{
  "method": "iql_tau09",
  "display_name": "IQL (tau=0.9)",
  "hyperparameters": {
    "algorithm": "IQL",
    "tau_expectile": 0.9,
    "beta": 3.0,
    "lr": 0.0003,
    "batch_size": 256,
    "discount": 0.99,
    "target_update_rate": 0.005,
    "num_iterations": 100000,
    "hidden_dims": [
      256,
      256
    ],
    "state_normalization": "zero_mean_unit_var"
  },
  "metrics": {
    "action_mse": 0.001213,
    "gazebo_success_rate": "0/5 (0%)",
    "gazebo_avg_lift": 0.0063
  },
  "state_dim": 9,
  "action_dim": 9,
  "robot": "fetch",
  "task": "pick-and-place"
}