# Importing libraries
import os
import numpy as np
import random
import math
from collections import deque
import collections
import pickle
# for building DQN model
from keras import layers
from keras import Sequential
from keras.layers import Dense, Activation, Flatten
from tensorflow.keras.optimizers import Adam
# for plotting graphs
import matplotlib.pyplot as plt
# Import the environment
from Env import CabDriver
import glob
import os
env = CabDriver()# Loading the time matrix provided
Time_matrix = np.load("TM.npy")states_track = collections.defaultdict(dict)
def initialise_states_for_tracking():
# Initializina Tracking Q-values for a couple of state action pairs
sample_q_values = [((4,3,2),(4,1)),((0,0,0),(0,4))]
for q_values in sample_q_values:
state = q_values[0]
action = q_values[1]
#array to trace state-action pair after every 25th episode
states_track[state][action] = []# Defining a function to save the tracked Q-values in the dictionry
def save_tracking_states():
print("saving states...")
for state in states_track.keys():
for action in states_track[state].keys():
state_encod = env.state_trans(state)
state_encod = np.reshape(state_encod, [1, agent.state_size])
prediction = agent.model.predict(state_encod)
action_index = env.action_space.index(action)
Q = prediction[0][action_index]
states_track[state][action].append(Q)#Defining a function to save a dictionary as a pickle file
def save_obj(obj, name ):
with open(name + '.pkl', 'wb') as f:
pickle.dump(obj, f, pickle.HIGHEST_PROTOCOL)If you are using this framework, you need to fill the following to complete the following code block:
- State and Action Size
- Hyperparameters
- Create a neural-network model in function 'build_model()'
- Define epsilon-greedy strategy in function 'get_action()'
- Complete the function 'append_sample()'. This function appends the recent experience tuple <state, action, reward, new-state> to the memory
- Complete the 'train_model()' function with following logic:
- If the memory size is greater than mini-batch size, you randomly sample experiences from memory as per the mini-batch size and do the following:
- Initialise your input and output batch for training the model
- Calculate the target Q value for each sample: reward + gamma*max(Q(s'a,))
- Get Q(s', a) values from the last trained model
- Update the input batch as your encoded state and output batch as your Q-values
- Then fit your DQN model using the updated input and output batch.
- If the memory size is greater than mini-batch size, you randomly sample experiences from memory as per the mini-batch size and do the following:
We chose to train our model every Episode instead of every step to make use of parallelization
m = 5
t = 24
d = 7
class DQNAgent:
def __init__(self, state_size):
# Define size of state and action
self.state_size = m+t+d
self.action_size = m*(m-1) + 1
self.action_space = [[i,j] for i in range(m) for j in range(m) if i!=j or i==0]
# These are hyper parameters for the DQN
self.discount_factor = 0.95
self.learning_rate = 0.01
self.epsilon_max = 1.0
self.epsilon_decay = 0.0009
self.epsilon_min = 0.00000001
self.batch_size = 2048*3
# create replay memory using deque
self.memory = deque(maxlen=2048*64)
# create main model and target model
self.model = self.build_model()
# approximate Q function using Neural Network
def build_model(self):
model = Sequential()
model.add(Dense(32, input_dim = self.state_size,activation ='relu'))
model.add(Dense(32,activation ='relu'))
model.add(Dense(self.action_size,activation ='linear'))
model.compile(loss='mse',optimizer=Adam(learning_rate=self.learning_rate))
model.summary
return model
def get_action(self, state, episode):
# get action from model using epsilon-greedy policy
# Decay in e after we generate each sample from the environment
poss_actions_index, poss_actions = env.requests(state)
epsilon = self.epsilon_min + (self.epsilon_max - self.epsilon_min) * np.exp(-self.epsilon_decay*episode)
if np.random.rand() <= epsilon: # Exploration: randomly choosing and action
action_index = np.random.choice(poss_actions_index)
action = self.action_space[action_index]
else: #Exploitation: this gets the action corresponding to max q-value of current state
state_encod = env.state_trans(state)
state_encod = np.reshape(state_encod, [1, self.state_size])
q_value = self.model.predict(state_encod)
q_value = q_value[0][poss_actions_index]
action_index = np.argmax(q_value)
action = poss_actions[action_index]
return action, epsilon
# save sample <s,a,r,s'> to the replay memory
def append_sample(self, state, action, reward, next_state, terminal_state):
self.memory.append((state, action, reward, next_state, terminal_state))
# pick samples randomly from replay memory (with batch_size) and train the network
def train_model(self):
if len(self.memory) < self.batch_size:
return
print('Training...')
# Sample batch from the memory
mini_batch = random.sample(self.memory, self.batch_size)
update_output = np.zeros((self.batch_size, self.state_size))
update_input = np.zeros((self.batch_size, self.state_size))
actions, rewards, terminal_states = [], [], []
for i in range(self.batch_size):
state, action, reward, next_state, terminal_state = mini_batch[i]
actions.append(self.action_space.index(list(action)))
rewards.append(reward)
terminal_states.append(terminal_state)
update_input[i] = env.state_trans(state)
update_output[i] = env.state_trans(next_state)
target = self.model.predict(update_input)
target_val = self.model.predict(update_output)
# get your target Q-value on the basis of terminal state
for i in range(self.batch_size):
if terminal_states[i]:
target[i][actions[i]] = rewards[i]
else:
target[i][actions[i]] = rewards[i] + self.discount_factor * (np.amax(target_val[i]))
self.model.fit(update_input, target, batch_size=self.batch_size, epochs=1, verbose=0)
def save(self, name):
self.model.save_weights(name)
def load(self, name):
self.model.load_weights(name)# make directory
if not os.path.exists("saved_pickle_files"):
os.mkdir("saved_pickle_files")
# Initialising the environment
env = CabDriver()
# get size of state and action from environment
state_size = len(env.state_space)
action_space = env.action_space
Time_matrix = np.load("TM.npy")
state_space = env.state_space
start_episode = 0;
# agent needs to be initialised outside the loop since the DQN
# network will be initialised along with the agent
agent = DQNAgent(state_size)
#Loading wights from disk (The training was interupted due to power failure)
# agent.load('./cab_driver.h5')
# start_episode = 2400 # Index of the episode to restart training from
# tracking average reward per episode = total rewards in an episode/ total steps in an episode
avg_reward = []
# tracking total rewards per episode
total_reward = []
initialise_states_for_tracking()
Episodes = 20000
for episode in range(start_episode,Episodes):
# tracking total rewards, step count
tot_reward = 0
step_count = 0
state = env.reset()
terminal_state = False
state_space = env.state_space
while not terminal_state:
action, epsilon = agent.get_action(state, episode)
reward = env.reward_func(state, action, Time_matrix)
next_state, terminal_state = env.next_state_func(state, action, Time_matrix)
# save the sample <s, a, r, s'> to the replay memory
agent.append_sample(state, action, reward, next_state, terminal_state)
tot_reward += reward
state = next_state
step_count += 1
# Store the rewards for every 25th episode
if terminal_state and episode % 1 == 0:
avg_reward.append(tot_reward/step_count)
total_reward.append(tot_reward)
print("episode:", episode," no of steps:",step_count, " score:", tot_reward, " avg score:", round(tot_reward/step_count,4),
" memorylength:", len(agent.memory), " epsilon:", epsilon)
#For every 25th episode,track the states.
if episode % 50 == 0: #every 25 episode
save_tracking_states()
if episode % 50 == 0 and episode !=0:
Rewardname = "saved_pickle_files/Rewards"+str(episode)
Statesname = "saved_pickle_files/States_tracked"+str(episode)
save_obj(total_reward,Rewardname)
save_obj(states_track,Statesname)
agent.save("./cab_driver.h5")
#Train the model every episode
agent.train_model()episode: 0 no of steps: 127 score: -257.0 avg score: -2.0236 memorylength: 127 epsilon: 1.0
saving states...
episode: 1 no of steps: 149 score: -446.0 avg score: -2.9933 memorylength: 276 epsilon: 0.9991004048875233
episode: 2 no of steps: 141 score: -400.0 avg score: -2.8369 memorylength: 417 epsilon: 0.9982016190464211
episode: 3 no of steps: 140 score: -256.0 avg score: -1.8286 memorylength: 557 epsilon: 0.9973036417486767
episode: 4 no of steps: 137 score: -351.0 avg score: -2.562 memorylength: 694 epsilon: 0.9964064722669286
episode: 5 no of steps: 174 score: -208.0 avg score: -1.1954 memorylength: 868 epsilon: 0.9955101098744694
episode: 6 no of steps: 131 score: -220.0 avg score: -1.6794 memorylength: 999 epsilon: 0.9946145538452457
episode: 7 no of steps: 131 score: -320.0 avg score: -2.4427 memorylength: 1130 epsilon: 0.9937198034538567
episode: 8 no of steps: 142 score: -412.0 avg score: -2.9014 memorylength: 1272 epsilon: 0.9928258579755548
episode: 9 no of steps: 129 score: -219.0 avg score: -1.6977 memorylength: 1401 epsilon: 0.9919327166862439
episode: 10 no of steps: 136 score: -253.0 avg score: -1.8603 memorylength: 1537 epsilon: 0.9910403788624799
episode: 11 no of steps: 155 score: -86.0 avg score: -0.5548 memorylength: 1692 epsilon: 0.9901488437814687
episode: 12 no of steps: 170 score: -221.0 avg score: -1.3 memorylength: 1862 epsilon: 0.9892581107210671
episode: 13 no of steps: 128 score: -252.0 avg score: -1.9688 memorylength: 1990 epsilon: 0.988368178959781
episode: 14 no of steps: 155 score: -198.0 avg score: -1.2774 memorylength: 2145 epsilon: 0.987479047776766
episode: 15 no of steps: 145 score: -544.0 avg score: -3.7517 memorylength: 2290 epsilon: 0.9865907164518255
episode: 16 no of steps: 146 score: -237.0 avg score: -1.6233 memorylength: 2436 epsilon: 0.9857031842654111
episode: 17 no of steps: 164 score: -130.0 avg score: -0.7927 memorylength: 2600 epsilon: 0.9848164504986219
episode: 18 no of steps: 124 score: -57.0 avg score: -0.4597 memorylength: 2724 epsilon: 0.9839305144332032
episode: 19 no of steps: 128 score: 104.0 avg score: 0.8125 memorylength: 2852 epsilon: 0.983045375351547
episode: 20 no of steps: 138 score: -100.0 avg score: -0.7246 memorylength: 2990 epsilon: 0.9821610325366904
episode: 21 no of steps: 152 score: -230.0 avg score: -1.5132 memorylength: 3142 epsilon: 0.9812774852723157
episode: 22 no of steps: 136 score: -267.0 avg score: -1.9632 memorylength: 3278 epsilon: 0.9803947328427498
episode: 23 no of steps: 129 score: -88.0 avg score: -0.6822 memorylength: 3407 epsilon: 0.9795127745329629
episode: 24 no of steps: 140 score: -189.0 avg score: -1.35 memorylength: 3547 epsilon: 0.9786316096285689
episode: 25 no of steps: 151 score: -294.0 avg score: -1.947 memorylength: 3698 epsilon: 0.9777512374158239
episode: 26 no of steps: 149 score: -302.0 avg score: -2.0268 memorylength: 3847 epsilon: 0.9768716571816268
episode: 27 no of steps: 133 score: -162.0 avg score: -1.218 memorylength: 3980 epsilon: 0.9759928682135173
episode: 28 no of steps: 130 score: -208.0 avg score: -1.6 memorylength: 4110 epsilon: 0.9751148697996762
episode: 29 no of steps: 148 score: -245.0 avg score: -1.6554 memorylength: 4258 epsilon: 0.9742376612289249
episode: 30 no of steps: 123 score: -271.0 avg score: -2.2033 memorylength: 4381 epsilon: 0.9733612417907244
episode: 31 no of steps: 135 score: -137.0 avg score: -1.0148 memorylength: 4516 epsilon: 0.9724856107751748
episode: 32 no of steps: 142 score: -415.0 avg score: -2.9225 memorylength: 4658 epsilon: 0.9716107674730151
episode: 33 no of steps: 157 score: -291.0 avg score: -1.8535 memorylength: 4815 epsilon: 0.970736711175622
episode: 34 no of steps: 152 score: -396.0 avg score: -2.6053 memorylength: 4967 epsilon: 0.9698634411750099
episode: 35 no of steps: 153 score: -91.0 avg score: -0.5948 memorylength: 5120 epsilon: 0.9689909567638301
episode: 36 no of steps: 134 score: -196.0 avg score: -1.4627 memorylength: 5254 epsilon: 0.9681192572353702
episode: 37 no of steps: 154 score: -399.0 avg score: -2.5909 memorylength: 5408 epsilon: 0.9672483418835535
episode: 38 no of steps: 145 score: -518.0 avg score: -3.5724 memorylength: 5553 epsilon: 0.9663782100029384
episode: 39 no of steps: 164 score: -396.0 avg score: -2.4146 memorylength: 5717 epsilon: 0.9655088608887183
episode: 40 no of steps: 133 score: -95.0 avg score: -0.7143 memorylength: 5850 epsilon: 0.9646402938367201
episode: 41 no of steps: 135 score: -374.0 avg score: -2.7704 memorylength: 5985 epsilon: 0.9637725081434045
episode: 42 no of steps: 140 score: -196.0 avg score: -1.4 memorylength: 6125 epsilon: 0.9629055031058652
episode: 43 no of steps: 147 score: -493.0 avg score: -3.3537 memorylength: 6272 epsilon: 0.962039278021828
Training...
episode: 44 no of steps: 144 score: -388.0 avg score: -2.6944 memorylength: 6416 epsilon: 0.9611738321896504
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episode: 45 no of steps: 147 score: -288.0 avg score: -1.9592 memorylength: 6563 epsilon: 0.9603091649083214
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episode: 46 no of steps: 157 score: -500.0 avg score: -3.1847 memorylength: 6720 epsilon: 0.9594452754774603
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episode: 47 no of steps: 146 score: -199.0 avg score: -1.363 memorylength: 6866 epsilon: 0.9585821631973167
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episode: 48 no of steps: 155 score: -196.0 avg score: -1.2645 memorylength: 7021 epsilon: 0.9577198273687696
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episode: 49 no of steps: 143 score: -352.0 avg score: -2.4615 memorylength: 7164 epsilon: 0.956858267293327
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episode: 50 no of steps: 128 score: -133.0 avg score: -1.0391 memorylength: 7292 epsilon: 0.9559974822731252
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episode: 51 no of steps: 144 score: -180.0 avg score: -1.25 memorylength: 7436 epsilon: 0.955137471610928
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episode: 52 no of steps: 143 score: -206.0 avg score: -1.4406 memorylength: 7579 epsilon: 0.9542782346101271
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episode: 53 no of steps: 133 score: -77.0 avg score: -0.5789 memorylength: 7712 epsilon: 0.9534197705747401
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episode: 54 no of steps: 134 score: -454.0 avg score: -3.3881 memorylength: 7846 epsilon: 0.9525620788094115
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episode: 55 no of steps: 137 score: -262.0 avg score: -1.9124 memorylength: 7983 epsilon: 0.9517051586194106
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episode: 56 no of steps: 124 score: -316.0 avg score: -2.5484 memorylength: 8107 epsilon: 0.9508490093106322
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episode: 57 no of steps: 149 score: 75.0 avg score: 0.5034 memorylength: 8256 epsilon: 0.9499936301895952
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episode: 58 no of steps: 126 score: -303.0 avg score: -2.4048 memorylength: 8382 epsilon: 0.9491390205634425
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episode: 59 no of steps: 144 score: 63.0 avg score: 0.4375 memorylength: 8526 epsilon: 0.9482851797399402
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episode: 60 no of steps: 139 score: 15.0 avg score: 0.1079 memorylength: 8665 epsilon: 0.9474321070274773
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episode: 61 no of steps: 137 score: -450.0 avg score: -3.2847 memorylength: 8802 epsilon: 0.9465798017350647
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episode: 62 no of steps: 124 score: -321.0 avg score: -2.5887 memorylength: 8926 epsilon: 0.9457282631723353
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episode: 63 no of steps: 143 score: -152.0 avg score: -1.0629 memorylength: 9069 epsilon: 0.9448774906495425
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episode: 64 no of steps: 138 score: -536.0 avg score: -3.8841 memorylength: 9207 epsilon: 0.9440274834775608
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episode: 65 no of steps: 140 score: -288.0 avg score: -2.0571 memorylength: 9347 epsilon: 0.9431782409678842
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episode: 66 no of steps: 128 score: -316.0 avg score: -2.4688 memorylength: 9475 epsilon: 0.9423297624326262
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episode: 67 no of steps: 143 score: -1.0 avg score: -0.007 memorylength: 9618 epsilon: 0.9414820471845194
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episode: 68 no of steps: 151 score: -248.0 avg score: -1.6424 memorylength: 9769 epsilon: 0.940635094536914
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episode: 69 no of steps: 156 score: -322.0 avg score: -2.0641 memorylength: 9925 epsilon: 0.9397889038037786
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episode: 70 no of steps: 154 score: -33.0 avg score: -0.2143 memorylength: 10079 epsilon: 0.9389434742996985
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episode: 71 no of steps: 131 score: -446.0 avg score: -3.4046 memorylength: 10210 epsilon: 0.9380988053398759
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episode: 72 no of steps: 138 score: -337.0 avg score: -2.442 memorylength: 10348 epsilon: 0.9372548962401288
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episode: 73 no of steps: 128 score: -378.0 avg score: -2.9531 memorylength: 10476 epsilon: 0.9364117463168907
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episode: 74 no of steps: 157 score: 78.0 avg score: 0.4968 memorylength: 10633 epsilon: 0.9355693548872103
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episode: 75 no of steps: 130 score: -65.0 avg score: -0.5 memorylength: 10763 epsilon: 0.9347277212687503
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episode: 76 no of steps: 139 score: -203.0 avg score: -1.4604 memorylength: 10902 epsilon: 0.9338868447797877
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episode: 77 no of steps: 152 score: 84.0 avg score: 0.5526 memorylength: 11054 epsilon: 0.9330467247392122
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episode: 78 no of steps: 149 score: 87.0 avg score: 0.5839 memorylength: 11203 epsilon: 0.9322073604665266
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episode: 79 no of steps: 141 score: -382.0 avg score: -2.7092 memorylength: 11344 epsilon: 0.931368751281846
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episode: 80 no of steps: 140 score: -179.0 avg score: -1.2786 memorylength: 11484 epsilon: 0.9305308965058968
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episode: 81 no of steps: 140 score: -190.0 avg score: -1.3571 memorylength: 11624 epsilon: 0.9296937954600164
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episode: 82 no of steps: 127 score: -288.0 avg score: -2.2677 memorylength: 11751 epsilon: 0.9288574474661532
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episode: 83 no of steps: 136 score: 195.0 avg score: 1.4338 memorylength: 11887 epsilon: 0.9280218518468649
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episode: 84 no of steps: 152 score: -414.0 avg score: -2.7237 memorylength: 12039 epsilon: 0.9271870079253194
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episode: 85 no of steps: 131 score: -330.0 avg score: -2.5191 memorylength: 12170 epsilon: 0.926352915025293
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episode: 86 no of steps: 150 score: 238.0 avg score: 1.5867 memorylength: 12320 epsilon: 0.9255195724711702
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episode: 87 no of steps: 132 score: -150.0 avg score: -1.1364 memorylength: 12452 epsilon: 0.9246869795879437
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episode: 88 no of steps: 138 score: -446.0 avg score: -3.2319 memorylength: 12590 epsilon: 0.923855135701213
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episode: 89 no of steps: 163 score: -281.0 avg score: -1.7239 memorylength: 12753 epsilon: 0.9230240401371846
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episode: 90 no of steps: 123 score: -327.0 avg score: -2.6585 memorylength: 12876 epsilon: 0.9221936922226711
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episode: 91 no of steps: 147 score: -197.0 avg score: -1.3401 memorylength: 13023 epsilon: 0.9213640912850907
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episode: 92 no of steps: 149 score: 70.0 avg score: 0.4698 memorylength: 13172 epsilon: 0.9205352366524665
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episode: 93 no of steps: 146 score: 151.0 avg score: 1.0342 memorylength: 13318 epsilon: 0.9197071276534262
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episode: 94 no of steps: 143 score: -360.0 avg score: -2.5175 memorylength: 13461 epsilon: 0.9188797636172015
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episode: 95 no of steps: 154 score: -73.0 avg score: -0.474 memorylength: 13615 epsilon: 0.9180531438736275
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episode: 96 no of steps: 172 score: -63.0 avg score: -0.3663 memorylength: 13787 epsilon: 0.917227267753142
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episode: 97 no of steps: 151 score: -299.0 avg score: -1.9801 memorylength: 13938 epsilon: 0.9164021345867855
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episode: 98 no of steps: 156 score: -439.0 avg score: -2.8141 memorylength: 14094 epsilon: 0.9155777437062002
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episode: 99 no of steps: 157 score: -289.0 avg score: -1.8408 memorylength: 14251 epsilon: 0.9147540944436291
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episode: 100 no of steps: 154 score: -448.0 avg score: -2.9091 memorylength: 14405 epsilon: 0.9139311861319164
saving states...
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episode: 101 no of steps: 135 score: 111.0 avg score: 0.8222 memorylength: 14540 epsilon: 0.9131090181045063
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episode: 102 no of steps: 140 score: -88.0 avg score: -0.6286 memorylength: 14680 epsilon: 0.9122875896954428
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episode: 103 no of steps: 139 score: -165.0 avg score: -1.1871 memorylength: 14819 epsilon: 0.9114669002393686
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episode: 104 no of steps: 140 score: -315.0 avg score: -2.25 memorylength: 14959 epsilon: 0.9106469490715253
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episode: 105 no of steps: 156 score: -410.0 avg score: -2.6282 memorylength: 15115 epsilon: 0.9098277355277526
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episode: 106 no of steps: 137 score: -279.0 avg score: -2.0365 memorylength: 15252 epsilon: 0.9090092589444873
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episode: 107 no of steps: 143 score: -514.0 avg score: -3.5944 memorylength: 15395 epsilon: 0.9081915186587634
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episode: 108 no of steps: 146 score: -136.0 avg score: -0.9315 memorylength: 15541 epsilon: 0.907374514008211
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episode: 109 no of steps: 139 score: 21.0 avg score: 0.1511 memorylength: 15680 epsilon: 0.9065582443310565
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episode: 110 no of steps: 125 score: 33.0 avg score: 0.264 memorylength: 15805 epsilon: 0.9057427089661214
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episode: 111 no of steps: 153 score: -420.0 avg score: -2.7451 memorylength: 15958 epsilon: 0.904927907252822
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episode: 112 no of steps: 137 score: -482.0 avg score: -3.5182 memorylength: 16095 epsilon: 0.9041138385311689
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episode: 113 no of steps: 140 score: -234.0 avg score: -1.6714 memorylength: 16235 epsilon: 0.9033005021417663
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episode: 114 no of steps: 133 score: -291.0 avg score: -2.188 memorylength: 16368 epsilon: 0.9024878974258117
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episode: 115 no of steps: 160 score: -677.0 avg score: -4.2312 memorylength: 16528 epsilon: 0.9016760237250953
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episode: 116 no of steps: 130 score: 46.0 avg score: 0.3538 memorylength: 16658 epsilon: 0.9008648803819992
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episode: 117 no of steps: 140 score: -118.0 avg score: -0.8429 memorylength: 16798 epsilon: 0.9000544667394974
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episode: 118 no of steps: 139 score: -106.0 avg score: -0.7626 memorylength: 16937 epsilon: 0.8992447821411548
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episode: 119 no of steps: 157 score: -273.0 avg score: -1.7389 memorylength: 17094 epsilon: 0.8984358259311269
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episode: 882 no of steps: 122 score: -45.0 avg score: -0.3689 memorylength: 121355 epsilon: 0.4521234631518483
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episode: 888 no of steps: 136 score: 798.0 avg score: 5.8676 memorylength: 122169 epsilon: 0.4496885766152485
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episode: 891 no of steps: 156 score: 477.0 avg score: 3.0577 memorylength: 122602 epsilon: 0.44847605512600464
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episode: 893 no of steps: 144 score: 234.0 avg score: 1.625 memorylength: 122864 epsilon: 0.44766952434024826
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episode: 898 no of steps: 120 score: -36.0 avg score: -0.3 memorylength: 123528 epsilon: 0.44565953738821107
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episode: 900 no of steps: 123 score: -80.0 avg score: -0.6504 memorylength: 123787 epsilon: 0.4448580717743605
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episode: 901 no of steps: 141 score: 129.0 avg score: 0.9149 memorylength: 123928 epsilon: 0.4444578796322405
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episode: 911 no of steps: 138 score: 409.0 avg score: 2.9638 memorylength: 125253 epsilon: 0.44047570546892456
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episode: 912 no of steps: 133 score: 503.0 avg score: 3.782 memorylength: 125386 epsilon: 0.4400794556821534
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episode: 913 no of steps: 136 score: 450.0 avg score: 3.3088 memorylength: 125522 epsilon: 0.43968356235975736
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episode: 916 no of steps: 125 score: -33.0 avg score: -0.264 memorylength: 125912 epsilon: 0.4384980179735255
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episode: 917 no of steps: 125 score: 99.0 avg score: 0.792 memorylength: 126037 epsilon: 0.43810354730477713
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episode: 918 no of steps: 122 score: 256.0 avg score: 2.0984 memorylength: 126159 epsilon: 0.43770943149991776
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episode: 919 no of steps: 131 score: 65.0 avg score: 0.4962 memorylength: 126290 epsilon: 0.43731567023971385
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episode: 920 no of steps: 145 score: 116.0 avg score: 0.8 memorylength: 126435 epsilon: 0.4369222632052186
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episode: 921 no of steps: 137 score: -224.0 avg score: -1.635 memorylength: 126572 epsilon: 0.4365292100777723
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episode: 922 no of steps: 129 score: 63.0 avg score: 0.4884 memorylength: 126701 epsilon: 0.436136510539002
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episode: 924 no of steps: 150 score: 503.0 avg score: 3.3533 memorylength: 126991 epsilon: 0.43535217095542866
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episode: 926 no of steps: 136 score: 157.0 avg score: 1.1544 memorylength: 127260 epsilon: 0.4345692419132377
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episode: 927 no of steps: 167 score: 589.0 avg score: 3.5269 memorylength: 127427 epsilon: 0.43417830555226644
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episode: 928 no of steps: 131 score: -5.0 avg score: -0.0382 memorylength: 127558 epsilon: 0.4337877208757383
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episode: 929 no of steps: 137 score: 290.0 avg score: 2.1168 memorylength: 127695 epsilon: 0.4333974875672797
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episode: 930 no of steps: 129 score: -212.0 avg score: -1.6434 memorylength: 127824 epsilon: 0.4330076053108016
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episode: 931 no of steps: 158 score: 403.0 avg score: 2.5506 memorylength: 127982 epsilon: 0.4326180737904994
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episode: 932 no of steps: 132 score: 62.0 avg score: 0.4697 memorylength: 128114 epsilon: 0.43222889269085246
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episode: 933 no of steps: 132 score: 690.0 avg score: 5.2273 memorylength: 128246 epsilon: 0.4318400616966242
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episode: 934 no of steps: 143 score: 183.0 avg score: 1.2797 memorylength: 128389 epsilon: 0.4314515804928615
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episode: 935 no of steps: 144 score: -106.0 avg score: -0.7361 memorylength: 128533 epsilon: 0.43106344876489433
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episode: 937 no of steps: 128 score: 405.0 avg score: 3.1641 memorylength: 128786 epsilon: 0.4302882324790832
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episode: 945 no of steps: 143 score: 367.0 avg score: 2.5664 memorylength: 129885 epsilon: 0.4272012836287027
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episode: 1101 no of steps: 146 score: -69.0 avg score: -0.4726 memorylength: 131072 epsilon: 0.37124242873112506
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episode: 1420 no of steps: 143 score: 420.0 avg score: 2.9371 memorylength: 131072 epsilon: 0.27859393871366395
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episode: 1422 no of steps: 152 score: 450.0 avg score: 2.9605 memorylength: 131072 epsilon: 0.27809292069347236
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episode: 1424 no of steps: 150 score: 565.0 avg score: 3.7667 memorylength: 131072 epsilon: 0.2775928036945547
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episode: 1426 no of steps: 157 score: 659.0 avg score: 4.1975 memorylength: 131072 epsilon: 0.2770935860965315
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episode: 1427 no of steps: 142 score: 703.0 avg score: 4.9507 memorylength: 131072 epsilon: 0.2768443140672836
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episode: 1428 no of steps: 163 score: 663.0 avg score: 4.0675 memorylength: 131072 epsilon: 0.27659526628193726
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episode: 1429 no of steps: 146 score: 305.0 avg score: 2.089 memorylength: 131072 epsilon: 0.2763464425387635
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episode: 1430 no of steps: 141 score: 492.0 avg score: 3.4894 memorylength: 131072 epsilon: 0.27609784263621523
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episode: 1431 no of steps: 143 score: 283.0 avg score: 1.979 memorylength: 131072 epsilon: 0.2758494663729265
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episode: 1432 no of steps: 147 score: 468.0 avg score: 3.1837 memorylength: 131072 epsilon: 0.27560131354771256
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episode: 1433 no of steps: 163 score: 456.0 avg score: 2.7975 memorylength: 131072 epsilon: 0.2753533839595695
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episode: 1434 no of steps: 148 score: 711.0 avg score: 4.8041 memorylength: 131072 epsilon: 0.27510567740767444
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episode: 1435 no of steps: 140 score: 366.0 avg score: 2.6143 memorylength: 131072 epsilon: 0.2748581936913851
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episode: 1437 no of steps: 136 score: -130.0 avg score: -0.9559 memorylength: 131072 epsilon: 0.27436389396395616
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episode: 1438 no of steps: 174 score: 492.0 avg score: 2.8276 memorylength: 131072 epsilon: 0.27411707755243386
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episode: 1439 no of steps: 167 score: 489.0 avg score: 2.9281 memorylength: 131072 epsilon: 0.27387048317575136
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episode: 1440 no of steps: 153 score: 687.0 avg score: 4.4902 memorylength: 131072 epsilon: 0.273624110634167
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episode: 1441 no of steps: 146 score: 675.0 avg score: 4.6233 memorylength: 131072 epsilon: 0.2733779597281192
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episode: 1445 no of steps: 162 score: 625.0 avg score: 3.858 memorylength: 131072 epsilon: 0.27239556847433705
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episode: 1446 no of steps: 147 score: 909.0 avg score: 6.1837 memorylength: 131072 epsilon: 0.27215052275882273
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episode: 1447 no of steps: 148 score: 773.0 avg score: 5.223 memorylength: 131072 epsilon: 0.2719056974852386
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episode: 1448 no of steps: 145 score: 418.0 avg score: 2.8828 memorylength: 131072 epsilon: 0.2716610924552762
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episode: 1449 no of steps: 151 score: 476.0 avg score: 3.1523 memorylength: 131072 epsilon: 0.2714167074708055
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episode: 1450 no of steps: 167 score: 561.0 avg score: 3.3593 memorylength: 131072 epsilon: 0.27117254233387456
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episode: 1451 no of steps: 174 score: 189.0 avg score: 1.0862 memorylength: 131072 epsilon: 0.27092859684670956
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episode: 1452 no of steps: 158 score: 423.0 avg score: 2.6772 memorylength: 131072 epsilon: 0.2706848708117148
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episode: 1453 no of steps: 154 score: 642.0 avg score: 4.1688 memorylength: 131072 epsilon: 0.27044136403147206
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episode: 1454 no of steps: 167 score: 628.0 avg score: 3.7605 memorylength: 131072 epsilon: 0.2701980763087409
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episode: 1455 no of steps: 150 score: 542.0 avg score: 3.6133 memorylength: 131072 epsilon: 0.2699550074464582
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episode: 1456 no of steps: 151 score: 936.0 avg score: 6.1987 memorylength: 131072 epsilon: 0.26971215724773817
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episode: 1457 no of steps: 144 score: 522.0 avg score: 3.625 memorylength: 131072 epsilon: 0.2694695255158722
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episode: 1461 no of steps: 151 score: 315.0 avg score: 2.0861 memorylength: 131072 epsilon: 0.26850117932896517
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episode: 1462 no of steps: 162 score: 856.0 avg score: 5.284 memorylength: 131072 epsilon: 0.2682596369869271
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episode: 1463 no of steps: 141 score: 491.0 avg score: 3.4823 memorylength: 131072 epsilon: 0.2680183119352016
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episode: 1464 no of steps: 162 score: 596.0 avg score: 3.679 memorylength: 131072 epsilon: 0.2677772039783153
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episode: 1465 no of steps: 174 score: 332.0 avg score: 1.908 memorylength: 131072 epsilon: 0.2675363129209708
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episode: 1466 no of steps: 146 score: 668.0 avg score: 4.5753 memorylength: 131072 epsilon: 0.2672956385680463
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episode: 1469 no of steps: 174 score: 521.0 avg score: 2.9943 memorylength: 131072 epsilon: 0.2665749137872069
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episode: 1470 no of steps: 186 score: 279.0 avg score: 1.5 memorylength: 131072 epsilon: 0.2663351043042529
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episode: 1500 no of steps: 157 score: 862.0 avg score: 5.4904 memorylength: 131072 epsilon: 0.25924026805348893
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episode: 1501 no of steps: 143 score: 567.0 avg score: 3.965 memorylength: 131072 epsilon: 0.25900705678205466
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episode: 1851 no of steps: 179 score: 636.0 avg score: 3.5531 memorylength: 131072 epsilon: 0.1890204710988286
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episode: 1898 no of steps: 156 score: 430.0 avg score: 2.7564 memorylength: 131072 epsilon: 0.18119165241038118
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episode: 1900 no of steps: 193 score: 557.0 avg score: 2.886 memorylength: 131072 epsilon: 0.18086580080846415
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episode: 1901 no of steps: 173 score: 866.0 avg score: 5.0058 memorylength: 131072 epsilon: 0.18070309482541155
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episode: 1902 no of steps: 171 score: 799.0 avg score: 4.6725 memorylength: 131072 epsilon: 0.18054053521186755
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episode: 1903 no of steps: 141 score: 875.0 avg score: 6.2057 memorylength: 131072 epsilon: 0.18037812183615887
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episode: 1904 no of steps: 148 score: 872.0 avg score: 5.8919 memorylength: 131072 epsilon: 0.1802158545667306
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episode: 1906 no of steps: 143 score: 1190.0 avg score: 8.3217 memorylength: 131072 epsilon: 0.17989175782108766
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episode: 1907 no of steps: 157 score: 849.0 avg score: 5.4076 memorylength: 131072 epsilon: 0.17972992808235463
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episode: 1908 no of steps: 149 score: 935.0 avg score: 6.2752 memorylength: 131072 epsilon: 0.17956824392486506
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episode: 1909 no of steps: 161 score: 557.0 avg score: 3.4596 memorylength: 131072 epsilon: 0.17940670521765478
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episode: 1910 no of steps: 168 score: 580.0 avg score: 3.4524 memorylength: 131072 epsilon: 0.17924531182987746
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episode: 1911 no of steps: 168 score: 676.0 avg score: 4.0238 memorylength: 131072 epsilon: 0.1790840636308044
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episode: 1912 no of steps: 167 score: 481.0 avg score: 2.8802 memorylength: 131072 epsilon: 0.1789229604898246
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episode: 1913 no of steps: 160 score: 459.0 avg score: 2.8688 memorylength: 131072 epsilon: 0.17876200227644443
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episode: 1914 no of steps: 182 score: 207.0 avg score: 1.1374 memorylength: 131072 epsilon: 0.17860118886028784
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episode: 1915 no of steps: 147 score: 468.0 avg score: 3.1837 memorylength: 131072 epsilon: 0.17844052011109582
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episode: 1916 no of steps: 149 score: 570.0 avg score: 3.8255 memorylength: 131072 epsilon: 0.1782799958987268
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episode: 1918 no of steps: 151 score: 1130.0 avg score: 7.4834 memorylength: 131072 epsilon: 0.17795938056447605
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episode: 1920 no of steps: 152 score: 921.0 avg score: 6.0592 memorylength: 131072 epsilon: 0.1776393418187416
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episode: 1921 no of steps: 151 score: 1046.0 avg score: 6.9272 memorylength: 131072 epsilon: 0.1774795383424558
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episode: 1922 no of steps: 180 score: 688.0 avg score: 3.8222 memorylength: 131072 epsilon: 0.17731987862459764
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episode: 1923 no of steps: 139 score: 661.0 avg score: 4.7554 memorylength: 131072 epsilon: 0.1771603625358428
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episode: 1924 no of steps: 150 score: 258.0 avg score: 1.72 memorylength: 131072 epsilon: 0.17700098994698316
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episode: 1925 no of steps: 141 score: 84.0 avg score: 0.5957 memorylength: 131072 epsilon: 0.17684176072892702
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episode: 1926 no of steps: 135 score: 336.0 avg score: 2.4889 memorylength: 131072 epsilon: 0.17668267475269853
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episode: 1927 no of steps: 169 score: 610.0 avg score: 3.6095 memorylength: 131072 epsilon: 0.17652373188943826
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episode: 1928 no of steps: 183 score: 702.0 avg score: 3.8361 memorylength: 131072 epsilon: 0.17636493201040232
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episode: 1929 no of steps: 182 score: 788.0 avg score: 4.3297 memorylength: 131072 epsilon: 0.1762062749869628
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episode: 1930 no of steps: 184 score: 759.0 avg score: 4.125 memorylength: 131072 epsilon: 0.17604776069060765
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episode: 1931 no of steps: 175 score: 1147.0 avg score: 6.5543 memorylength: 131072 epsilon: 0.17588938899294015
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episode: 1932 no of steps: 174 score: 864.0 avg score: 4.9655 memorylength: 131072 epsilon: 0.17573115976567924
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episode: 1933 no of steps: 136 score: 860.0 avg score: 6.3235 memorylength: 131072 epsilon: 0.17557307288065924
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episode: 1934 no of steps: 161 score: 498.0 avg score: 3.0932 memorylength: 131072 epsilon: 0.1754151282098298
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episode: 1935 no of steps: 140 score: 927.0 avg score: 6.6214 memorylength: 131072 epsilon: 0.17525732562525567
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episode: 1936 no of steps: 154 score: 768.0 avg score: 4.987 memorylength: 131072 epsilon: 0.1750996649991168
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episode: 1937 no of steps: 148 score: 854.0 avg score: 5.7703 memorylength: 131072 epsilon: 0.17494214620370807
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episode: 1938 no of steps: 158 score: 497.0 avg score: 3.1456 memorylength: 131072 epsilon: 0.1747847691114392
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episode: 1939 no of steps: 149 score: 592.0 avg score: 3.9732 memorylength: 131072 epsilon: 0.17462753359483477
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episode: 1940 no of steps: 147 score: 1015.0 avg score: 6.9048 memorylength: 131072 epsilon: 0.174470439526534
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episode: 1941 no of steps: 147 score: 776.0 avg score: 5.2789 memorylength: 131072 epsilon: 0.17431348677929068
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episode: 1942 no of steps: 160 score: 579.0 avg score: 3.6188 memorylength: 131072 epsilon: 0.17415667522597308
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episode: 1943 no of steps: 170 score: 252.0 avg score: 1.4824 memorylength: 131072 epsilon: 0.17400000473956387
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episode: 1944 no of steps: 172 score: 676.0 avg score: 3.9302 memorylength: 131072 epsilon: 0.17384347519315987
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episode: 1945 no of steps: 199 score: 954.0 avg score: 4.794 memorylength: 131072 epsilon: 0.17368708645997222
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episode: 1946 no of steps: 195 score: 544.0 avg score: 2.7897 memorylength: 131072 epsilon: 0.17353083841332598
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episode: 1947 no of steps: 170 score: 810.0 avg score: 4.7647 memorylength: 131072 epsilon: 0.17337473092666023
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episode: 1948 no of steps: 174 score: 1105.0 avg score: 6.3506 memorylength: 131072 epsilon: 0.17321876387352794
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episode: 1949 no of steps: 172 score: 1062.0 avg score: 6.1744 memorylength: 131072 epsilon: 0.1730629371275957
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episode: 1950 no of steps: 167 score: 562.0 avg score: 3.3653 memorylength: 131072 epsilon: 0.17290725056264394
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episode: 1951 no of steps: 156 score: 786.0 avg score: 5.0385 memorylength: 131072 epsilon: 0.17275170405256648
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episode: 1952 no of steps: 163 score: 983.0 avg score: 6.0307 memorylength: 131072 epsilon: 0.17259629747137067
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episode: 1953 no of steps: 160 score: 738.0 avg score: 4.6125 memorylength: 131072 epsilon: 0.17244103069317712
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episode: 1954 no of steps: 167 score: 767.0 avg score: 4.5928 memorylength: 131072 epsilon: 0.1722859035922198
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episode: 1955 no of steps: 147 score: 634.0 avg score: 4.3129 memorylength: 131072 epsilon: 0.17213091604284567
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episode: 1957 no of steps: 161 score: 314.0 avg score: 1.9503 memorylength: 131072 epsilon: 0.17182135909680038
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episode: 1958 no of steps: 143 score: 387.0 avg score: 2.7063 memorylength: 131072 epsilon: 0.171666789449388
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episode: 1959 no of steps: 161 score: 621.0 avg score: 3.8571 memorylength: 131072 epsilon: 0.17151235885207644
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episode: 1960 no of steps: 146 score: 774.0 avg score: 5.3014 memorylength: 131072 epsilon: 0.17135806717977675
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episode: 1961 no of steps: 146 score: 927.0 avg score: 6.3493 memorylength: 131072 epsilon: 0.17120391430751283
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episode: 1962 no of steps: 146 score: 705.0 avg score: 4.8288 memorylength: 131072 epsilon: 0.17104990011042068
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episode: 1963 no of steps: 166 score: 917.0 avg score: 5.5241 memorylength: 131072 epsilon: 0.17089602446374894
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episode: 1964 no of steps: 154 score: 1025.0 avg score: 6.6558 memorylength: 131072 epsilon: 0.17074228724285823
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episode: 1965 no of steps: 153 score: 1044.0 avg score: 6.8235 memorylength: 131072 epsilon: 0.1705886883232214
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episode: 1966 no of steps: 167 score: 727.0 avg score: 4.3533 memorylength: 131072 epsilon: 0.17043522758042337
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episode: 1967 no of steps: 180 score: 718.0 avg score: 3.9889 memorylength: 131072 epsilon: 0.1702819048901609
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episode: 1968 no of steps: 183 score: 854.0 avg score: 4.6667 memorylength: 131072 epsilon: 0.1701287201282426
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episode: 1969 no of steps: 192 score: 931.0 avg score: 4.849 memorylength: 131072 epsilon: 0.16997567317058876
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episode: 1970 no of steps: 173 score: 696.0 avg score: 4.0231 memorylength: 131072 epsilon: 0.16982276389323145
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episode: 1971 no of steps: 171 score: 733.0 avg score: 4.2865 memorylength: 131072 epsilon: 0.16966999217231404
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episode: 1972 no of steps: 177 score: 1252.0 avg score: 7.0734 memorylength: 131072 epsilon: 0.16951735788409147
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episode: 1973 no of steps: 189 score: 983.0 avg score: 5.2011 memorylength: 131072 epsilon: 0.16936486090492994
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episode: 1974 no of steps: 171 score: 758.0 avg score: 4.4327 memorylength: 131072 epsilon: 0.16921250111130692
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episode: 1975 no of steps: 153 score: 499.0 avg score: 3.2614 memorylength: 131072 epsilon: 0.16906027837981097
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episode: 1976 no of steps: 146 score: 899.0 avg score: 6.1575 memorylength: 131072 epsilon: 0.16890819258714163
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episode: 1977 no of steps: 142 score: 883.0 avg score: 6.2183 memorylength: 131072 epsilon: 0.16875624361010944
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episode: 1978 no of steps: 137 score: 843.0 avg score: 6.1533 memorylength: 131072 epsilon: 0.16860443132563563
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episode: 1979 no of steps: 139 score: 502.0 avg score: 3.6115 memorylength: 131072 epsilon: 0.1684527556107524
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episode: 1980 no of steps: 134 score: 629.0 avg score: 4.694 memorylength: 131072 epsilon: 0.16830121634260228
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episode: 1981 no of steps: 152 score: 389.0 avg score: 2.5592 memorylength: 131072 epsilon: 0.16814981339843854
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episode: 1982 no of steps: 187 score: 843.0 avg score: 4.508 memorylength: 131072 epsilon: 0.16799854665562466
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episode: 1983 no of steps: 162 score: 558.0 avg score: 3.4444 memorylength: 131072 epsilon: 0.16784741599163475
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episode: 1984 no of steps: 169 score: 620.0 avg score: 3.6686 memorylength: 131072 epsilon: 0.16769642128405282
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episode: 1985 no of steps: 175 score: 316.0 avg score: 1.8057 memorylength: 131072 epsilon: 0.16754556241057322
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episode: 1986 no of steps: 185 score: 505.0 avg score: 2.7297 memorylength: 131072 epsilon: 0.16739483924900025
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episode: 1987 no of steps: 174 score: 841.0 avg score: 4.8333 memorylength: 131072 epsilon: 0.16724425167724807
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episode: 1988 no of steps: 160 score: 804.0 avg score: 5.025 memorylength: 131072 epsilon: 0.16709379957334083
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episode: 1989 no of steps: 154 score: 710.0 avg score: 4.6104 memorylength: 131072 epsilon: 0.16694348281541224
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episode: 1990 no of steps: 135 score: 779.0 avg score: 5.7704 memorylength: 131072 epsilon: 0.16679330128170583
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episode: 1991 no of steps: 141 score: 760.0 avg score: 5.3901 memorylength: 131072 epsilon: 0.16664325485057443
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episode: 1992 no of steps: 162 score: 687.0 avg score: 4.2407 memorylength: 131072 epsilon: 0.16649334340048047
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episode: 1993 no of steps: 154 score: 873.0 avg score: 5.6688 memorylength: 131072 epsilon: 0.1663435668099957
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episode: 1994 no of steps: 164 score: 358.0 avg score: 2.1829 memorylength: 131072 epsilon: 0.166193924957801
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episode: 1995 no of steps: 157 score: 525.0 avg score: 3.3439 memorylength: 131072 epsilon: 0.16604441772268652
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episode: 1996 no of steps: 159 score: 90.0 avg score: 0.566 memorylength: 131072 epsilon: 0.16589504498355137
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episode: 1997 no of steps: 175 score: 211.0 avg score: 1.2057 memorylength: 131072 epsilon: 0.16574580661940364
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episode: 1998 no of steps: 151 score: 450.0 avg score: 2.9801 memorylength: 131072 epsilon: 0.1655967025093602
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episode: 1999 no of steps: 149 score: 466.0 avg score: 3.1275 memorylength: 131072 epsilon: 0.1654477325326468
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episode: 2000 no of steps: 141 score: 84.0 avg score: 0.5957 memorylength: 131072 epsilon: 0.16529889656859764
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episode: 2001 no of steps: 136 score: 697.0 avg score: 5.125 memorylength: 131072 epsilon: 0.16515019449665566
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episode: 2002 no of steps: 143 score: 652.0 avg score: 4.5594 memorylength: 131072 epsilon: 0.1650016261963722
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episode: 2003 no of steps: 142 score: 1064.0 avg score: 7.493 memorylength: 131072 epsilon: 0.16485319154740682
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episode: 2004 no of steps: 169 score: 676.0 avg score: 4.0 memorylength: 131072 epsilon: 0.16470489042952752
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episode: 2005 no of steps: 174 score: 1113.0 avg score: 6.3966 memorylength: 131072 epsilon: 0.16455672272261038
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episode: 2007 no of steps: 176 score: 679.0 avg score: 3.858 memorylength: 131072 epsilon: 0.1642607870617071
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episode: 2008 no of steps: 179 score: 904.0 avg score: 5.0503 memorylength: 131072 epsilon: 0.16411301886801308
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episode: 2009 no of steps: 197 score: 603.0 avg score: 3.0609 memorylength: 131072 epsilon: 0.1639653836058652
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episode: 2010 no of steps: 171 score: 1019.0 avg score: 5.9591 memorylength: 131072 epsilon: 0.16381788115567894
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episode: 2011 no of steps: 164 score: 824.0 avg score: 5.0244 memorylength: 131072 epsilon: 0.16367051139797728
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episode: 2012 no of steps: 154 score: 467.0 avg score: 3.0325 memorylength: 131072 epsilon: 0.16352327421339063
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episode: 2013 no of steps: 137 score: 547.0 avg score: 3.9927 memorylength: 131072 epsilon: 0.163376169482657
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episode: 2014 no of steps: 145 score: 549.0 avg score: 3.7862 memorylength: 131072 epsilon: 0.16322919708662148
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episode: 2015 no of steps: 119 score: 638.0 avg score: 5.3613 memorylength: 131072 epsilon: 0.1630823569062364
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episode: 2016 no of steps: 146 score: 622.0 avg score: 4.2603 memorylength: 131072 epsilon: 0.16293564882256123
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episode: 2017 no of steps: 147 score: 938.0 avg score: 6.381 memorylength: 131072 epsilon: 0.1627890727167624
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episode: 2018 no of steps: 153 score: 414.0 avg score: 2.7059 memorylength: 131072 epsilon: 0.1626426284701133
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episode: 2019 no of steps: 146 score: 179.0 avg score: 1.226 memorylength: 131072 epsilon: 0.16249631596399405
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episode: 2020 no of steps: 151 score: 654.0 avg score: 4.3311 memorylength: 131072 epsilon: 0.1623501350798915
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episode: 2021 no of steps: 155 score: 707.0 avg score: 4.5613 memorylength: 131072 epsilon: 0.16220408569939918
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episode: 2801 no of steps: 162 score: 780.0 avg score: 4.8148 memorylength: 131072 epsilon: 0.08038723487595267
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episode: 2813 no of steps: 155 score: 1119.0 avg score: 7.2194 memorylength: 131072 epsilon: 0.07952372419825941
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episode: 2951 no of steps: 175 score: 958.0 avg score: 5.4743 memorylength: 131072 epsilon: 0.07023560747056405
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episode: 2965 no of steps: 138 score: 922.0 avg score: 6.6812 memorylength: 131072 epsilon: 0.06935619090147065
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episode: 3151 no of steps: 166 score: 755.0 avg score: 4.5482 memorylength: 131072 epsilon: 0.05866571234783502
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episode: 3301 no of steps: 140 score: 450.0 avg score: 3.2143 memorylength: 131072 epsilon: 0.05125716761165755
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episode: 3310 no of steps: 168 score: 911.0 avg score: 5.4226 memorylength: 131072 epsilon: 0.0508436615952114
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episode: 3320 no of steps: 146 score: 575.0 avg score: 3.9384 memorylength: 131072 epsilon: 0.05038812173511484
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episode: 3321 no of steps: 138 score: 396.0 avg score: 2.8696 memorylength: 131072 epsilon: 0.050342792835617704
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episode: 3325 no of steps: 156 score: 1080.0 avg score: 6.9231 memorylength: 131072 epsilon: 0.05016188464752886
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episode: 3381 no of steps: 179 score: 897.0 avg score: 5.0112 memorylength: 131072 epsilon: 0.04769637878911186
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episode: 3382 no of steps: 176 score: 1034.0 avg score: 5.875 memorylength: 131072 epsilon: 0.04765347136843721
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episode: 3383 no of steps: 171 score: 1108.0 avg score: 6.4795 memorylength: 131072 epsilon: 0.04761060254706889
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episode: 3384 no of steps: 196 score: 1107.0 avg score: 5.648 memorylength: 131072 epsilon: 0.04756777229028312
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episode: 3385 no of steps: 159 score: 674.0 avg score: 4.239 memorylength: 131072 epsilon: 0.0475249805633874
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episode: 3386 no of steps: 171 score: 1018.0 avg score: 5.9532 memorylength: 131072 epsilon: 0.047482227331720445
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episode: 3387 no of steps: 157 score: 904.0 avg score: 5.758 memorylength: 131072 epsilon: 0.04743951256065214
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episode: 3388 no of steps: 158 score: 1266.0 avg score: 8.0127 memorylength: 131072 epsilon: 0.04739683621558348
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episode: 3389 no of steps: 137 score: 1038.0 avg score: 7.5766 memorylength: 131072 epsilon: 0.047354198261946645
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episode: 3390 no of steps: 137 score: 585.0 avg score: 4.2701 memorylength: 131072 epsilon: 0.047311598665204915
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episode: 3391 no of steps: 152 score: 1093.0 avg score: 7.1908 memorylength: 131072 epsilon: 0.047269037390852565
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episode: 3392 no of steps: 132 score: 720.0 avg score: 5.4545 memorylength: 131072 epsilon: 0.04722651440441499
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episode: 3393 no of steps: 145 score: 740.0 avg score: 5.1034 memorylength: 131072 epsilon: 0.047184029671448566
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episode: 3394 no of steps: 140 score: 697.0 avg score: 4.9786 memorylength: 131072 epsilon: 0.04714158315754068
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episode: 3395 no of steps: 133 score: 576.0 avg score: 4.3308 memorylength: 131072 epsilon: 0.0470991748283096
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episode: 3396 no of steps: 141 score: 409.0 avg score: 2.9007 memorylength: 131072 epsilon: 0.047056804649404614
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episode: 3397 no of steps: 173 score: 847.0 avg score: 4.896 memorylength: 131072 epsilon: 0.047014472586505866
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episode: 3398 no of steps: 151 score: 647.0 avg score: 4.2848 memorylength: 131072 epsilon: 0.0469721786053244
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episode: 3399 no of steps: 191 score: 1034.0 avg score: 5.4136 memorylength: 131072 epsilon: 0.04692992267160205
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episode: 3400 no of steps: 170 score: 634.0 avg score: 3.7294 memorylength: 131072 epsilon: 0.046887704751111536
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episode: 3401 no of steps: 170 score: 1195.0 avg score: 7.0294 memorylength: 131072 epsilon: 0.04684552480965635
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episode: 3402 no of steps: 184 score: 890.0 avg score: 4.837 memorylength: 131072 epsilon: 0.0468033828130707
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episode: 3403 no of steps: 174 score: 902.0 avg score: 5.1839 memorylength: 131072 epsilon: 0.04676127872721959
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episode: 3404 no of steps: 157 score: 873.0 avg score: 5.5605 memorylength: 131072 epsilon: 0.0467192125179987
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episode: 3405 no of steps: 169 score: 1008.0 avg score: 5.9645 memorylength: 131072 epsilon: 0.046677184151334435
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episode: 3406 no of steps: 178 score: 659.0 avg score: 3.7022 memorylength: 131072 epsilon: 0.04663519359318376
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episode: 3407 no of steps: 170 score: 441.0 avg score: 2.5941 memorylength: 131072 epsilon: 0.04659324080953434
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episode: 3408 no of steps: 165 score: 625.0 avg score: 3.7879 memorylength: 131072 epsilon: 0.04655132576640445
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episode: 3409 no of steps: 170 score: 782.0 avg score: 4.6 memorylength: 131072 epsilon: 0.04650944842984285
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episode: 3410 no of steps: 142 score: 444.0 avg score: 3.1268 memorylength: 131072 epsilon: 0.04646760876592893
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episode: 3411 no of steps: 130 score: 282.0 avg score: 2.1692 memorylength: 131072 epsilon: 0.04642580674077255
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episode: 3412 no of steps: 123 score: 450.0 avg score: 3.6585 memorylength: 131072 epsilon: 0.04638404232051408
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episode: 3413 no of steps: 147 score: 810.0 avg score: 5.5102 memorylength: 131072 epsilon: 0.04634231547132431
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episode: 3414 no of steps: 165 score: 628.0 avg score: 3.8061 memorylength: 131072 epsilon: 0.0463006261594045
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episode: 3415 no of steps: 141 score: 425.0 avg score: 3.0142 memorylength: 131072 epsilon: 0.04625897435098632
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episode: 3416 no of steps: 136 score: 486.0 avg score: 3.5735 memorylength: 131072 epsilon: 0.04621736001233181
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episode: 3417 no of steps: 150 score: 990.0 avg score: 6.6 memorylength: 131072 epsilon: 0.04617578310973332
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episode: 3418 no of steps: 137 score: 863.0 avg score: 6.2993 memorylength: 131072 epsilon: 0.046134243609513556
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episode: 3419 no of steps: 140 score: 720.0 avg score: 5.1429 memorylength: 131072 epsilon: 0.04609274147802558
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episode: 3420 no of steps: 151 score: 1152.0 avg score: 7.6291 memorylength: 131072 epsilon: 0.04605127668165259
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episode: 3421 no of steps: 170 score: 1053.0 avg score: 6.1941 memorylength: 131072 epsilon: 0.04600984918680814
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episode: 3422 no of steps: 160 score: 990.0 avg score: 6.1875 memorylength: 131072 epsilon: 0.04596845895993593
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episode: 3423 no of steps: 170 score: 1255.0 avg score: 7.3824 memorylength: 131072 epsilon: 0.04592710596750992
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episode: 3424 no of steps: 187 score: 1299.0 avg score: 6.9465 memorylength: 131072 epsilon: 0.04588579017603414
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episode: 3425 no of steps: 186 score: 812.0 avg score: 4.3656 memorylength: 131072 epsilon: 0.045844511552042805
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episode: 3426 no of steps: 151 score: 916.0 avg score: 6.0662 memorylength: 131072 epsilon: 0.04580327006210026
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episode: 3427 no of steps: 170 score: 963.0 avg score: 5.6647 memorylength: 131072 epsilon: 0.04576206567280084
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episode: 3428 no of steps: 170 score: 673.0 avg score: 3.9588 memorylength: 131072 epsilon: 0.04572089835076903
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episode: 3429 no of steps: 195 score: 885.0 avg score: 4.5385 memorylength: 131072 epsilon: 0.045679768062659276
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episode: 3430 no of steps: 180 score: 872.0 avg score: 4.8444 memorylength: 131072 epsilon: 0.04563867477515606
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episode: 3431 no of steps: 134 score: 850.0 avg score: 6.3433 memorylength: 131072 epsilon: 0.04559761845497381
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episode: 3432 no of steps: 151 score: 435.0 avg score: 2.8808 memorylength: 131072 epsilon: 0.04555659906885688
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episode: 3433 no of steps: 152 score: 650.0 avg score: 4.2763 memorylength: 131072 epsilon: 0.045515616583579596
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episode: 3434 no of steps: 153 score: 618.0 avg score: 4.0392 memorylength: 131072 epsilon: 0.04547467096594616
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episode: 3435 no of steps: 154 score: 945.0 avg score: 6.1364 memorylength: 131072 epsilon: 0.04543376218279056
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episode: 3436 no of steps: 166 score: 472.0 avg score: 2.8434 memorylength: 131072 epsilon: 0.04539289020097672
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episode: 3437 no of steps: 135 score: 738.0 avg score: 5.4667 memorylength: 131072 epsilon: 0.04535205498739834
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episode: 3438 no of steps: 169 score: 692.0 avg score: 4.0947 memorylength: 131072 epsilon: 0.04531125650897887
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episode: 3439 no of steps: 173 score: 1053.0 avg score: 6.0867 memorylength: 131072 epsilon: 0.045270494732671536
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episode: 3440 no of steps: 130 score: 998.0 avg score: 7.6769 memorylength: 131072 epsilon: 0.04522976962545932
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episode: 3441 no of steps: 158 score: 839.0 avg score: 5.3101 memorylength: 131072 epsilon: 0.04518908115435488
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episode: 3442 no of steps: 163 score: 1008.0 avg score: 6.184 memorylength: 131072 epsilon: 0.045148429286400546
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episode: 3443 no of steps: 153 score: 809.0 avg score: 5.2876 memorylength: 131072 epsilon: 0.04510781398866828
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episode: 3444 no of steps: 156 score: 445.0 avg score: 2.8526 memorylength: 131072 epsilon: 0.045067235228259735
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episode: 3445 no of steps: 144 score: 801.0 avg score: 5.5625 memorylength: 131072 epsilon: 0.04502669297230609
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episode: 3446 no of steps: 129 score: 574.0 avg score: 4.4496 memorylength: 131072 epsilon: 0.0449861871879681
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episode: 3447 no of steps: 142 score: 603.0 avg score: 4.2465 memorylength: 131072 epsilon: 0.044945717842436096
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episode: 3448 no of steps: 130 score: 531.0 avg score: 4.0846 memorylength: 131072 epsilon: 0.04490528490292992
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episode: 3449 no of steps: 128 score: 700.0 avg score: 5.4688 memorylength: 131072 epsilon: 0.04486488833669885
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episode: 3450 no of steps: 133 score: 355.0 avg score: 2.6692 memorylength: 131072 epsilon: 0.04482452811102168
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episode: 3451 no of steps: 149 score: 724.0 avg score: 4.8591 memorylength: 131072 epsilon: 0.04478420419320664
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episode: 3452 no of steps: 140 score: 841.0 avg score: 6.0071 memorylength: 131072 epsilon: 0.044743916550591366
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episode: 3453 no of steps: 151 score: 1185.0 avg score: 7.8477 memorylength: 131072 epsilon: 0.04470366515054281
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episode: 3454 no of steps: 156 score: 727.0 avg score: 4.6603 memorylength: 131072 epsilon: 0.04466344996045739
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episode: 3455 no of steps: 167 score: 1210.0 avg score: 7.2455 memorylength: 131072 epsilon: 0.044623270947760786
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episode: 3456 no of steps: 149 score: 967.0 avg score: 6.4899 memorylength: 131072 epsilon: 0.044583128079907976
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episode: 3457 no of steps: 184 score: 774.0 avg score: 4.2065 memorylength: 131072 epsilon: 0.04454302132438324
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episode: 3458 no of steps: 165 score: 823.0 avg score: 4.9879 memorylength: 131072 epsilon: 0.044502950648700114
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episode: 3459 no of steps: 185 score: 740.0 avg score: 4.0 memorylength: 131072 epsilon: 0.04446291602040137
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episode: 3460 no of steps: 168 score: 558.0 avg score: 3.3214 memorylength: 131072 epsilon: 0.044422917407058914
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episode: 3461 no of steps: 174 score: 534.0 avg score: 3.069 memorylength: 131072 epsilon: 0.044382954776273895
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episode: 3462 no of steps: 173 score: 669.0 avg score: 3.8671 memorylength: 131072 epsilon: 0.04434302809567656
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episode: 3463 no of steps: 156 score: 601.0 avg score: 3.8526 memorylength: 131072 epsilon: 0.04430313733292633
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episode: 3464 no of steps: 154 score: 846.0 avg score: 5.4935 memorylength: 131072 epsilon: 0.04426328245571164
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episode: 3465 no of steps: 164 score: 1043.0 avg score: 6.3598 memorylength: 131072 epsilon: 0.044223463431750064
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episode: 3466 no of steps: 144 score: 692.0 avg score: 4.8056 memorylength: 131072 epsilon: 0.0441836802287882
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episode: 3467 no of steps: 137 score: 729.0 avg score: 5.3212 memorylength: 131072 epsilon: 0.04414393281460162
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episode: 3468 no of steps: 132 score: 508.0 avg score: 3.8485 memorylength: 131072 epsilon: 0.04410422115699493
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episode: 3469 no of steps: 137 score: 566.0 avg score: 4.1314 memorylength: 131072 epsilon: 0.04406454522380169
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episode: 3470 no of steps: 143 score: 619.0 avg score: 4.3287 memorylength: 131072 epsilon: 0.044024904982884416
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episode: 3471 no of steps: 139 score: 395.0 avg score: 2.8417 memorylength: 131072 epsilon: 0.04398530040213446
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episode: 3472 no of steps: 135 score: 620.0 avg score: 4.5926 memorylength: 131072 epsilon: 0.043945731449472135
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episode: 3473 no of steps: 163 score: 857.0 avg score: 5.2577 memorylength: 131072 epsilon: 0.04390619809284661
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episode: 3474 no of steps: 140 score: 564.0 avg score: 4.0286 memorylength: 131072 epsilon: 0.04386670030023582
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episode: 3475 no of steps: 154 score: 840.0 avg score: 5.4545 memorylength: 131072 epsilon: 0.04382723803964657
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episode: 3476 no of steps: 153 score: 693.0 avg score: 4.5294 memorylength: 131072 epsilon: 0.04378781127911443
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episode: 3477 no of steps: 174 score: 899.0 avg score: 5.1667 memorylength: 131072 epsilon: 0.043748419986703736
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episode: 3478 no of steps: 170 score: 630.0 avg score: 3.7059 memorylength: 131072 epsilon: 0.0437090641305075
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episode: 3479 no of steps: 164 score: 675.0 avg score: 4.1159 memorylength: 131072 epsilon: 0.04366974367864751
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episode: 3480 no of steps: 192 score: 1179.0 avg score: 6.1406 memorylength: 131072 epsilon: 0.04363045859927418
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episode: 3481 no of steps: 194 score: 1089.0 avg score: 5.6134 memorylength: 131072 epsilon: 0.043591208860566624
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episode: 3482 no of steps: 217 score: 963.0 avg score: 4.4378 memorylength: 131072 epsilon: 0.04355199443073251
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episode: 3483 no of steps: 175 score: 1300.0 avg score: 7.4286 memorylength: 131072 epsilon: 0.04351281527800816
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episode: 3484 no of steps: 162 score: 826.0 avg score: 5.0988 memorylength: 131072 epsilon: 0.04347367137065849
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episode: 3485 no of steps: 140 score: 1070.0 avg score: 7.6429 memorylength: 131072 epsilon: 0.04343456267697689
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episode: 3486 no of steps: 150 score: 561.0 avg score: 3.74 memorylength: 131072 epsilon: 0.04339548916528533
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episode: 3487 no of steps: 141 score: 971.0 avg score: 6.8865 memorylength: 131072 epsilon: 0.043356450803934264
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episode: 3488 no of steps: 155 score: 945.0 avg score: 6.0968 memorylength: 131072 epsilon: 0.04331744756130263
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episode: 3489 no of steps: 148 score: 686.0 avg score: 4.6351 memorylength: 131072 epsilon: 0.043278479405797786
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episode: 3490 no of steps: 140 score: 738.0 avg score: 5.2714 memorylength: 131072 epsilon: 0.04323954630585552
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episode: 3491 no of steps: 133 score: 497.0 avg score: 3.7368 memorylength: 131072 epsilon: 0.04320064822994005
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episode: 3492 no of steps: 131 score: 549.0 avg score: 4.1908 memorylength: 131072 epsilon: 0.04316178514654388
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episode: 3493 no of steps: 143 score: 738.0 avg score: 5.1608 memorylength: 131072 epsilon: 0.04312295702418795
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episode: 3494 no of steps: 152 score: 376.0 avg score: 2.4737 memorylength: 131072 epsilon: 0.04308416383142146
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episode: 3495 no of steps: 143 score: 561.0 avg score: 3.9231 memorylength: 131072 epsilon: 0.04304540553682194
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episode: 3496 no of steps: 158 score: 549.0 avg score: 3.4747 memorylength: 131072 epsilon: 0.04300668210899516
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episode: 3497 no of steps: 151 score: 725.0 avg score: 4.8013 memorylength: 131072 epsilon: 0.042967993516575126
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episode: 3498 no of steps: 153 score: 823.0 avg score: 5.3791 memorylength: 131072 epsilon: 0.04292933972822409
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episode: 3499 no of steps: 156 score: 812.0 avg score: 5.2051 memorylength: 131072 epsilon: 0.0428907207126325
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episode: 3500 no of steps: 180 score: 917.0 avg score: 5.0944 memorylength: 131072 epsilon: 0.042852136438518915
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episode: 3501 no of steps: 199 score: 776.0 avg score: 3.8995