我分析了Q_fb和actor_loss，它们随着训练都是逐步在增加啊，我总感觉不对啊，是这样吗？
/tmp/ufo_smoke_my_robot# cat train_log.txt
B,B_norm,F1,FPS,M1,Q1,Q_aux,Q_discriminator,Q_fb,actor_loss,auxQ1,aux_critic_loss,aux_rew/limits_dof_pos,aux_rew/limits_torque,aux_rew/penalty_action_rate,aux_rew/penalty_ankle_roll,aux_rew/penalty_feet_ori,aux_rew/penalty_slippage,aux_rew/penalty_torques,aux_rew/penalty_undesired_contact,critic_loss,disc_expert_loss,disc_loss,disc_train_loss,disc_wgan_gp_loss,distributed/global_env_steps,distributed/local_env_steps,distributed/optimizer_steps,duration [minutes],fb_diag,fb_loss,fb_offdiag,local_timestep,mean_aux_reward,mean_disc_reward,mean_next_Q,mean_next_auxQ,orth_loss,orth_loss_diag,orth_loss_offdiag,q_loss,target_M,target_Q,target_auxQ,timestep,torso_contact_force_contact_count,torso_contact_force_contact_frac,torso_contact_force_max,torso_contact_force_mean,torso_contact_force_mean_x,torso_contact_force_mean_y,torso_contact_force_mean_z,torso_contact_force_p95,torso_contact_force_z_max,torso_contact_force_z_mean,torso_contact_force_z_p95,torso_z_contact_mean,torso_z_contact_min,torso_z_contact_p05,torso_z_mean,torso_z_min,torso_z_p05,unc_Q,unc_auxQ,z_norm
-0.0021,16.0,0.052235,310.2421656630425,11.229281,-59.293228,-31.514534,-58.954582,363.668854,1326.698364,-30.9526,1.072638,1.043174,5.8519,230.049576,0.281193,0.035757,0.493929,44693.933594,0.639327,3.11562,0.01658,0.126812,0.022624,0.008761,384000,384000,5840,20.62904618183772,-267.484222,-6694.602051,548.114807,384000,-1.744192,-5.158335,-54.950024,-29.584221,-69.752419,-255.999985,186.247269,0.0,10.794475,-59.298836,-30.956013,384000,378,0.738281,1744.886475,259.215668,7.161455,-17.433996,-48.254833,686.819824,720.789429,-48.254837,242.592163,0.259575,0.057858,0.130736,0.273816,0.057858,0.130722,0.590888,0.447554,15.999979
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0.000158,16.0,0.378092,391.8882746799647,49.608166,-241.34404,-93.027992,-240.634995,1031.803467,13368.80957,-92.816864,2.378932,0.883321,5.593579,37.002293,0.285388,0.025207,0.423941,43502.757812,0.817354,8.622231,0.006806,0.028994,0.006998,0.001519,1920000,1920000,29840,86.62228892644247,-288.911652,-11723.723633,1073.142578,1920000,-2.328398,-6.375776,-239.155121,-92.002625,-125.079872,-255.999969,130.91951,0.0,49.539524,-241.34491,-92.817711,1920000,388,0.757812,1190.31897,182.000275,20.260609,-6.233567,-24.752724,453.640961,342.96347,-24.752724,146.798248,0.40773,0.084223,0.231026,0.405012,0.084223,0.217806,1.218519,0.666483,15.999997
0.001051,16.0,0.449831,382.831378917229,48.747223,-251.895233,-104.169418,-251.276062,1091.748779,14944.057617,-103.965126,2.764684,0.771986,5.089372,26.257641,0.280062,0.022913,0.402969,38189.597656,0.807996,8.21619,0.006844,0.028065,0.00703,0.001419,2304000,2304000,35840,103.34328735272089,-295.549408,-11933.847656,963.295959,2304000,-2.654168,-6.31267,-250.01622,-103.022537,-126.015968,-255.999969,129.983521,0.0,48.650005,-251.895248,-103.965988,2304000,6,0.011719,573.677551,4.070002,3.078937,0.233239,0.144834,0.0,102.7547,0.144834,0.0,0.545233,0.473083,0.474322,0.714449,0.421984,0.490322,1.157198,0.713278,15.99999
0.0022,16.0,0.316004,391.33652988232416,46.327454,-259.901367,-114.211594,-259.410461,1134.044922,16194.366211,-113.955185,3.462844,0.664039,4.451447,21.168133,0.271919,0.020151,0.388772,31959.732422,0.775239,8.442667,0.007171,0.028391,0.007392,0.001383,2688000,2688000,41840,119.70110856691996,-296.305634,-11922.964844,955.398987,2688000,-2.691927,-6.245078,-258.255554,-113.142159,-125.820343,-255.999969,130.179184,0.0,46.172333,-259.902069,-113.955704,2688000,313,0.611328,1468.556152,131.123428,5.390599,11.502562,-36.87867,374.49054,406.076935,-36.878666,82.379005,0.471572,0.194132,0.246338,0.484697,0.152868,0.243717,1.15669,0.784607,15.999987
0.002917,16.0,0.322127,382.9818396003739,46.344536,-264.59671,-120.547981,-264.048004,1179.17749,17245.871094,-120.270302,4.257048,0.580945,4.073816,18.857834,0.264603,0.017269,0.370693,26840.046875,0.749318,8.230176,0.007385,0.02784,0.007653,0.00128,3072000,3072000,47840,136.4151885350545,-300.306274,-12077.43457,889.071411,3072000,-2.635696,-6.24615,-263.039795,-119.599792,-126.661819,-255.999969,129.337631,0.0,46.180954,-264.597168,-120.270699,3072000,8,0.015625,467.13382,4.123711,2.904415,-0.093849,-1.56663,0.0,37.085964,-1.56663,0.0,0.562798,0.46455,0.464878,0.694404,0.400803,0.475755,1.166883,0.871907,15.999994
0.003539,16.0,0.661181,367.25545190574337,49.350605,-264.979675,-120.626427,-264.394165,1245.155273,18223.982422,-120.413445,4.176537,0.477284,3.574308,20.055613,0.252933,0.014936,0.381653,21992.521484,0.72367,7.639624,0.009719,0.033659,0.010259,0.001368,3456000,3456000,53840,153.84477452437082,-300.842285,-12074.030273,857.139587,3456000,-2.30373,-6.126184,-263.55307,-120.061676,-126.302856,-255.999969,129.696655,0.0,49.241714,-264.980194,-120.41346,3456000,4,0.007812,654.678589,2.921093,2.364632,1.277503,-0.424044,0.0,82.063637,-0.424044,0.0,0.623115,0.50074,0.502755,0.688944,0.436724,0.493593,1.167055,0.91671,16.000015
0.004027,16.0,0.854024,391.50429067103005,55.850193,-257.144012,-111.653656,-256.47168,1372.63269,19289.421875,-111.541466,3.352485,0.381512,2.913817,18.732883,0.234959,0.011303,0.37036,17867.988281,0.692358,5.814949,0.012611,0.04011,0.013323,0.001418,3840000,3840000,59840,170.19487775564193,-300.608795,-12187.533203,748.846741,3840000,-2.059443,-5.868079,-255.884354,-111.29306,-126.357346,-256.0,129.642227,0.0,55.868027,-257.14386,-111.541489,3840000,151,0.294922,707.977722,68.131897,6.090499,0.51282,-40.010635,287.065552,254.998108,-40.010635,0.0,0.319509,0.168693,0.214583,0.654433,0.168693,0.240371,1.039732,0.846847,16.000006
0.004276,16.0,0.658202,383.3366877805025,51.19537,-245.961975,-98.412735,-245.328659,1526.382446,20194.152344,-98.359383,2.566751,0.29715,2.165819,17.28281,0.213791,0.007776,0.351781,14635.681641,0.615887,4.825763,0.01481,0.045181,0.015613,0.001476,4224000,4224000,65840,186.89346584876378,-298.814697,-12227.981445,680.843628,4224000,-1.830678,-5.623362,-244.772095,-98.145981,-126.100319,-255.999969,129.89917,0.0,51.112171,-245.962128,-98.359299,4224000,2,0.003906,181.893539,0.659523,0.413103,0.461446,-0.216078,0.0,0.0,-0.216078,0.0,0.598661,0.489126,0.500079,0.692987,0.422108,0.48046,0.941346,0.704909,15.999997
0.004532,16.0,0.587911,390.2671396822398,43.98748,-240.676285,-87.120964,-240.261795,1644.187988,20975.103516,-87.019798,2.421992,0.225055,1.223023,14.989087,0.178542,0.003621,0.315011,11692.299805,0.522101,4.207666,0.015535,0.046434,0.016395,0.001451,4608000,4608000,71840,203.29535432259243,-296.989136,-12049.186523,709.812561,4608000,-1.631721,-5.412467,-239.632004,-86.829292,-124.620552,-255.999969,131.378876,0.0,43.758495,-240.676147,-87.019928,4608000,138,0.269531,1182.477295,62.747208,7.766351,1.753485,-42.855125,326.072479,539.563965,-42.855125,0.0,0.2982,0.124058,0.190957,0.586371,0.099931,0.222304,0.865324,0.602699,16.0
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0.004076,16.0,0.177595,392.0006085253864,48.078541,-275.76825,-67.910591,-275.342834,1761.867188,24918.966797,-67.651314,2.86262,0.11558,0.382407,10.65495,0.05986,0.002588,0.241005,9552.71875,0.362018,4.919641,0.013957,0.035509,0.014608,0.000695,7680000,7680000,119840,336.2959632198016,-341.014008,-11954.212891,976.56665,7680000,-1.284899,-6.341436,-274.415802,-67.398216,-125.897614,-255.999969,130.101746,0.0,47.89909,-275.768341,-67.651253,7680000,16,0.03125,710.939148,9.693863,6.99576,0.509651,-2.740948,0.0,116.487961,-2.740948,0.0,0.558016,0.460317,0.463061,0.68108,0.458943,0.468503,1.019008,0.645056,16.000017
0.003613,16.0,0.306614,383.6980337867304,47.697811,-278.748627,-68.643608,-278.355133,1750.973511,25066.480469,-68.46032,2.720322,0.111295,0.433053,10.181721,0.056816,0.00237,0.233356,9152.25293,0.338815,5.109453,0.013789,0.035006,0.014508,0.000671,8064000,8064000,125840,352.9789884805679,-345.376587,-11912.057617,982.322632,8064000,-1.300036,-6.37638,-277.426178,-68.215683,-125.489746,-255.999969,130.509735,0.0,47.507362,-278.748962,-68.460556,8064000,291,0.568359,881.164612,141.11731,24.367476,5.394724,-121.871155,366.590698,54.145157,-121.871155,0.0,0.34049,0.154777,0.247842,0.503114,0.154777,0.247898,1.009725,0.630836,16.000017
0.003613,16.0,0.237248,390.74735939985186,47.166164,-284.005127,-66.577522,-283.623322,1771.333008,25727.816406,-66.402939,2.653832,0.095742,0.434605,9.256132,0.047313,0.002074,0.218857,8472.890625,0.3286,5.299203,0.013146,0.03329,0.013769,0.000637,8448000,8448000,131840,369.361188574632,-352.835205,-12061.796875,956.941223,8448000,-1.295863,-6.469576,-282.69986,-66.127487,-126.659195,-255.999969,129.34021,0.0,46.959751,-284.006165,-66.403023,8448000,5,0.009766,504.929718,2.819057,2.229749,-0.735873,0.145139,0.0,133.337448,0.145139,0.0,0.507581,0.485532,0.487361,0.683797,0.407912,0.498049,1.000609,0.617164,15.999993
0.003386,16.0,0.138502,390.81338142337194,47.142891,-286.965149,-67.140839,-286.577576,1777.962646,26105.845703,-66.921127,2.872857,0.082667,0.441692,8.921106,0.039901,0.002344,0.203205,7975.629883,0.323397,5.905934,0.012747,0.032318,0.01335,0.000622,8832000,8832000,137840,385.7399657646815,-355.514923,-11980.763672,976.664062,8832000,-1.30155,-6.508515,-285.664551,-66.636246,-126.018814,-255.999969,129.980591,0.0,46.936287,-286.96463,-66.921356,8832000,272,0.53125,604.026367,112.539513,10.063801,8.04006,-96.89418,325.026917,103.473305,-96.894188,0.0,0.3424,0.157439,0.230902,0.518804,0.157439,0.234289,1.031397,0.645106,15.999974
0.003104,16.0,0.018248,382.03752729462326,46.328384,-290.806549,-67.726807,-290.439819,1790.251343,26647.292969,-67.492966,3.064933,0.070289,0.445023,8.539809,0.034328,0.002997,0.19382,7387.573242,0.325573,5.727679,0.012218,0.031058,0.012816,0.000602,9216000,9216000,143840,402.4954128066699,-359.487915,-12047.022461,967.680298,9216000,-1.315301,-6.585402,-289.510834,-67.202835,-126.552475,-255.999969,129.447006,0.0,46.102051,-290.805939,-67.493149,9216000,3,0.005859,384.784485,1.896849,1.332042,0.004377,-0.035739,0.0,164.563904,-0.035739,0.0,0.554678,0.465503,0.467779,0.682517,0.465503,0.499323,1.021645,0.651067,15.999982
0.003354,16.0,-0.026889,366.6131957073757,48.207733,-293.171967,-69.395355,-292.814789,1804.917603,27133.703125,-69.140862,3.449808,0.063904,0.424096,8.699377,0.031192,0.004034,0.191327,6787.807129,0.319605,6.3251,0.012631,0.031997,0.013262,0.00061,9600000,9600000,149840,419.9556541323662,-359.981628,-11980.975586,999.891052,9600000,-1.335901,-6.615712,-291.871216,-68.840157,-126.208939,-255.999969,129.790527,0.0,48.020008,-293.172363,-69.141068,9600000,9,0.017578,521.696289,5.615443,2.733578,-1.155348,-2.894354,0.0,53.41552,-2.894354,0.0,0.503287,0.460318,0.460802,0.672077,0.432431,0.466736,1.066646,0.697341,15.999992
0.003098,16.0,-0.136688,389.41112568711037,48.191654,-296.78241,-69.566811,-296.441864,1809.765137,27548.335938,-69.342072,3.576058,0.056131,0.425417,8.778823,0.028413,0.004697,0.186104,6048.427734,0.319265,6.695655,0.01271,0.032374,0.013494,0.000617,9984000,9984000,155840,436.39448957045875,-361.946533,-12008.386719,1013.60968,9984000,-1.330558,-6.670398,-295.490173,-69.042824,-126.600571,-255.999969,129.398941,0.0,48.00198,-296.782928,-69.342049,9984000,253,0.494141,655.506287,112.438591,11.424015,4.350789,-95.961777,323.013062,167.840271,-95.961777,0.0,0.364731,0.093146,0.194741,0.540723,0.093146,0.19924,1.085372,0.713088,16.0
0.003065,16.0,-0.056694,383.16332330786554,49.952213,-299.032806,-69.845741,-298.676422,1863.046143,28575.013672,-69.59671,3.624105,0.053517,0.408487,8.624494,0.026709,0.005199,0.183987,5693.863281,0.309727,6.580408,0.012882,0.032569,0.013602,0.000608,10368000,10368000,161840,453.1005670309067,-366.640045,-12047.616211,1025.05896,10368000,-1.336496,-6.697204,-297.754211,-69.284142,-127.060371,-256.0,128.939117,0.0,49.795834,-299.032837,-69.597008,10368000,12,0.023438,661.945435,8.151917,6.128445,1.442051,-1.652061,0.0,94.265221,-1.652061,0.0,0.613822,0.457674,0.461458,0.676071,0.457674,0.475443,1.094166,0.738739,15.999987
0.002788,16.0,0.022796,390.023664967319,49.666573,-302.811218,-69.96019,-302.504089,1878.69397,29183.117188,-69.703392,3.785334,0.049402,0.395956,8.459697,0.025542,0.005277,0.181329,5246.653809,0.299915,6.547335,0.012779,0.032281,0.013475,0.000603,10752000,10752000,167840,469.5127285162608,-368.239136,-11953.445312,1075.548584,10752000,-1.323008,-6.709888,-301.592896,-69.401543,-126.607635,-255.999969,129.391815,0.0,49.503693,-302.811951,-69.70356,10752000,252,0.492188,641.493469,106.023514,10.162661,8.813559,-87.421509,298.296722,259.235168,-87.421509,0.0,0.35295,0.137569,0.195634,0.516214,0.137569,0.186965,1.102732,0.749097,15.999989
0.002995,16.0,0.091632,383.6671759256692,49.472191,-305.653625,-71.190804,-305.338196,1937.789673,30426.615234,-70.93045,3.333394,0.047454,0.374912,8.065454,0.024295,0.005178,0.180009,5010.994141,0.308326,6.489105,0.012744,0.032064,0.013372,0.000595,11136000,11136000,173840,486.1968690872192,-370.578583,-11988.866211,1062.05603,11136000,-1.336185,-6.728893,-304.474274,-70.653145,-126.803902,-255.999969,129.195694,0.0,49.305126,-305.653809,-70.930481,11136000,5,0.009766,407.521332,3.043362,1.389818,0.322938,-1.967383,0.0,0.0,-1.967383,0.0,0.570206,0.460583,0.460652,0.682427,0.431262,0.481434,1.101737,0.723098,15.999984
0.003059,16.0,0.17988,390.54110095238497,50.040493,-308.998749,-72.2397,-308.721527,1943.835205,30887.648438,-71.986298,3.294245,0.045384,0.345598,7.944867,0.02396,0.004685,0.177422,4762.868652,0.310914,6.166005,0.01266,0.031833,0.013308,0.000586,11520000,11520000,179840,502.58743382692336,-373.967468,-11954.758789,1073.157593,11520000,-1.355165,-6.79861,-307.818726,-71.708466,-126.539543,-255.999969,129.459854,0.0,49.882946,-308.999817,-71.986465,11520000,229,0.447266,1347.144653,101.844498,4.122039,4.886152,-93.207832,297.401184,132.409073,-93.207825,0.0,0.367733,0.07988,0.233664,0.559994,0.07988,0.226816,1.096931,0.728648,15.999996
0.003329,16.0,0.204521,389.9178870725855,50.056999,-311.456573,-73.231346,-311.172424,2017.403931,32338.109375,-72.982903,3.24784,0.043907,0.327944,7.703448,0.023587,0.004251,0.17662,4658.492188,0.308967,5.94853,0.012517,0.031438,0.013127,0.000579,11904000,11904000,185840,519.0043134609858,-377.264496,-12019.897461,1041.384521,11904000,-1.361928,-6.832198,-310.297241,-72.722206,-126.840042,-255.999969,129.159378,0.0,49.897808,-311.455933,-72.983047,11904000,9,0.017578,456.500885,4.577158,2.642861,0.435633,-0.895709,0.0,181.005035,-0.895709,0.0,0.560355,0.458772,0.459302,0.668833,0.429005,0.476493,1.088844,0.721278,16.00001
0.003457,16.0,0.17337,384.1580602419718,50.375797,-314.178619,-72.690392,-313.923126,2022.03833,32674.767578,-72.449074,3.260343,0.0408,0.32455,7.715443,0.023826,0.004222,0.178515,4467.339844,0.287469,5.768746,0.012793,0.031993,0.013421,0.000578,12288000,12288000,191840,535.6671267747879,-380.8414,-11943.583008,1074.035278,12288000,-1.325913,-6.851118,-313.054993,-72.208511,-126.367783,-255.999969,129.631699,0.0,50.222176,-314.179626,-72.449142,12288000,257,0.501953,2661.30957,107.892387,6.260456,5.961244,-89.722801,293.686798,311.161987,-89.722809,0.0,0.358724,0.180935,0.2094,0.548774,0.166532,0.209176,1.090632,0.732221,16.000013
0.003585,16.0,0.223432,389.8344177002867,49.943607,-316.559906,-71.846481,-316.29422,2043.911133,33247.855469,-71.605988,3.221686,0.038812,0.315131,7.534544,0.023442,0.004194,0.180889,4364.44873,0.273616,5.548356,0.012434,0.031109,0.012994,0.000568,12672000,12672000,197840,552.0874605695407,-380.709167,-11960.72168,1088.70166,12672000,-1.295395,-6.846539,-315.490692,-71.380943,-126.687271,-256.0,129.312164,0.0,49.781136,-316.559418,-71.605888,12672000,2,0.003906,258.734772,0.809269,-0.151658,0.118018,-0.748524,0.0,0.0,-0.748524,0.0,0.466195,0.466164,0.466167,0.675682,0.453484,0.495842,1.085804,0.729185,16.000006
0.003412,16.0,0.202422,361.3059629673675,51.091869,-318.323395,-70.120537,-318.078491,2031.585938,33168.285156,-69.884575,3.158432,0.035366,0.305771,7.642877,0.022932,0.004422,0.18122,4166.498047,0.263289,5.912508,0.012572,0.0315,0.013212,0.000572,13056000,13056000,203840,569.8039702455203,-381.420624,-11917.408203,1117.237305,13056000,-1.265521,-6.883818,-317.243195,-69.650352,-126.531998,-255.999969,129.467468,0.0,50.953835,-318.324127,-69.884514,13056000,11,0.021484,509.964691,6.479636,4.681485,-0.321224,-1.379571,0.0,77.901794,-1.379571,0.0,0.602162,0.460771,0.462873,0.69142,0.406913,0.477033,1.10576,0.737924,16.000008
0.003255,16.0,0.112869,390.1947931633368,50.857609,-320.227173,-69.993919,-319.951355,2041.114014,33514.1875,-69.726387,3.09376,0.034414,0.291962,7.523133,0.021924,0.003933,0.179683,4021.699951,0.260121,5.466388,0.012041,0.03025,0.012647,0.000556,13440000,13440000,209840,586.2090459386508,-383.187744,-11935.254883,1129.967529,13440000,-1.26651,-6.932008,-319.139069,-69.48365,-126.820259,-255.999969,129.179184,0.0,50.713165,-320.227814,-69.726463,13440000,280,0.546875,1130.317139,110.477661,4.44665,4.697397,-92.760246,297.412018,215.411407,-92.760246,0.0,0.349413,0.112951,0.184517,0.522866,0.112951,0.188758,1.101056,0.747225,16.0
0.003089,16.0,0.108401,389.8336907835065,50.534363,-321.508453,-70.832138,-321.232025,2060.015869,33977.265625,-70.542122,3.057585,0.033241,0.275134,7.34738,0.021305,0.003746,0.174239,3826.690918,0.258719,5.576422,0.011707,0.02948,0.012301,0.000547,13824000,13824000,215840,602.6294004718462,-384.01236,-11968.030273,1120.202515,13824000,-1.286435,-6.988413,-320.388031,-70.292419,-127.042313,-255.999969,128.957077,0.0,50.382832,-321.509216,-70.542274,13824000,15,0.029297,376.30545,6.19616,0.938849,-1.166315,-4.399745,0.0,80.996887,-4.399745,0.0,0.553226,0.4605,0.460537,0.680678,0.426053,0.478423,1.103042,0.753797,16.000008
0.002997,16.0,0.07353,383.00119086365754,49.832691,-324.668945,-71.852882,-324.409943,2073.827881,34577.847656,-71.560349,3.112199,0.031305,0.273644,7.185667,0.021021,0.003749,0.175978,3724.172607,0.260858,5.426167,0.011768,0.029594,0.012356,0.000547,14208000,14208000,221840,619.3426050861676,-384.575775,-11868.981445,1156.056274,14208000,-1.292304,-7.021515,-323.577393,-71.322098,-126.404633,-255.999969,129.594849,0.0,49.666256,-324.669067,-71.560364,14208000,271,0.529297,705.998901,106.615097,9.119234,5.997584,-80.296402,281.734467,190.709045,-80.296402,42.151268,0.330038,0.099634,0.19403,0.525652,0.099634,0.219184,1.106974,0.760273,16.000006
0.003101,16.0,0.194092,390.1985302721426,50.144878,-324.831635,-72.506027,-324.551819,2101.930908,35086.003906,-72.212044,2.964347,0.029444,0.264235,6.984851,0.020949,0.003691,0.175674,3684.147949,0.260294,5.336019,0.011659,0.029287,0.01219,0.000544,14592000,14592000,227840,635.747569835186,-385.517944,-11882.829102,1180.946655,14592000,-1.309094,-7.022376,-323.742157,-71.968857,-126.782623,-255.999969,129.216843,0.0,49.985569,-324.83194,-72.212029,14592000,4,0.007812,420.28183,1.194427,0.148041,0.271392,-0.62507,0.0,102.49704,-0.62507,0.0,0.556871,0.46155,0.469529,0.699027,0.46155,0.498595,1.107701,0.761738,16.000002
0.003407,16.0,0.298593,390.1509920944339,51.871468,-324.296509,-72.618912,-324.009308,2133.140869,35546.738281,-72.318123,3.055114,0.026074,0.252103,6.940465,0.021533,0.004236,0.180762,3660.762695,0.253803,5.385808,0.012238,0.03059,0.012794,0.000556,14976000,14976000,233840,652.1545025746028,-386.848999,-11832.088867,1187.469849,14976000,-1.280782,-7.009035,-323.198456,-72.096275,-126.326752,-255.999969,129.672714,0.0,51.747311,-324.297028,-72.318054,14976000,253,0.494141,528.279236,92.026382,9.558084,6.728196,-66.811691,281.391968,404.04953,-66.811691,39.909039,0.34145,0.119432,0.185258,0.541847,0.108338,0.191355,1.1284,0.781583,15.999984
我分析了Q_fb和actor_loss，它们随着训练都是逐步在增加啊，我总感觉不对啊，是这样吗？
/tmp/ufo_smoke_my_robot# cat train_log.txt
B,B_norm,F1,FPS,M1,Q1,Q_aux,Q_discriminator,Q_fb,actor_loss,auxQ1,aux_critic_loss,aux_rew/limits_dof_pos,aux_rew/limits_torque,aux_rew/penalty_action_rate,aux_rew/penalty_ankle_roll,aux_rew/penalty_feet_ori,aux_rew/penalty_slippage,aux_rew/penalty_torques,aux_rew/penalty_undesired_contact,critic_loss,disc_expert_loss,disc_loss,disc_train_loss,disc_wgan_gp_loss,distributed/global_env_steps,distributed/local_env_steps,distributed/optimizer_steps,duration [minutes],fb_diag,fb_loss,fb_offdiag,local_timestep,mean_aux_reward,mean_disc_reward,mean_next_Q,mean_next_auxQ,orth_loss,orth_loss_diag,orth_loss_offdiag,q_loss,target_M,target_Q,target_auxQ,timestep,torso_contact_force_contact_count,torso_contact_force_contact_frac,torso_contact_force_max,torso_contact_force_mean,torso_contact_force_mean_x,torso_contact_force_mean_y,torso_contact_force_mean_z,torso_contact_force_p95,torso_contact_force_z_max,torso_contact_force_z_mean,torso_contact_force_z_p95,torso_z_contact_mean,torso_z_contact_min,torso_z_contact_p05,torso_z_mean,torso_z_min,torso_z_p05,unc_Q,unc_auxQ,z_norm
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