_space = spaces.Box( - low=np.array([0, -self.robot.rotation_constraint]), - high=np.array([1, self.robot.rotation_constraint]), - dtype=np.float32 - ) - logging.info('rotation constraint: {}'.format(self.robot.rotation_constraint)) - - def generate_human(self, human=None, non_stop=False, square=False): - if human is None: - human = Human(self.config, 'humans') - if self.randomize_attributes: - human.sample_random_attributes() - if square is False and non_stop is False: - while True: - angle = np.random.random() * np.pi * 2 - # add some noise to simulate all the possible cases robot could meet with human - px_noise = (np.random.random() - 0.5) * human.v_pref - py_noise = (np.random.random() - 0.5) * human.v_pref - px = self.circle_radius * np.cos(angle) + px_noise - py = self.circle_radius * np.sin(angle) + py_noise - collide = False - for agent in [self.robot] + self.humans: - min_dist = human.radius + agent.radius + self.discomfort_dist - if norm((px - agent.px, py - agent.py)) < min_dist or \ - norm((px - agent.gx, py - agent.gy)) < min_dist: - collide = True - break - if not collide: - break - human.start_pos.append((px, py)) - human.set(px, py, -px, -py, 0, 0, 0) - elif square is False and non_stop is True: - while True: - angle = np.random.random() * np.pi * 2 - # add some noise to simulate all the possible cases robot could meet with human - px = human.px - py = human.py - gx_noise = (np.random.random() - 0.5) * human.v_pref - gy_noise = (np.random.random() - 0.5) * human.v_pref - gx = self.circle_radius * np.cos(angle) + gx_noise - gy = self.circle_radius * np.sin(angle) + gy_noise - collide = False - for agent in [self.robot] + self.humans: - min_dist = human.radius + agent.radius + self.discomfort_dist - # if norm((px - agent.px, py - agent.py)) == 0.0: - # continue - if norm((gx - agent.gx, gy - agent.gy)) < min_dist: - collide = True - break - if not collide: - break - human.start_pos.append((px, py)) - human.set(px, py, gx, gy, 0, 0, 0) - - elif square is True and non_stop is False: - if np.random.random() > 0.5: - sign = -1 - else: - sign = 1 - while True: - px = np.random.random() * self.square_width * 0.5 * sign - py = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - if norm((px - agent.px, py - agent.py)) < human.radius + agent.radius + self.discomfort_dist: - collide = True - break - if not collide: - break - while True: - gx = np.random.random() * self.square_width * 0.5 * (- sign) - gy = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - if norm((gx - agent.gx, gy - agent.gy)) < human.radius + agent.radius + self.discomfort_dist: - collide = True - break - if not collide: - break - human.start_pos.append((px, py)) - human.set(px, py, gx, gy, 0, 0, 0) - elif square is True and non_stop is True: - if np.random.random() > 0.5: - sign = -1 - else: - sign = 1 - goal_count = 0 - while True: - goal_count = goal_count + 1 - px = human.px - py = human.py - gx = np.random.random() * self.square_width * 0.5 * (- sign) - gy = (np.random.random() - 0.5) * self.square_width - collide = False - for agent in [self.robot] + self.humans: - min_dist = human.radius + agent.radius + self.discomfort_dist - # if norm((px - agent.px, py - agent.py)) == 0.0: - # break - if norm((gx - agent.gx, gy - agent.gy))= 0: - # np.random.seed(base_seed[phase] + self.case_counter[phase]) - # random.seed(base_seed[phase] + self.case_counter[phase]) - # random.seed(2100) - - if phase == 'test': - logging.debug('current test seed is:{}'.format(base_seed[phase] + self.case_counter[phase])) - # print('current test seed is:{}'.format(base_seed[phase] + self.case_counter[phase])) - if not self.robot.policy.multiagent_training and phase in ['train', 'val']: - human_num = 1 - self.current_scenario = 'circle_crossing' - else: - self.current_scenario = self.test_scenario - human_num = self.human_num - self.humans = [] - for i in range(human_num): - if self.current_scenario == 'circle_crossing': - if human_num > 5 and i > 4: - self.humans.append(self.generate_human(square=True)) - else: - self.humans.append(self.generate_human()) - else: - self.humans.append(self.generate_human(square=True)) - - # case_counter is always between 0 and case_size[phase] - self.case_counter[phase] = (self.case_counter[phase] + 1) % self.case_size[phase] - else: - assert phase == 'test' - if self.case_counter[phase] == -1: - # for debugging purposes - self.human_num = 3 - self.humans = [Human(self.config, 'humans') for _ in range(self.human_num)] - self.humans[0].set(0, -6, 0, 5, 0, 0, np.pi / 2) - self.humans[1].set(-5, -5, -5, 5, 0, 0, np.pi / 2) - self.humans[2].set(5, -5, 5, 5, 0, 0, np.pi / 2) - else: - raise NotImplementedError - for agent in [self.robot] + self.humans: - agent.time_step = self.time_step - agent.policy.time_step = self.time_step - - if self.centralized_planning: - self.centralized_planner.time_step = self.time_step - - self.states = list() - self.robot_actions = list() - self.rewards = list() - if hasattr(self.robot.policy, 'action_values'): - self.action_values = list() - if hasattr(self.robot.policy, 'get_attention_weights'): - self.attention_weights = list() - if hasattr(self.robot.policy, 'get_matrix_A'): - self.As = list() - if hasattr(self.robot.policy, 'get_feat'): - self.feats = list() - if hasattr(self.robot.policy, 'get_X'): - self.Xs = list() - if hasattr(self.robot.policy, 'traj'): - self.trajs = list() - - # get current observation - if self.robot.sensor == 'coordinates': - ob = self.compute_observation_for(self.robot) - elif self.robot.sensor == 'RGB': - raise NotImplementedError - - return ob - - def onestep_lookahead(self, action): - return self.step(action, update=False) - - def step(self, action, update=True): - """ - Compute actions for all agents, detect collision, update environment and return (ob, reward, done, info) - """ - if self.centralized_planning: - agent_states = [human.get_full_state() for human in self.humans] - if self.robot.visible: - agent_states.append(self.robot.get_full_state()) - human_actions = self.centralized_planner.predict(agent_states)[:-1] - else: - human_actions = self.centralized_planner.predict(agent_states) - else: - human_actions = [] - for human in self.humans: - ob = self.compute_observation_for(human) - human_actions.append(human.act(ob)) - - weight_goal = self.goal_factor - weight_safe = self.discomfort_penalty_factor - weight_terminal = 1.0 - re_collision = self.collision_penalty - re_arrival = self.success_reward - # collision detection - dmin = float('inf') - collision = False - safety_penalty = 0.0 - num_discom = 0 - for i, human in enumerate(self.humans): - px = human.px - self.robot.px - py = human.py - self.robot.py - if self.robot.kinematics == 'holonomic': - vx = human_actions[i].vx - action.vx - vy = human_actions[i].vy - action.vy - else: - vx = human_actions[i].vx - action.v * np.cos(action.r + self.robot.theta) - vy = human_actions[i].vy - action.v * np.sin(action.r + self.robot.theta) - ex = px + vx * self.time_step - ey = py + vy * self.time_step - # closest distance between boundaries of two agents - closest_dist = point_to_segment_dist(px, py, ex, ey, 0, 0) - human.radius - self.robot.radius - if closest_dist < 0: - collision = True - logging.debug("Collision: distance between robot and p{} is {:.2E} at time {:.2E}".format(human.id, closest_dist, self.global_time)) - if closest_dist < dmin: - dmin = closest_dist - if closest_dist < self.discomfort_dist: - safety_penalty = safety_penalty + (closest_dist - self.discomfort_dist) - num_discom = num_discom + 1 - # dis_begin = np.sqrt(px**2 + py**2) - human.radius - self.robot.radius - # dis_end = np.sqrt(ex**2 + ey**2) - human.radius - self.robot.radius - # penalty_begin = 0 - # penalty_end = 0 - # if dis_begin < self.discomfort_dist: - # penalty_begin = dis_begin - self.discomfort_dist - # if dis_end < self.discomfort_dist: - # penalty_end = dis_end - self.discomfort_dist - # safety_penalty = safety_penalty + (penalty_end - penalty_begin) - - # collision detection between humans - human_num = len(self.humans) - for i in range(human_num): - for j in range(i + 1, human_num): - dx = self.humans[i].px - self.humans[j].px - dy = self.humans[i].py - self.humans[j].py - dist = (dx ** 2 + dy ** 2) ** (1 / 2) - self.humans[i].radius - self.humans[j].radius - if dist < 0: - # detect collision but don't take humans' collision into account - logging.debug('Collision happens between humans in step()') - - # check if reaching the goal - end_position = np.array(self.robot.compute_position(action, self.time_step)) - cur_position = np.array((self.robot.px, self.robot.py)) - goal_position = np.array(self.robot.get_goal_position()) - reward_goal = (norm(cur_position - goal_position) - norm(end_position - goal_position)) - reaching_goal = norm(end_position - goal_position) < self.robot.radius - delta_w = 0.0 - if delta_w < 0.5: - reward_omega = -0.01 * (0.5 - delta_w) * (0.5 - delta_w) - else: - reward_omega = 0.0 - reward_col = 0.0 - reward_arrival = 0.0 - if self.global_time >= self.time_limit - 1: - done = True - info = Timeout() - elif collision: - reward_col = re_collision - done = True - info = Collision() - elif reaching_goal: - reward_arrival = re_arrival - done = True - info = ReachGoal() - elif dmin < self.discomfort_dist: - done = False - info = Discomfort(dmin) - info.num = num_discom - else: - done = False - info = Nothing() - reward_terminal = reward_arrival + reward_col - reward = weight_terminal * reward_terminal + weight_goal * reward_goal + weight_safe * safety_penalty - - if update: - # store state, action value and attention weights - if hasattr(self.robot.policy, 'action_values'): - self.action_values.append(self.robot.policy.action_values) - if hasattr(self.robot.policy, 'get_attention_weights'): - self.attention_weights.append(self.robot.policy.get_attention_weights()) - if hasattr(self.robot.policy, 'get_matrix_A'): - self.As.append(self.robot.policy.get_matrix_A()) - if hasattr(self.robot.policy, 'get_feat'): - self.feats.append(self.robot.policy.get_feat()) - if hasattr(self.robot.policy, 'get_X'): - self.Xs.append(self.robot.policy.get_X()) - if hasattr(self.robot.policy, 'traj'): - self.trajs.append(self.robot.policy.get_traj()) - - # update all agents - self.robot.step(action) - for human, action in zip(self.humans, human_actions): - human.step(action) - if self.nonstop_human and human.reached_destination(): - human.reach_count = human.reach_count + 1 - if human.reach_count == 2: - if self.current_scenario == 'circle_crossing': - self.generate_human(human, non_stop=True) - human.reach_count = 0 - else: - self.generate_human(human, non_stop=True, square=True) - human.reach_count = 0 - - self.global_time += self.time_step - self.states.append([self.robot.get_full_state(), [human.get_full_state() for human in self.humans], - [human.id for human in self.humans]]) - self.robot_actions.append(action) - self.rewards.append(reward) - - # compute the observation - if self.robot.sensor == 'coordinates': - ob = self.compute_observation_for(self.robot) - elif self.robot.sensor == 'RGB': - raise NotImplementedError - else: - if self.robot.sensor == 'coordinates': - ob = [human.get_next_observable_state(action) for human, action in zip(self.humans, human_actions)] - elif self.robot.sensor == 'RGB': - raise NotImplementedError - - return ob, reward, done, info - - def peds_predict(self, agent_states, robot_state): - if self.robot.visible: - agent_states.append(robot_state) - human_actions = self.centralized_planner.predict(agent_states)[:-1] - else: - human_actions = self.centralized_planner.predict(agent_states) - return human_actions - - def compute_observation_for(self, agent): - if agent == self.robot: - ob = [] - for human in self.humans: - if self.test_changing_size is False: - ob.append(human.get_observable_state()) - else: - dis2 = (human.px - agent.px) * (human.px - agent.px) + (human.py - agent.py) * (human.py - agent.py) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - ob.append(human.get_observable_state()) - else: - ob = [other_human.get_observable_state() for other_human in self.humans if other_human != agent] - if self.robot.visible: - ob += [self.robot.get_observable_state()] - return ob - - def render(self, mode='video', output_file=None, acts=None, not_best_actions=None, all_returns=None, action_indexes=None, max_action_indexes=None, radii=None): - import matplotlib.pyplot as plt - from matplotlib import animation - from matplotlib.animation import PillowWriter - - - self.acts = acts - self.action_indexes = action_indexes - # plt.rcParams['animation.ffmpeg_path'] = '/usr/bin/ffmpeg' - x_offset = 0.3 - y_offset = 0.4 - cmap = plt.cm.get_cmap('terrain', 200) - cmap2 = plt.cm.get_cmap('tab10', 10) - robot_color = 'black' - arrow_style = patches.ArrowStyle.Fancy(head_length=4, head_width=2, tail_width=.6) - - # patches.ArrowStyle("->", head_length=4, head_width=2) - display_numbers = True - - if mode == 'traj': - fig, ax = plt.subplots(figsize=(7, 7)) - ax.axis('equal') - ax.tick_params(labelsize=16) - ax.set_xlim(-self.panel_width/2, self.panel_width/2) - ax.set_ylim(-self.panel_height/2, self.panel_height/2) - ax.set_xlabel('x(m)', fontsize=16) - ax.set_ylabel('y(m)', fontsize=16) - - # add human start positions and goals - human_colors = [cmap2(i) for i in range(len(self.humans))] - for i in range(len(self.humans)): - human = self.humans[i] - human_goal = mlines.Line2D([human.get_goal_position()[0]], [human.get_goal_position()[1]], - color=human_colors[i], - marker='*', linestyle='None', markersize=10) - ax.add_artist(human_goal) - for j in range(len(human.start_pos)): - pos = human.start_pos[j] - if j ==0: - test_start = mlines.Line2D([pos[0]], [pos[1]], color=human_colors[i], marker=4, - linestyle='None', markersize=10) - else: - test_start = mlines.Line2D([pos[0]], [pos[1]], color=human_colors[i], marker='s', - linestyle='None', markersize=10) - ax.add_artist(test_start) - # human_start = mlines.Line2D([human.get_start_position()[0]], [human.get_start_position()[1]], - # color=human_colors[i], - # marker='s', linestyle='None', markersize=10) - # ax.add_artist(human_start) - - robot_positions = [self.states[i][0].position for i in range(len(self.states))] - human_positions = [[self.states[i][1][j].position for j in range(len(self.humans))] - for i in range(len(self.states))] - - for k in range(len(self.states)): - if k % 4 == 0 or k == len(self.states) - 1: - robot = plt.Circle(robot_positions[k], self.robot.radius/4, fill=True, color=robot_color) - humans = [plt.Circle(human_positions[k][i], self.humans[i].radius/4, fill=True, color=human_colors[i]) - for i in range(len(self.humans))] - ax.add_artist(robot) - for human in humans: - ax.add_artist(human) - - # add time annotation - global_time = k * self.time_step - if global_time % 5 == 0 or k == len(self.states) - 1: - agents = humans + [robot] - times = [plt.text(agents[i].center[0]+0.1, agents[i].center[1]+0.1, - '{:.1f}'.format(global_time), - color='black', fontsize=12) for i in range(self.human_num + 1)] - for time in times: - ax.add_artist(time) - if k != 0: - nav_direction = plt.arrow(self.states[k - 1][0].px, self.states[k - 1][0].py, - self.states[k][0].px - self.states[k - 1][0].px, - self.states[k][0].py - self.states[k - 1][0].py, - length_includes_head=True, head_width=0.08, lw=0.8, color='black') - human_directions = [plt.arrow(self.states[k - 1][1][i].px, self.states[k - 1][1][i].py, self.states[k][1][i].px - self.states[k - 1][1][i].px,self.states[k][1][i].py - self.states[k - 1][1][i].py, - length_includes_head=True, head_width=0.08, lw=0.5, - color=human_colors[i]) for i in range(self.human_num)] - # - # human_directions = [plt.Line2D((self.states[k - 1][1][i].px, self.states[k][1][i].px), - # (self.states[k - 1][1][i].py, self.states[k][1][i].py), - # color=human_colors[i], ls='solid') - # for i in range(self.human_num)] - ax.add_artist(nav_direction) - for human_direction in human_directions: - ax.add_artist(human_direction) - plt.legend([robot], ['Robot'], fontsize=16) - plt.show() - elif mode == 'video': - fig, ax = plt.subplots(figsize=(13, 7)) - ax.tick_params(labelsize=12) - ax.set_xlim(-self.panel_width/2, 13)#! self.panel_width/2) #! /2 - ax.set_ylim(-self.panel_height/2, self.panel_height/2) - ax.set_xlabel('x(m)', fontsize=14) - ax.set_ylabel('y(m)', fontsize=14) - show_human_start_goal = False - robot_color = 'black' - # add human start positions and goals - human_colors = [cmap(20) for i in range(len(self.humans))] - if False: - for i in range(len(self.humans)): - human = self.humans[i] - human_goal = mlines.Line2D([human.get_goal_position()[0]], [human.get_goal_position()[1]], - color=human_colors[i], - marker='*', linestyle='None', markersize=8) - ax.add_artist(human_goal) - human_start = mlines.Line2D([human.get_start_position()[0]], [human.get_start_position()[1]], - color=human_colors[i], - marker='o', linestyle='None', markersize=8) - ax.add_artist(human_start) - - robot_positions = [state[0].position for state in self.states] - - - # add robot start position - robot_start = mlines.Line2D([self.robot.get_start_position()[0]], [self.robot.get_start_position()[1]], - color=robot_color, - marker='o', linestyle='None', markersize=15) - robot_start_position = [self.robot.get_start_position()[0], self.robot.get_start_position()[1]] - - - # add robot possible actions around it - # Number of sectors - num_sectors = 16 # 60 degrees / 3.75 degrees - - # need to decide the color of the wedge based on the values in not_best_actions - cmap = matplotlib.cm.get_cmap('YlOrBr') - - initial_actions = not_best_actions[0] - initial_action_indexes = max_action_indexes[0] - initial_returns = all_returns[0] - initial_best_action = acts[0] - act_to_wedge_id = {} - for i,act_id in enumerate(initial_action_indexes): - - act_to_wedge_id[act_id.numpy() // 5] = [initial_actions[i], initial_best_action, initial_returns[i], cmap(initial_returns[i].detach().numpy())] - - # Draw sectors - wedges = [] - for i in range(num_sectors): - # Plot a pie slice - # if i in act_to_wedge_id: - # wedge = patches.Wedge((8.5,0), 4, 60 + (i * 3.75), (i + 1) * 3.75 + 60, edgecolor='black', facecolor=act_to_wedge_id[i][-1]) - # else: - # wedge = patches.Wedge((8.5,0), 4, 60 + (i * 3.75), (i + 1) * 3.75 + 60, edgecolor='black', facecolor='white') - if i in act_to_wedge_id: - wedge = patches.Wedge((8.5,0), 4, (i * 22.5), (i + 1) * 22.5, edgecolor='black', facecolor=act_to_wedge_id[i][-1]) - else: - wedge = patches.Wedge((8.5,0), 4, (i * 22.5), (i + 1) * 22.5, edgecolor='black', facecolor='white') - - wedges.append(wedge) - ax.add_artist(wedge) - - ax.add_artist(robot_start) - # add robot and its goal - goal = mlines.Line2D([self.robot.get_goal_position()[0]], [self.robot.get_goal_position()[1]], - color='red', marker='*', linestyle='None', - markersize=15, label='Goal') - robot = plt.Circle(robot_positions[0], self.robot.radius, fill=True, color="blue") - # sensor_range = plt.Circle(robot_positions[0], self.robot_sensor_range, fill=False, ls='dashed') - ax.add_artist(robot) - ax.add_artist(goal) - - thetas = [] - for state in self.states: - agent_state = state[0] - thetas.append(agent_state.theta) - - - if len(self.humans) == 0: - if display_numbers: - if hasattr(self.robot.policy, 'get_attention_weights'): - attentions =[plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]),color='black',fontsize=12)] - # add time annotation - time = plt.text(0.4, 1.02, 'Time: {}'.format(0), fontsize=20, transform=ax.transAxes) - ax.add_artist(time) - radius = self.robot.radius - orientations = [] - for i in range(self.human_num + 1): - orientation = [] - for state in self.states: - agent_state = state[0] if i == 0 else state[1][i - 1] - if self.robot.kinematics == 'unicycle' and i == 0: - direction = ( - (agent_state.px, agent_state.py), (agent_state.px + radius * np.cos(agent_state.theta), - agent_state.py + radius * np.sin(agent_state.theta))) - else: - theta = np.arctan2(agent_state.vy, agent_state.vx) - direction = ((agent_state.px, agent_state.py), (agent_state.px + 1.5*radius * np.cos(theta), - agent_state.py + 1.5*radius * np.sin(theta))) - orientation.append(direction) - orientations.append(orientation) - if i == 0: - robot_arrow_color = 'red' - arrows = [patches.FancyArrowPatch(*orientation[0], color=robot_arrow_color, arrowstyle=arrow_style)] - else: - human_arrow_color = 'red' - arrows.extend( - [patches.FancyArrowPatch(*orientation[0], color=human_arrow_color, arrowstyle=arrow_style)]) - - for arrow in arrows: - ax.add_artist(arrow) - global_step = 0 - else: - # add humans and their numbers - human_positions = [[state[1][j].position for j in range(len(self.humans))] for state in self.states] - humans = [plt.Circle(human_positions[0][i], self.humans[i].radius, fill=False, color=human_colors[i]) - for i in range(len(self.humans))] - plt.legend([robot, humans[0], goal], ['Robot', 'Human', 'Goal'], fontsize=14) - # disable showing human numbers - if display_numbers: - human_numbers = [plt.text(humans[i].center[0] - x_offset, humans[i].center[1] + y_offset, str(i+1), - color='black', fontsize=12) for i in range(len(self.humans))] - if hasattr(self.robot.policy, 'get_attention_weights'): - if self.test_changing_size is True: - robot_attention = [plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]), color='black', - fontsize=12)] - human_attentions = [] - count = 0 - for i in range(len(self.humans)): - human = humans[i] - dis2 = (human.center[0] - robot.center[0]) * (human.center[0] - robot.center[0]) + ( - human.center[1] - robot.center[1]) * (human.center[1] - robot.center[1]) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - human_attentions = human_attentions + [ - plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][count + 1]), - color='black', fontsize=12)] - count = count + 1 - else: - human_attentions = human_attentions + [ - plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, - 'n', - color='red', fontsize=12)] - attentions = robot_attention + human_attentions - else: - attentions =[plt.text(robot.center[0] + x_offset, robot.center[1] + y_offset, - '{:.2f}'.format(self.attention_weights[0][0]),color='black',fontsize=12)] + \ - [plt.text(humans[i].center[0] + x_offset, humans[i].center[1] + y_offset, '{:.2f}'.format(self.attention_weights[0][i+1]), - color='black',fontsize=12) for i in range(len(self.humans))] - for i, human in enumerate(humans): - ax.add_artist(human) - if display_numbers: - ax.add_artist(human_numbers[i]) - - # add time annotation - time = plt.text(0.32, 1.02, 'Time: {}'.format(0), fontsize=25, transform=ax.transAxes) - ax.add_artist(time) - - # visualize attention scores - # if hasattr(self.robot.policy, 'get_attention_weights'): - # attention_scores = [plt.text(-5.5, 5, 'robot {}: {:.2f}'.format(0, self.attention_weights[0][0]), - # fontsize=16)] + [plt.text(-5.5, 5 - 0.5 * (i+1), 'Human {}: {:.2f}'.format(i+1, self.attention_weights[0][i+1]), - # fontsize=16) for i in range(len(self.humans))] - - # compute orientation in each step and use arrow to show the direction - radius = self.robot.radius - orientations = [] - for i in range(self.human_num + 1): - orientation = [] - for state in self.states: - agent_state = state[0] if i == 0 else state[1][i - 1] - if self.robot.kinematics == 'unicycle' and i == 0: - direction = ( - (agent_state.px, agent_state.py), (agent_state.px + radius * np.cos(agent_state.theta), - agent_state.py + radius * np.sin(agent_state.theta))) - else: - theta = np.arctan2(agent_state.vy, agent_state.vx) - direction = ((agent_state.px, agent_state.py), (agent_state.px + 1.5*radius * np.cos(theta), - agent_state.py + 1.5*radius * np.sin(theta))) - orientation.append(direction) - orientations.append(orientation) - if i == 0: - robot_arrow_color = 'red' - arrows = [patches.FancyArrowPatch(*orientation[0], color=robot_arrow_color, arrowstyle=arrow_style)] - else: - human_arrow_color = 'red' - arrows.extend( - [patches.FancyArrowPatch(*orientation[0], color=human_arrow_color, arrowstyle=arrow_style)]) - - for arrow in arrows: - ax.add_artist(arrow) - global_step = 0 - - # if len(self.trajs) != 0: - # human_future_positions = [] - # human_future_circles = [] - # for traj in self.trajs: - # human_future_position = [[tensor_to_joint_state(traj[step+1][0]).human_states[i].position - # for step in range(self.robot.policy.planning_depth)] - # for i in range(self.human_num)] - # human_future_positions.append(human_future_position) - # - # for i in range(self.human_num): - # circles = [] - # for j in range(self.robot.policy.planning_depth): - # circle = plt.Circle(human_future_positions[0][i][j], self.humans[0].radius/(1.7+j), fill=False, color=cmap(i)) - # ax.add_artist(circle) - # circles.append(circle) - # human_future_circles.append(circles) - - # add human start positions and goals - - robot_trajs = [plt.Circle(robot_positions[0], self.robot.radius/4, fill=True, color="blue")] - ax.add_artist(robot_trajs[-1]) - - def update(frame_num): - nonlocal global_step - nonlocal arrows - # nonlocal scores - global_step = frame_num - robot.center = robot_positions[frame_num] - if self.human_num >0: - for i, human in enumerate(humans): - human.center = human_positions[frame_num][i] - if display_numbers: - human_numbers[i].set_position((human.center[0], human.center[1])) - # if hasattr(self.robot.policy, 'get_attention_weights'): - # self_attention_scores = [plt.text(robot.center[0] - x_offset, robot.center[1] + y_offset, - # '{:.2f}'.format(self.attention_weights[0][0]), color='black')] - - - if hasattr(self.robot.policy, 'get_attention_weights'): - human_attentions = [] - count = 0 - for i in range(self.human_num + 1): - if i ==0: - attentions[i].set_position((robot.center[0]- 0.05, robot.center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][i])) - else: - if self.test_changing_size is True: - human = humans[i-1] - dis2 = (human.center[0] - robot.center[0]) * (human.center[0] - robot.center[0]) + ( - human.center[1] - robot.center[1]) * (human.center[1] - robot.center[1]) - if dis2 < self.robot_sensor_range * self.robot_sensor_range: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][count])) - attentions[i].set_color('black') - else: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('n') - attentions[i].set_color('red') - else: - attentions[i].set_position( - (humans[i - 1].center[0] - 0.05, humans[i - 1].center[1] - x_offset)) - attentions[i].set_text('{:.2f}'.format(self.attention_weights[frame_num][i])) - # self_attention_dis = plt.text(robot.center[0] - x_offset, robot.center[1] + y_offset, - # '{:.2f}'.format(self.attention_weights[0][0]), color='black') - # ax.add_artist(self_attention_dis) - - for arrow in arrows: - arrow.remove() - - if frame_num > 0: - act_to_wedge_id = {} - try: - initial_actions = not_best_actions[frame_num+1] - initial_action_indexes = max_action_indexes[frame_num+1] - initial_returns = all_returns[frame_num+1] - - for i,act_id in enumerate(initial_action_indexes): - - act_to_wedge_id[act_id.numpy() // 5] = [initial_actions[i], initial_returns[i], cmap(initial_returns[i].detach().numpy())] - - except Exception as e: - print(e) - - for i in range(num_sectors): - # change position of pie slice - wedges[i].set_theta1(-210 + (i * 22.5) + thetas[frame_num]*180/np.pi) - wedges[i].set_theta2(-210 + (i + 1) * 22.5 + thetas[frame_num]*180/np.pi) - - if i in act_to_wedge_id: - wedges[i].set_facecolor(act_to_wedge_id[i][-1]) - else: - wedges[i].set_facecolor('white') - try: - - if self.action_indexes[frame_num+1] // 5 == i: - # wedges[i].set_edgecolor('green') - wedges[i].set_hatch('/') - else: - wedges[i].set_edgecolor('gray') - wedges[i].set_hatch('') - - except: - pass - - # # Draw sectors - # for i in range(num_sectors): - # # Plot a pie slice - # # wedge = patches.Wedge((3,3), 2.4, -30 + (i * 3.75) + thetas[frame_num]*180/np.pi, -30 + (i + 1) * 3.75 + thetas[frame_num]*180/np.pi, edgecolor='black', facecolor='white') - # wedges[i].set_theta1(-30 + (i * 3.75) + thetas[frame_num]*180/np.pi) - # wedges[i].set_theta2(-30 + (i + 1) * 3.75 + thetas[frame_num]*180/np.pi) - # # ax.add_artist(wedge) - - for i in range(self.human_num + 1): - orientation = orientations[i] - if i == 0: - arrows = [patches.FancyArrowPatch(*orientation[frame_num], color=robot_arrow_color, - arrowstyle=arrow_style)] - - else: - arrows.extend([patches.FancyArrowPatch(*orientation[frame_num], color=human_arrow_color, - arrowstyle=arrow_style)]) - for arrow in arrows: - ax.add_artist(arrow) - - - - robot_trajs.append(plt.Circle(robot_positions[frame_num], self.robot.radius/4, fill=True, color="blue")) - ax.add_artist(robot_trajs[-1]) - - # add robot possible actions around it - - - time.set_text('Time: {:.2f}'.format(frame_num * self.time_step)) - - # if len(self.trajs) != 0: - # for i, circles in enumerate(human_future_circles): - # for j, circle in enumerate(circles): - # circle.center = human_future_positions[global_step][i][j] - - def plot_value_heatmap(): - if self.robot.kinematics != 'holonomic': - print('Kinematics is not holonomic') - return - # for agent in [self.states[global_step][0]] + self.states[global_step][1]: - # print(('{:.4f}, ' * 6 + '{:.4f}').format(agent.px, agent.py, agent.gx, agent.gy, - # agent.vx, agent.vy, agent.theta)) - - # when any key is pressed draw the action value plot - fig, axis = plt.subplots() - speeds = [0] + self.robot.policy.speeds - rotations = self.robot.policy.rotations + [np.pi * 2] - r, th = np.meshgrid(speeds, rotations) - z = np.array(self.action_values[global_step % len(self.states)][1:]) - z = (z - np.min(z)) / (np.max(z) - np.min(z)) - z = np.reshape(z, (self.robot.policy.rotation_samples, self.robot.policy.speed_samples)) - polar = plt.subplot(projection="polar") - polar.tick_params(labelsize=16) - mesh = plt.pcolormesh(th, r, z, vmin=0, vmax=1) - plt.plot(rotations, r, color='k', ls='none') - plt.grid() - cbaxes = fig.add_axes([0.85, 0.1, 0.03, 0.8]) - cbar = plt.colorbar(mesh, cax=cbaxes) - cbar.ax.tick_params(labelsize=16) - plt.show() - - def print_matrix_A(): - # with np.printoptions(precision=3, suppress=True): - # print(self.As[global_step]) - h, w = self.As[global_step].shape - print(' ' + ' '.join(['{:>5}'.format(i - 1) for i in range(w)])) - for i in range(h): - print('{:<3}'.format(i-1) + ' '.join(['{:.3f}'.format(self.As[global_step][i][j]) for j in range(w)])) - # with np.printoptions(precision=3, suppress=True): - # print('A is: ') - # print(self.As[global_step]) - - def print_feat(): - with np.printoptions(precision=3, suppress=True): - print('feat is: ') - print(self.feats[global_step]) - - def print_X(): - with np.printoptions(precision=3, suppress=True): - print('X is: ') - print(self.Xs[global_step]) - - def on_click(event): - if anim.running: - anim.event_source.stop() - if event.key == 'a': - if hasattr(self.robot.policy, 'get_matrix_A'): - print_matrix_A() - if hasattr(self.robot.policy, 'get_feat'): - print_feat() - if hasattr(self.robot.policy, 'get_X'): - print_X() - # if hasattr(self.robot.policy, 'action_values'): - # plot_value_heatmap() - else: - anim.event_source.start() - anim.running ^= True - - fig.canvas.mpl_connect('key_press_event', on_click) - anim = animation.FuncAnimation(fig, update, frames=len(self.states), interval=self.time_step * 1000) - anim.running = True - - if output_file is not None: - # save as video - # ffmpeg_writer = animation.FFMpegWriter(fps=4, metadata=dict(artist='Me'), bitrate=1800) - # # writer = ffmpeg_writer(fps=10, metadata=(artist='Me'), bitrate=1800) - # anim.save(output_file, writer=ffmpeg_writer) - writer = PillowWriter(fps=2) - anim.save(output_file, writer=writer) - - - # save output file as gif if imagemagic is installed - # anim.save(output_file, writer='imagemagic', fps=12) - else: - plt.show() - else: - raise NotImplementedError - - # def render(self, mode='human', output_file=None): - # from matplotlib import animation - # import matplotlib.pyplot as plt - # plt.rcParams['animation.ffmpeg_path'] = '/usr/bin/ffmpeg' - - # x_offset = 0.11 - # y_offset = 0.11 - # cmap = plt.cm.get_cmap('hsv', 10) - # robot_color = 'yellow' - # goal_color = 'red' - # arrow_color = 'red' - # arrow_style = patches.ArrowStyle("->", head_length=4, head_width=2) - - # if mode == 'human': - # fig, ax = plt.subplots(figsize=(7, 7)) - # ax.set_xlim(-4, 4) - # ax.set_ylim(-4, 4) - # for human in self.humans: - # human_circle = plt.Circle(human.get_position(), human.radius, fill=False, color='b') - # ax.add_artist(human_circle) - # ax.add_artist(plt.Circle(self.robot.get_position(), self.robot.radius, fill=True, color='r')) - # plt.show() - # elif mode == 'traj': - # fig, ax = plt.subplots(figsize=(7, 7)) - # ax.tick_params(labelsize=16) - # ax.set_xlim(-5, 5) - # ax.set_ylim(-5, 5) - # ax.set_xlabel('x(m)', fontsize=16) - # ax.set_ylabel('y(m)', fontsize=16) - - # robot_positions = [self.states[i][0].position for i in range(len(self.states))] - # human_positions = [[self.states[i][1][j].position for j in range(len(self.humans))] - # for i in range(len(self.states))] - # for k in range(len(self.states)): - # if k % 4 == 0 or k == len(self.states) - 1: - # robot = plt.Circle(robot_positions[k], self.robot.radius, fill=True, color=robot_color) - # humans = [plt.Circle(human_positions[k][i], self.humans[i].radius, fill=False, color=cmap(i)) - # for i in range(len(self.humans))] - # ax.add_artist(robot) - # for human in humans: - # ax.add_artist(human) - # # add time annotation - # global_time = k * self.time_step - # if global_time % 4 == 0 or k == len(self.states) - 1: - # agents = humans + [robot] - # times = [plt.text(agents[i].center[0] - x_offset, agents[i].center[1] - y_offset, - # '{:.1f}'.format(global_time), - # color='black', fontsize=14) for i in range(self.human_num + 1)] - # for time in times: - # ax.add_artist(time) - # if k != 0: - # nav_direction = plt.Line2D((self.states[k - 1][0].px, self.states[k][0].px), - # (self.states[k - 1][0].py, self.states[k][0].py), - # color=robot_color, ls='solid') - # human_directions = [plt.Line2D((self.states[k - 1][1][i].px, self.states[k][1][i].px), - # (self.states[k - 1][1][i].py, self.states[k][1][i].py), - # color=cmap(i), ls='solid') - # for i in range(self.human_num)] - # ax.add_artist(nav_direction) - # for human_direction in human_directions: - # ax.add_artist(human_direction) - # plt.legend([robot], ['Robot'], fontsize=16) - # plt.show() - # elif mode == 'video': - # fig, ax = plt.subplots(figsize=(7, 7)) - # ax.tick_params(labelsize=16) - # ax.set_xlim(-6, 6) - # ax.set_ylim(-6, 6) - # ax.set_xlabel('x(m)', fontsize=16) - # ax.set_ylabel('y(m)', fontsize=16) - - # # add robot and its goal - # robot_positions = [state[0].position for state in self.states] - # goal = mlines.Line2D([0], [4], color=goal_color, marker='*', linestyle='None', markersize=15, label='Goal') - # robot = plt.Circle(robot_positions[0], self.robot.radius, fill=True, color=robot_color) - # ax.add_artist(robot) - # ax.add_artist(goal) - # plt.legend([robot, goal], ['Robot', 'Goal'], fontsize=16) - - # # add humans and their numbers - # human_positions = [[state[1][j].position for j in range(len(self.humans))] for state in self.states] - # humans = [plt.Circle(human_positions[0][i], self.humans[i].radius, fill=False) - # for i in range(len(self.humans))] - # human_numbers = [plt.text(humans[i].center[0] - x_offset, humans[i].center[1] - y_offset, str(i), - # color='black', fontsize=12) for i in range(len(self.humans))] - # for i, human in enumerate(humans): - # ax.add_artist(human) - # ax.add_artist(human_numbers[i]) - - # # add time annotation - # time = plt.text(-1, 5, 'Time: {}'.format(0), fontsize=16) - # ax.add_artist(time) - - # # compute attention scores - # if self.attention_weights is not None: - # attention_scores = [ - # plt.text(-5.5, 5 - 0.5 * i, 'Human {}: {:.2f}'.format(i + 1, self.attention_weights[0][i]), - # fontsize=16) for i in range(len(self.humans))] - - # # compute orientation in each step and use arrow to show the direction - # radius = self.robot.radius - # if self.robot.kinematics == 'unicycle': - # orientation = [((state[0].px, state[0].py), (state[0].px + radius * np.cos(state[0].theta), - # state[0].py + radius * np.sin(state[0].theta))) for state - # in self.states] - # orientations = [orientation] - # else: - # orientations = [] - # for i in range(self.human_num + 1): - # orientation = [] - # for state in self.states: - # if i == 0: - # agent_state = state[0] - # else: - # agent_state = state[1][i - 1] - # theta = np.arctan2(agent_state.vy, agent_state.vx) - # orientation.append(((agent_state.px, agent_state.py), (agent_state.px + radius * np.cos(theta), - # agent_state.py + radius * np.sin(theta)))) - # orientations.append(orientation) - # arrows = [patches.FancyArrowPatch(*orientation[0], color=arrow_color, arrowstyle=arrow_style) - # for orientation in orientations] - # for arrow in arrows: - # ax.add_artist(arrow) - # global_step = 0 - - # def update(frame_num): - # nonlocal global_step - # nonlocal arrows - # global_step = frame_num - # robot.center = robot_positions[frame_num] - # for i, human in enumerate(humans): - # human.center = human_positions[frame_num][i] - # human_numbers[i].set_position((human.center[0] - x_offset, human.center[1] - y_offset)) - # for arrow in arrows: - # arrow.remove() - # arrows = [patches.FancyArrowPatch(*orientation[frame_num], color=arrow_color, - # arrowstyle=arrow_style) for orientation in orientations] - # for arrow in arrows: - # ax.add_artist(arrow) - # if self.attention_weights is not None: - # human.set_color(str(self.attention_weights[frame_num][i])) - # attention_scores[i].set_text('human {}: {:.2f}'.format(i, self.attention_weights[frame_num][i])) - - # time.set_text('Time: {:.2f}'.format(frame_num * self.time_step)) - - # def plot_value_heatmap(): - # assert self.robot.kinematics == 'holonomic' - # for agent in [self.states[global_step][0]] + self.states[global_step][1]: - # print(('{:.4f}, ' * 6 + '{:.4f}').format(agent.px, agent.py, agent.gx, agent.gy, - # agent.vx, agent.vy, agent.theta)) - # # when any key is pressed draw the action value plot - # fig, axis = plt.subplots() - # speeds = [0] + self.robot.policy.speeds - # rotations = self.robot.policy.rotations + [np.pi * 2] - # r, th = np.meshgrid(speeds, rotations) - # z = np.array(self.action_values[global_step % len(self.states)][1:]) - # z = (z - np.min(z)) / (np.max(z) - np.min(z)) - # z = np.reshape(z, (16, 5)) - # polar = plt.subplot(projection="polar") - # polar.tick_params(labelsize=16) - # mesh = plt.pcolormesh(th, r, z, vmin=0, vmax=1) - # plt.plot(rotations, r, color='k', ls='none') - # plt.grid() - # cbaxes = fig.add_axes([0.85, 0.1, 0.03, 0.8]) - # cbar = plt.colorbar(mesh, cax=cbaxes) - # cbar.ax.tick_params(labelsize=16) - # plt.show() - - # def on_click(event): - # anim.running ^= True - # if anim.running: - # anim.event_source.stop() - # if hasattr(self.robot.policy, 'action_values'): - # plot_value_heatmap() - # else: - # anim.event_source.start() - - # fig.canvas.mpl_connect('key_press_event', on_click) - # anim = animation.FuncAnimation(fig, update, frames=len(self.states), interval=self.time_step * 1000) - # anim.running = True - - # if output_file is not None: - # ffmpeg_writer = animation.writers['ffmpeg'] - # writer = ffmpeg_writer(fps=4, metadata=dict(artist='Me'), bitrate=1800) - # anim.save(output_file, writer=writer) - # else: - # plt.show() - # else: - # raise NotImplementedError \ No newline at end of file