2020-10-31 13:00:19,730 Average episode reward: -0.001720
2020-10-31 13:00:19,730 Average episode distance_to_goal: 6.458000
2020-10-31 13:00:19,730 Average episode normalized_distance_to_goal: 0.993270
2020-10-31 13:00:19,731 Average episode na: 3.872000
2020-10-31 13:00:19,731 Average episode sna: 0.000000
2020-10-31 13:00:19,731 Average episode success: 0.000000
2020-10-31 13:00:19,731 Average episode spl: 0.000000
2020-10-31 13:00:19,731 Average episode softspl: 0.029563
2020-10-31 13:00:21,749 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.1.pth=======
2020-10-31 13:00:21,920 Initializing dataset AudioNav
2020-10-31 13:02:35,308 Average episode reward: 1.280840
2020-10-31 13:02:35,308 Average episode reward: 1.280840
2020-10-31 13:02:35,309 Average episode distance_to_goal: 5.529000
2020-10-31 13:02:35,309 Average episode distance_to_goal: 5.529000
2020-10-31 13:02:35,309 Average episode normalized_distance_to_goal: 0.791555
2020-10-31 13:02:35,309 Average episode normalized_distance_to_goal: 0.791555
2020-10-31 13:02:35,309 Average episode na: 18.516000
2020-10-31 13:02:35,309 Average episode na: 18.516000
2020-10-31 13:02:35,309 Average episode sna: 0.015994
2020-10-31 13:02:35,309 Average episode sna: 0.015994
2020-10-31 13:02:35,309 Average episode success: 0.050000
2020-10-31 13:02:35,309 Average episode success: 0.050000
2020-10-31 13:02:35,309 Average episode spl: 0.034297
2020-10-31 13:02:35,309 Average episode spl: 0.034297
2020-10-31 13:02:35,309 Average episode softspl: 0.174971
2020-10-31 13:02:35,309 Average episode softspl: 0.174971
2020-10-31 13:02:37,325 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.2.pth=======
2020-10-31 13:02:37,325 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.2.pth=======
2020-10-31 13:02:37,485 Initializing dataset AudioNav
2020-10-31 13:02:37,485 Initializing dataset AudioNav
2020-10-31 13:09:06,809 Average episode reward: 3.441059
2020-10-31 13:09:06,809 Average episode reward: 3.441059
2020-10-31 13:09:06,809 Average episode reward: 3.441059
2020-10-31 13:09:06,810 Average episode distance_to_goal: 4.371000
2020-10-31 13:09:06,810 Average episode distance_to_goal: 4.371000
2020-10-31 13:09:06,810 Average episode distance_to_goal: 4.371000
2020-10-31 13:09:06,810 Average episode normalized_distance_to_goal: 0.595446
2020-10-31 13:09:06,810 Average episode normalized_distance_to_goal: 0.595446
2020-10-31 13:09:06,810 Average episode normalized_distance_to_goal: 0.595446
2020-10-31 13:09:06,811 Average episode na: 50.294000
2020-10-31 13:09:06,811 Average episode na: 50.294000
2020-10-31 13:09:06,811 Average episode na: 50.294000
2020-10-31 13:09:06,811 Average episode sna: 0.038717
2020-10-31 13:09:06,811 Average episode sna: 0.038717
2020-10-31 13:09:06,811 Average episode sna: 0.038717
2020-10-31 13:09:06,811 Average episode success: 0.182000
2020-10-31 13:09:06,811 Average episode success: 0.182000
2020-10-31 13:09:06,811 Average episode success: 0.182000
2020-10-31 13:09:06,812 Average episode spl: 0.092030
2020-10-31 13:09:06,812 Average episode spl: 0.092030
2020-10-31 13:09:06,812 Average episode spl: 0.092030
2020-10-31 13:09:06,812 Average episode softspl: 0.242258
2020-10-31 13:09:06,812 Average episode softspl: 0.242258
2020-10-31 13:09:06,812 Average episode softspl: 0.242258
2020-10-31 13:09:08,848 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.3.pth=======
2020-10-31 13:09:08,848 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.3.pth=======
2020-10-31 13:09:08,848 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.3.pth=======
2020-10-31 13:09:09,059 Initializing dataset AudioNav
2020-10-31 13:09:09,059 Initializing dataset AudioNav
2020-10-31 13:09:09,059 Initializing dataset AudioNav
2020-10-31 13:19:53,576 Average episode reward: 6.741738
2020-10-31 13:19:53,576 Average episode reward: 6.741738
2020-10-31 13:19:53,576 Average episode reward: 6.741738
2020-10-31 13:19:53,576 Average episode reward: 6.741738
2020-10-31 13:19:53,577 Average episode distance_to_goal: 3.357000
2020-10-31 13:19:53,577 Average episode distance_to_goal: 3.357000
2020-10-31 13:19:53,577 Average episode distance_to_goal: 3.357000
2020-10-31 13:19:53,577 Average episode distance_to_goal: 3.357000
2020-10-31 13:19:53,577 Average episode normalized_distance_to_goal: 0.444476
2020-10-31 13:19:53,577 Average episode normalized_distance_to_goal: 0.444476
2020-10-31 13:19:53,577 Average episode normalized_distance_to_goal: 0.444476
2020-10-31 13:19:53,577 Average episode normalized_distance_to_goal: 0.444476
2020-10-31 13:19:53,577 Average episode na: 75.626000
2020-10-31 13:19:53,577 Average episode na: 75.626000
2020-10-31 13:19:53,577 Average episode na: 75.626000
2020-10-31 13:19:53,577 Average episode na: 75.626000
2020-10-31 13:19:53,578 Average episode sna: 0.102722
2020-10-31 13:19:53,578 Average episode sna: 0.102722
2020-10-31 13:19:53,578 Average episode sna: 0.102722
2020-10-31 13:19:53,578 Average episode sna: 0.102722
2020-10-31 13:19:53,578 Average episode success: 0.436000
2020-10-31 13:19:53,578 Average episode success: 0.436000
2020-10-31 13:19:53,578 Average episode success: 0.436000
2020-10-31 13:19:53,578 Average episode success: 0.436000
2020-10-31 13:19:53,578 Average episode spl: 0.252236
2020-10-31 13:19:53,578 Average episode spl: 0.252236
2020-10-31 13:19:53,578 Average episode spl: 0.252236
2020-10-31 13:19:53,578 Average episode spl: 0.252236
2020-10-31 13:19:53,579 Average episode softspl: 0.361664
2020-10-31 13:19:53,579 Average episode softspl: 0.361664
2020-10-31 13:19:53,579 Average episode softspl: 0.361664
2020-10-31 13:19:53,579 Average episode softspl: 0.361664
2020-10-31 13:19:55,617 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.4.pth=======
2020-10-31 13:19:55,617 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.4.pth=======
2020-10-31 13:19:55,617 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.4.pth=======
2020-10-31 13:19:55,617 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.4.pth=======
2020-10-31 13:19:55,916 Initializing dataset AudioNav
2020-10-31 13:19:55,916 Initializing dataset AudioNav
2020-10-31 13:19:55,916 Initializing dataset AudioNav
2020-10-31 13:19:55,916 Initializing dataset AudioNav
2020-10-31 13:41:02,260 Average episode reward: 8.549353
2020-10-31 13:41:02,260 Average episode reward: 8.549353
2020-10-31 13:41:02,260 Average episode reward: 8.549353
2020-10-31 13:41:02,260 Average episode reward: 8.549353
2020-10-31 13:41:02,260 Average episode reward: 8.549353
2020-10-31 13:41:02,261 Average episode distance_to_goal: 2.026000
2020-10-31 13:41:02,261 Average episode distance_to_goal: 2.026000
2020-10-31 13:41:02,261 Average episode distance_to_goal: 2.026000
2020-10-31 13:41:02,261 Average episode distance_to_goal: 2.026000
2020-10-31 13:41:02,261 Average episode distance_to_goal: 2.026000
2020-10-31 13:41:02,261 Average episode normalized_distance_to_goal: 0.290701
2020-10-31 13:41:02,261 Average episode normalized_distance_to_goal: 0.290701
2020-10-31 13:41:02,261 Average episode normalized_distance_to_goal: 0.290701
2020-10-31 13:41:02,261 Average episode normalized_distance_to_goal: 0.290701
2020-10-31 13:41:02,261 Average episode normalized_distance_to_goal: 0.290701
2020-10-31 13:41:02,261 Average episode na: 159.964000
2020-10-31 13:41:02,261 Average episode na: 159.964000
2020-10-31 13:41:02,261 Average episode na: 159.964000
2020-10-31 13:41:02,261 Average episode na: 159.964000
2020-10-31 13:41:02,261 Average episode na: 159.964000
2020-10-31 13:41:02,261 Average episode sna: 0.102214
2020-10-31 13:41:02,261 Average episode sna: 0.102214
2020-10-31 13:41:02,261 Average episode sna: 0.102214
2020-10-31 13:41:02,261 Average episode sna: 0.102214
2020-10-31 13:41:02,261 Average episode sna: 0.102214
2020-10-31 13:41:02,262 Average episode success: 0.568000
2020-10-31 13:41:02,262 Average episode success: 0.568000
2020-10-31 13:41:02,262 Average episode success: 0.568000
2020-10-31 13:41:02,262 Average episode success: 0.568000
2020-10-31 13:41:02,262 Average episode success: 0.568000
2020-10-31 13:41:02,262 Average episode spl: 0.255077
2020-10-31 13:41:02,262 Average episode spl: 0.255077
2020-10-31 13:41:02,262 Average episode spl: 0.255077
2020-10-31 13:41:02,262 Average episode spl: 0.255077
2020-10-31 13:41:02,262 Average episode spl: 0.255077
2020-10-31 13:41:02,262 Average episode softspl: 0.339762
2020-10-31 13:41:02,262 Average episode softspl: 0.339762
2020-10-31 13:41:02,262 Average episode softspl: 0.339762
2020-10-31 13:41:02,262 Average episode softspl: 0.339762
2020-10-31 13:41:02,262 Average episode softspl: 0.339762
2020-10-31 13:41:04,296 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.5.pth=======
2020-10-31 13:41:04,296 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.5.pth=======
2020-10-31 13:41:04,296 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.5.pth=======
2020-10-31 13:41:04,296 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.5.pth=======
2020-10-31 13:41:04,296 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.5.pth=======
.
.
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,197 =======current_ckpt: data/models/replica/audiogoal_depth/data/ckpt.64.pth=======
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav
2020-11-01 09:40:54,414 Initializing dataset AudioNav