feat(exp29): fine-tune wave4-trial-0009 on generated track (continuous actions)
Warm-starts from wave4-trial-0009/model.zip (best mini-monaco model, completed laps). Fine-tunes on generated track with continuous Box action space preserved (no DiscretizedActionWrapper) at LR=0.00005. 50k steps, checkpoint every 5k, zero-shot mini-monaco eval at end. Tests whether additional generated-track exposure improves corner handling on mini-monaco without catastrophic forgetting of driving skill. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Paul Huliganga
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ee91b8f9a3
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"""
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Exp 29: Fine-tune wave4-trial-0009 on generated track.
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wave4-trial-0009 is our best mini-monaco model (completed laps in eval).
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It was trained on gentrack+mountain with continuous actions and LR≈0.00073.
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What this experiment does:
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- Warm-start from wave4-trial-0009/model.zip (continuous Box action space)
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- Fine-tune on generated track only, very low LR to preserve driving skill
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- Same wrapper stack as wave4: ThrottleClampWrapper → StuckTermination → SpeedReward
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- NO DiscretizedActionWrapper — continuous actions throughout
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- 50K steps, checkpoint every 5K
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- Zero-shot eval on mini-monaco at the end
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Goal: does additional generated-track exposure improve mini-monaco corner handling?
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"""
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import os
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import sys
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import time
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from datetime import datetime
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sys.path.insert(0, '/home/paulh/projects/donkeycar-rl-autoresearch/agent')
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_SAVE_DIR = '/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune'
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_PIDFILE = os.path.join(_SAVE_DIR, 'current.pid')
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_WARM_MODEL = '/home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave4-trial-0009/model.zip'
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os.makedirs(_SAVE_DIR, exist_ok=True)
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if os.path.exists(_PIDFILE):
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try:
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_old = int(open(_PIDFILE).read().strip())
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if _old != os.getpid():
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import signal
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os.kill(_old, 0)
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print(f'[exp29] Another instance already running (PID {_old}). Exiting.', flush=True)
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sys.exit(1)
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except (OSError, ValueError):
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pass
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import gymnasium as gym
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import numpy as np
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from stable_baselines3 import PPO
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from stable_baselines3.common.vec_env import DummyVecEnv, VecTransposeImage
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from stable_baselines3.common.utils import get_schedule_fn
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from donkeycar_sb3_runner import ThrottleClampWrapper
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from multitrack_runner import StuckTerminationWrapper
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from reward_wrapper import SpeedRewardWrapper
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HOST = 'localhost'
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PORT = 9091
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THROTTLE_MIN = 0.2
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LR = 0.00005
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TOTAL_STEPS = 50_000
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CHECKPOINT_EVERY = 5_000
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SCENE_RELOAD_WAIT = 5.0
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TRAIN_TRACK = 'donkey-generated-track-v0'
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EVAL_TRACK = 'donkey-minimonaco-track-v0'
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STUCK_STEPS = 40
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MIN_DISPLACEMENT = 0.5
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MAX_STUCK_SECONDS = 12.0
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MAX_EPISODE_SECONDS = 30.0
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LOW_SPEED_THRESHOLD = 0.5
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MAX_LOW_SPEED_SECONDS = 3.0
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MAX_CTE = 5.0
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MAX_HIGH_CTE_SECONDS = 1.0
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EFFICIENCY_WINDOW = 30
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MIN_EFFICIENCY = 0.15
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REWARD_MAX_CTE = 8.0
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MIN_LAP_TIME = 12.0
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PROGRESS_PATIENCE = 100
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def log(msg):
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print(f'[{datetime.now().strftime("%H:%M:%S")}] {msg}', flush=True)
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def make_env(track_id, port):
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def _init():
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raw = gym.make(track_id, conf={'host': HOST, 'port': port})
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env = ThrottleClampWrapper(raw, throttle_min=THROTTLE_MIN)
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env = StuckTerminationWrapper(
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env,
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stuck_steps=STUCK_STEPS,
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min_displacement=MIN_DISPLACEMENT,
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max_stuck_seconds=MAX_STUCK_SECONDS,
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max_episode_seconds=MAX_EPISODE_SECONDS,
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low_speed_threshold=LOW_SPEED_THRESHOLD,
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max_low_speed_seconds=MAX_LOW_SPEED_SECONDS,
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max_cte=MAX_CTE,
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max_high_cte_seconds=MAX_HIGH_CTE_SECONDS,
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)
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env = SpeedRewardWrapper(
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env,
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window_size=EFFICIENCY_WINDOW,
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min_efficiency=MIN_EFFICIENCY,
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max_cte=REWARD_MAX_CTE,
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min_lap_time=MIN_LAP_TIME,
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progress_patience=PROGRESS_PATIENCE,
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)
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return env
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return _init
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def connect_env(track_id=TRAIN_TRACK):
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vec = DummyVecEnv([make_env(track_id, PORT)])
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return VecTransposeImage(vec)
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def reconnect_env(old_env, track_id=TRAIN_TRACK):
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try:
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old_env.close()
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except Exception as e:
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log(f' env.close() warning: {e}')
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time.sleep(SCENE_RELOAD_WAIT)
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return connect_env(track_id)
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log('=' * 60)
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log('Exp 29: wave4-trial-0009 fine-tune on generated track')
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log(f' Sim: {HOST}:{PORT} -> {TRAIN_TRACK}')
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log(f' Warm model: {_WARM_MODEL}')
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log(f' Action space: continuous Box (no discretization)')
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log(f' LR={LR}, total={TOTAL_STEPS:,}, checkpoint every {CHECKPOINT_EVERY:,}')
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log(f' After training: zero-shot eval on {EVAL_TRACK}')
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log('=' * 60)
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log('Connecting to sim...')
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env = connect_env()
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log(f' obs={env.observation_space.shape}, action={env.action_space}')
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log('Loading warm-start model from wave4-trial-0009...')
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model = PPO.load(_WARM_MODEL, env=env, device='cpu')
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# Must update lr_schedule — PPO.load restores the optimizer and schedule from
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# the checkpoint. model.learning_rate = LR alone doesn't update the optimizer.
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model.learning_rate = LR
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model.lr_schedule = get_schedule_fn(LR)
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for pg in model.policy.optimizer.param_groups:
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pg['lr'] = LR
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log(f' Warm model loaded. action={model.action_space} LR={LR}')
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with open(_PIDFILE, 'w') as f:
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f.write(str(os.getpid()))
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best_total_steps = float('-inf')
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best_total_reward = float('-inf')
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steps_done = 0
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run_tag = datetime.now().strftime('%Y-%m-%d_%H%M%S') + '_wave4_finetune'
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log_path = os.path.join(_SAVE_DIR, f'run_{run_tag}.log')
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best_model_path = os.path.join(_SAVE_DIR, 'best_model.zip')
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import logging
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_fh = logging.FileHandler(log_path)
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_fh.setFormatter(logging.Formatter('%(message)s'))
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_sh = logging.StreamHandler(sys.stdout)
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_sh.setFormatter(logging.Formatter('%(message)s'))
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file_log = logging.getLogger('exp29')
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file_log.setLevel(logging.INFO)
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file_log.propagate = False
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file_log.addHandler(_fh)
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file_log.addHandler(_sh)
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def flog(msg):
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file_log.info(f'[{datetime.now().strftime("%H:%M:%S")}] {msg}')
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flog('=' * 60)
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flog(f'Exp 29 started — PID {os.getpid()}')
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flog(f'Log: {log_path}')
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flog(f'Warm start: wave4-trial-0009 | LR={LR}')
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flog(f'Track: {TRAIN_TRACK} | continuous actions')
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flog('=' * 60)
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# ── Training loop ─────────────────────────────────────────────────────────────
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while steps_done < TOTAL_STEPS:
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seg_steps = min(CHECKPOINT_EVERY, TOTAL_STEPS - steps_done)
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model.learn(total_timesteps=seg_steps, reset_num_timesteps=False)
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steps_done += seg_steps
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ckpt = os.path.join(_SAVE_DIR, f'checkpoint_{steps_done:07d}')
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model.save(ckpt)
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model.save(os.path.join(_SAVE_DIR, 'model'))
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flog(f'[{steps_done:,}/{TOTAL_STEPS:,}] Checkpoint saved: {ckpt}.zip')
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flog(' Reconnecting for fresh track layout...')
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env = reconnect_env(env)
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model.set_env(env)
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try:
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obs = env.reset()
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ep_rewards = np.zeros(env.num_envs)
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ep_steps = np.zeros(env.num_envs)
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done_mask = np.zeros(env.num_envs, dtype=bool)
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for _ in range(2000):
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action, _ = model.predict(obs, deterministic=True)
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obs, rewards, dones, infos = env.step(action)
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for i in range(env.num_envs):
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if not done_mask[i]:
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ep_rewards[i] += rewards[i]
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ep_steps[i] += 1
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if dones[i]:
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done_mask[i] = True
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if done_mask.all():
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break
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total_steps_eval = int(ep_steps.sum())
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total_reward_eval = float(ep_rewards.sum())
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status = '✅' if ep_steps[0] >= 2000 else f'❌@{int(ep_steps[0])}'
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flog(f' Eval: gentrack={total_reward_eval:.1f}r/{int(ep_steps[0])}s {status}')
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if (total_steps_eval > best_total_steps
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or (total_steps_eval == best_total_steps
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and total_reward_eval > best_total_reward)):
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best_total_steps = total_steps_eval
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best_total_reward = total_reward_eval
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model.save(best_model_path)
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flog(f' NEW BEST: steps={best_total_steps} reward={best_total_reward:.1f}')
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except Exception as e:
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flog(f' Eval error: {e}')
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env.close()
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flog('Training complete.')
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# ── Zero-shot eval on mini-monaco ─────────────────────────────────────────────
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flog('')
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flog('=' * 60)
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flog(f'ZERO-SHOT EVAL: best_model on {EVAL_TRACK}')
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flog('=' * 60)
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MINI_EPISODES = 5
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MINI_MAX_STEPS = 3000
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time.sleep(SCENE_RELOAD_WAIT)
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eval_env = connect_env(track_id=EVAL_TRACK)
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try:
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eval_model = PPO.load(best_model_path, env=eval_env, device='cpu')
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rewards_mini, steps_mini = [], []
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for ep in range(1, MINI_EPISODES + 1):
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obs = eval_env.reset()
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total_r, steps, done = 0.0, 0, False
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while not done and steps < MINI_MAX_STEPS:
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action, _ = eval_model.predict(obs, deterministic=True)
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obs, r, d, info = eval_env.step(action)
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total_r += float(r[0])
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steps += 1
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done = bool(d[0])
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raw_info = info[0] if isinstance(info, (list, tuple)) else info
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hit = raw_info.get('hit', '?') if isinstance(raw_info, dict) else '?'
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status = '✅ timeout' if steps >= MINI_MAX_STEPS else f'❌ hit={hit}@{steps}'
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flog(f' ep{ep}: {total_r:.1f}r / {steps}s {status}')
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rewards_mini.append(total_r)
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steps_mini.append(steps)
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time.sleep(0.3)
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flog(f' Mean: {np.mean(steps_mini):.0f} steps / {np.mean(rewards_mini):.1f} reward')
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flog(f' {"✅ GENERALIZES" if np.mean(steps_mini) > 500 else "❌ DOES NOT GENERALIZE"}')
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except Exception as e:
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flog(f' Mini-monaco eval error: {e}')
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finally:
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eval_env.close()
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flog('')
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flog('Exp 29 complete.')
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flog(f'Log: {log_path}')
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1263940
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[22:55:59] ============================================================
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[22:55:59] Exp 29 started — PID 1263940
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[22:55:59] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
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[22:55:59] Warm start: wave4-trial-0009 | LR=5e-05
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[22:55:59] Track: donkey-generated-track-v0 | continuous actions
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[22:55:59] ============================================================
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[23:00:17] [5,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0005000.zip
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[23:00:17] Reconnecting for fresh track layout...
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[23:00:28] Eval: gentrack=34.4r/279s ❌@279
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[23:00:28] NEW BEST: steps=279 reward=34.4
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[23:04:32] [10,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0010000.zip
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[23:04:32] Reconnecting for fresh track layout...
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[23:04:45] Eval: gentrack=63.4r/463s ❌@463
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[23:04:45] NEW BEST: steps=463 reward=63.4
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[23:08:46] [15,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0015000.zip
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[23:08:46] Reconnecting for fresh track layout...
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[23:08:57] Eval: gentrack=33.1r/268s ❌@268
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[23:12:32] [20,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0020000.zip
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[23:12:32] Reconnecting for fresh track layout...
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[23:12:45] Eval: gentrack=62.4r/450s ❌@450
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[23:16:11] [25,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0025000.zip
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[23:16:11] Reconnecting for fresh track layout...
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[23:16:35] Eval: gentrack=203.3r/1317s ❌@1317
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[23:16:35] NEW BEST: steps=1317 reward=203.3
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[23:19:47] [30,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0030000.zip
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[23:19:47] Reconnecting for fresh track layout...
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[23:20:00] Eval: gentrack=64.0r/440s ❌@440
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[23:23:34] [35,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0035000.zip
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[23:23:34] Reconnecting for fresh track layout...
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[23:24:06] Eval: gentrack=323.8r/2000s ✅
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[23:24:06] NEW BEST: steps=2000 reward=323.8
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[23:27:59] [40,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0040000.zip
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[23:27:59] Reconnecting for fresh track layout...
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[23:28:12] Eval: gentrack=64.0r/450s ❌@450
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[23:32:20] [45,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0045000.zip
|
||||||
|
[23:32:20] Reconnecting for fresh track layout...
|
||||||
|
[23:32:40] Eval: gentrack=159.5r/1024s ❌@1024
|
||||||
|
[23:36:23] [50,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0050000.zip
|
||||||
|
[23:36:23] Reconnecting for fresh track layout...
|
||||||
|
[23:36:37] Eval: gentrack=64.5r/440s ❌@440
|
||||||
|
[23:36:37] Training complete.
|
||||||
|
[23:36:37]
|
||||||
|
[23:36:37] ============================================================
|
||||||
|
[23:36:37] ZERO-SHOT EVAL: best_model on donkey-minimonaco-track-v0
|
||||||
|
[23:36:37] ============================================================
|
||||||
|
[23:36:58] ep1: 158.8r / 999s ❌ hit=none@999
|
||||||
|
[23:37:05] ep2: 46.7r / 338s ❌ hit=right_barrier_seg0@338
|
||||||
|
[23:37:23] ep3: 206.2r / 1286s ❌ hit=none@1286
|
||||||
|
[23:37:33] ep4: 63.8r / 444s ❌ hit=right_barrier_seg56@444
|
||||||
|
[23:37:46] ep5: 108.0r / 700s ❌ hit=right_barrier_seg49@700
|
||||||
|
[23:37:46] Mean: 753 steps / 116.7 reward
|
||||||
|
[23:37:46] ✅ GENERALIZES
|
||||||
|
[23:37:46]
|
||||||
|
[23:37:46] Exp 29 complete.
|
||||||
|
[23:37:46] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
|
||||||
|
|
@ -0,0 +1,906 @@
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
|
||||||
|
warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
|
||||||
|
Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
|
||||||
|
Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
|
||||||
|
Users of this version of Gym should be able to simply replace 'import gym' with 'import gymnasium as gym' in the vast majority of cases.
|
||||||
|
See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
|
||||||
|
[22:55:56] ============================================================
|
||||||
|
[22:55:56] Exp 29: wave4-trial-0009 fine-tune on generated track
|
||||||
|
[22:55:56] Sim: localhost:9091 -> donkey-generated-track-v0
|
||||||
|
[22:55:56] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave4-trial-0009/model.zip
|
||||||
|
[22:55:56] Action space: continuous Box (no discretization)
|
||||||
|
[22:55:56] LR=5e-05, total=50,000, checkpoint every 5,000
|
||||||
|
[22:55:56] After training: zero-shot eval on donkey-minimonaco-track-v0
|
||||||
|
[22:55:56] ============================================================
|
||||||
|
[22:55:56] Connecting to sim...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
|
||||||
|
gym.logger.warn(
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
|
||||||
|
gym.logger.warn(
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[22:55:56] obs=(3, 120, 160), action=Box([-1. 0.2], 1.0, (2,), float32)
|
||||||
|
[22:55:56] Loading warm-start model from wave4-trial-0009...
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:166: UserWarning: get_schedule_fn() is deprecated, please use FloatSchedule() instead
|
||||||
|
warnings.warn("get_schedule_fn() is deprecated, please use FloatSchedule() instead")
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:212: UserWarning: constant_fn() is deprecated, please use ConstantSchedule() instead
|
||||||
|
warnings.warn("constant_fn() is deprecated, please use ConstantSchedule() instead")
|
||||||
|
[22:55:59] Warm model loaded. action=Box([-1. 0.2], 1.0, (2,), float32) LR=5e-05
|
||||||
|
[22:55:59] ============================================================
|
||||||
|
[22:55:59] Exp 29 started — PID 1263940
|
||||||
|
[22:55:59] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
|
||||||
|
[22:55:59] Warm start: wave4-trial-0009 | LR=5e-05
|
||||||
|
[22:55:59] Track: donkey-generated-track-v0 | continuous actions
|
||||||
|
[22:55:59] ============================================================
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 41 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 49 |
|
||||||
|
| total_timesteps | 110592 |
|
||||||
|
---------------------------------
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 30 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 134 |
|
||||||
|
| total_timesteps | 112640 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.15397084 |
|
||||||
|
| clip_fraction | 0.504 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.27 |
|
||||||
|
| explained_variance | 0.364 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 8.65 |
|
||||||
|
| n_updates | 540 |
|
||||||
|
| policy_gradient_loss | 0.0492 |
|
||||||
|
| std | 0.754 |
|
||||||
|
| value_loss | 40.2 |
|
||||||
|
----------------------------------------
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 28 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 215 |
|
||||||
|
| total_timesteps | 114688 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.03846732 |
|
||||||
|
| clip_fraction | 0.307 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.27 |
|
||||||
|
| explained_variance | 0.593 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 4.59 |
|
||||||
|
| n_updates | 550 |
|
||||||
|
| policy_gradient_loss | 0.00024 |
|
||||||
|
| std | 0.753 |
|
||||||
|
| value_loss | 18.2 |
|
||||||
|
----------------------------------------
|
||||||
|
[23:00:17] [5,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0005000.zip
|
||||||
|
[23:00:17] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
|
||||||
|
gym.logger.warn(
|
||||||
|
/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
|
||||||
|
gym.logger.warn(
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:00:28] Eval: gentrack=34.4r/279s ❌@279
|
||||||
|
[23:00:28] NEW BEST: steps=279 reward=34.4
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 54 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 37 |
|
||||||
|
| total_timesteps | 116736 |
|
||||||
|
---------------------------------
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 34 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 117 |
|
||||||
|
| total_timesteps | 118784 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.026151573 |
|
||||||
|
| clip_fraction | 0.286 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.27 |
|
||||||
|
| explained_variance | 0.352 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 4.15 |
|
||||||
|
| n_updates | 570 |
|
||||||
|
| policy_gradient_loss | -0.0105 |
|
||||||
|
| std | 0.752 |
|
||||||
|
| value_loss | 8.84 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.23 seconds
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 31 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 195 |
|
||||||
|
| total_timesteps | 120832 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.02167065 |
|
||||||
|
| clip_fraction | 0.199 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.27 |
|
||||||
|
| explained_variance | 0.586 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 1.44 |
|
||||||
|
| n_updates | 580 |
|
||||||
|
| policy_gradient_loss | -0.0274 |
|
||||||
|
| std | 0.751 |
|
||||||
|
| value_loss | 4.3 |
|
||||||
|
----------------------------------------
|
||||||
|
[23:04:32] [10,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0010000.zip
|
||||||
|
[23:04:32] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.51 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:04:45] Eval: gentrack=63.4r/463s ❌@463
|
||||||
|
[23:04:45] NEW BEST: steps=463 reward=63.4
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 55 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 36 |
|
||||||
|
| total_timesteps | 122880 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.93 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 34 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 119 |
|
||||||
|
| total_timesteps | 124928 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.016491085 |
|
||||||
|
| clip_fraction | 0.151 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.25 |
|
||||||
|
| explained_variance | 0.741 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 1.06 |
|
||||||
|
| n_updates | 600 |
|
||||||
|
| policy_gradient_loss | -0.0361 |
|
||||||
|
| std | 0.746 |
|
||||||
|
| value_loss | 2.46 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.93 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 31 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 196 |
|
||||||
|
| total_timesteps | 126976 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.021446671 |
|
||||||
|
| clip_fraction | 0.204 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.25 |
|
||||||
|
| explained_variance | 0.697 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.57 |
|
||||||
|
| n_updates | 610 |
|
||||||
|
| policy_gradient_loss | -0.036 |
|
||||||
|
| std | 0.742 |
|
||||||
|
| value_loss | 2.37 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:08:46] [15,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0015000.zip
|
||||||
|
[23:08:46] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:08:57] Eval: gentrack=33.1r/268s ❌@268
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.87 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.5 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 59 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 34 |
|
||||||
|
| total_timesteps | 129024 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.47 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.76 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.22 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 38 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 105 |
|
||||||
|
| total_timesteps | 131072 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.015673645 |
|
||||||
|
| clip_fraction | 0.143 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.23 |
|
||||||
|
| explained_variance | 0.581 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.689 |
|
||||||
|
| n_updates | 630 |
|
||||||
|
| policy_gradient_loss | -0.0369 |
|
||||||
|
| std | 0.737 |
|
||||||
|
| value_loss | 2.17 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.5 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.47 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.07 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 34 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 176 |
|
||||||
|
| total_timesteps | 133120 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.016333869 |
|
||||||
|
| clip_fraction | 0.163 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.23 |
|
||||||
|
| explained_variance | 0.526 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.683 |
|
||||||
|
| n_updates | 640 |
|
||||||
|
| policy_gradient_loss | -0.0348 |
|
||||||
|
| std | 0.735 |
|
||||||
|
| value_loss | 2.01 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:12:32] [20,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0020000.zip
|
||||||
|
[23:12:32] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.91 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:12:45] Eval: gentrack=62.4r/450s ❌@450
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.96 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.58 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.28 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.38 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.18 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.32 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 72 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 28 |
|
||||||
|
| total_timesteps | 135168 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.71 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.67 seconds
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 40 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 100 |
|
||||||
|
| total_timesteps | 137216 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.02011627 |
|
||||||
|
| clip_fraction | 0.181 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.21 |
|
||||||
|
| explained_variance | 0.205 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.231 |
|
||||||
|
| n_updates | 660 |
|
||||||
|
| policy_gradient_loss | -0.0454 |
|
||||||
|
| std | 0.728 |
|
||||||
|
| value_loss | 0.893 |
|
||||||
|
----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.8 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 35 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 171 |
|
||||||
|
| total_timesteps | 139264 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.019535454 |
|
||||||
|
| clip_fraction | 0.203 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.2 |
|
||||||
|
| explained_variance | 0.506 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.497 |
|
||||||
|
| n_updates | 670 |
|
||||||
|
| policy_gradient_loss | -0.0364 |
|
||||||
|
| std | 0.726 |
|
||||||
|
| value_loss | 1.54 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:16:11] [25,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0025000.zip
|
||||||
|
[23:16:11] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.99 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.13 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.56 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.6 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:16:35] Eval: gentrack=203.3r/1317s ❌@1317
|
||||||
|
[23:16:35] NEW BEST: steps=1317 reward=203.3
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.22 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.52 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.2 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.18 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 67 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 30 |
|
||||||
|
| total_timesteps | 141312 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.53 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.34 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 42 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 97 |
|
||||||
|
| total_timesteps | 143360 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.020319626 |
|
||||||
|
| clip_fraction | 0.189 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.19 |
|
||||||
|
| explained_variance | 0.2 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.163 |
|
||||||
|
| n_updates | 690 |
|
||||||
|
| policy_gradient_loss | -0.0378 |
|
||||||
|
| std | 0.723 |
|
||||||
|
| value_loss | 1.83 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.92 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.24 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.49 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.94 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.18 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 38 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 160 |
|
||||||
|
| total_timesteps | 145408 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.027640326 |
|
||||||
|
| clip_fraction | 0.24 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.19 |
|
||||||
|
| explained_variance | 0.468 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.271 |
|
||||||
|
| n_updates | 700 |
|
||||||
|
| policy_gradient_loss | -0.0384 |
|
||||||
|
| std | 0.722 |
|
||||||
|
| value_loss | 1.49 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:19:47] [30,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0030000.zip
|
||||||
|
[23:19:47] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:20:00] Eval: gentrack=64.0r/440s ❌@440
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.8 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.74 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.0 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.81 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 64 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 31 |
|
||||||
|
| total_timesteps | 147456 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.62 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.41 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.12 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 18.01 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.88 seconds
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 42 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 96 |
|
||||||
|
| total_timesteps | 149504 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.01823772 |
|
||||||
|
| clip_fraction | 0.159 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.18 |
|
||||||
|
| explained_variance | 0.202 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 1.07 |
|
||||||
|
| n_updates | 720 |
|
||||||
|
| policy_gradient_loss | -0.0387 |
|
||||||
|
| std | 0.719 |
|
||||||
|
| value_loss | 2.17 |
|
||||||
|
----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.73 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.67 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.58 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.58 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.51 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 36 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 166 |
|
||||||
|
| total_timesteps | 151552 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.023359878 |
|
||||||
|
| clip_fraction | 0.185 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.18 |
|
||||||
|
| explained_variance | 0.23 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 1.14 |
|
||||||
|
| n_updates | 730 |
|
||||||
|
| policy_gradient_loss | -0.0453 |
|
||||||
|
| std | 0.717 |
|
||||||
|
| value_loss | 1.55 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:23:34] [35,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0035000.zip
|
||||||
|
[23:23:34] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.46 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.84 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.55 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.19 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.01 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:24:06] Eval: gentrack=323.8r/2000s ✅
|
||||||
|
[23:24:06] NEW BEST: steps=2000 reward=323.8
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.43 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.17 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.72 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.03 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.67 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 64 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 31 |
|
||||||
|
| total_timesteps | 153600 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.74 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.52 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.76 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.48 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 38 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 107 |
|
||||||
|
| total_timesteps | 155648 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.021391733 |
|
||||||
|
| clip_fraction | 0.181 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.16 |
|
||||||
|
| explained_variance | 0.202 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.583 |
|
||||||
|
| n_updates | 750 |
|
||||||
|
| policy_gradient_loss | -0.0397 |
|
||||||
|
| std | 0.711 |
|
||||||
|
| value_loss | 2.25 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.87 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.07 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.1 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.72 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.87 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 32 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 190 |
|
||||||
|
| total_timesteps | 157696 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.023227856 |
|
||||||
|
| clip_fraction | 0.2 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.15 |
|
||||||
|
| explained_variance | 0.266 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.503 |
|
||||||
|
| n_updates | 760 |
|
||||||
|
| policy_gradient_loss | -0.0421 |
|
||||||
|
| std | 0.708 |
|
||||||
|
| value_loss | 1.82 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:27:59] [40,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0040000.zip
|
||||||
|
[23:27:59] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.9 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:28:12] Eval: gentrack=64.0r/450s ❌@450
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.63 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.51 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.73 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 64 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 31 |
|
||||||
|
| total_timesteps | 159744 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.34 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.42 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.69 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 12.78 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.86 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 37 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 108 |
|
||||||
|
| total_timesteps | 161792 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.023146037 |
|
||||||
|
| clip_fraction | 0.197 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.14 |
|
||||||
|
| explained_variance | 0.262 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.563 |
|
||||||
|
| n_updates | 780 |
|
||||||
|
| policy_gradient_loss | -0.0403 |
|
||||||
|
| std | 0.706 |
|
||||||
|
| value_loss | 2.03 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.77 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.23 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.69 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.61 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.74 seconds
|
||||||
|
----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 30 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 202 |
|
||||||
|
| total_timesteps | 163840 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.03328496 |
|
||||||
|
| clip_fraction | 0.232 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.14 |
|
||||||
|
| explained_variance | 0.233 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.465 |
|
||||||
|
| n_updates | 790 |
|
||||||
|
| policy_gradient_loss | -0.0427 |
|
||||||
|
| std | 0.703 |
|
||||||
|
| value_loss | 2.17 |
|
||||||
|
----------------------------------------
|
||||||
|
[23:32:20] [45,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0045000.zip
|
||||||
|
[23:32:20] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.65 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.87 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.04 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:32:40] Eval: gentrack=159.5r/1024s ❌@1024
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.11 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.01 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.25 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.55 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.94 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.19 seconds
|
||||||
|
---------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 66 |
|
||||||
|
| iterations | 1 |
|
||||||
|
| time_elapsed | 30 |
|
||||||
|
| total_timesteps | 165888 |
|
||||||
|
---------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.73 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.72 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.16 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.74 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.18 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.08 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 40 |
|
||||||
|
| iterations | 2 |
|
||||||
|
| time_elapsed | 101 |
|
||||||
|
| total_timesteps | 167936 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.025306746 |
|
||||||
|
| clip_fraction | 0.23 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.13 |
|
||||||
|
| explained_variance | 0.199 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.368 |
|
||||||
|
| n_updates | 810 |
|
||||||
|
| policy_gradient_loss | -0.0487 |
|
||||||
|
| std | 0.7 |
|
||||||
|
| value_loss | 2.04 |
|
||||||
|
-----------------------------------------
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.59 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.44 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 12.94 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.89 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.51 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.5 seconds
|
||||||
|
-----------------------------------------
|
||||||
|
| rollout/ | |
|
||||||
|
| ep_len_mean | 216 |
|
||||||
|
| ep_rew_mean | 158 |
|
||||||
|
| time/ | |
|
||||||
|
| fps | 35 |
|
||||||
|
| iterations | 3 |
|
||||||
|
| time_elapsed | 173 |
|
||||||
|
| total_timesteps | 169984 |
|
||||||
|
| train/ | |
|
||||||
|
| approx_kl | 0.030002665 |
|
||||||
|
| clip_fraction | 0.239 |
|
||||||
|
| clip_range | 0.2 |
|
||||||
|
| entropy_loss | -2.12 |
|
||||||
|
| explained_variance | -0.0123 |
|
||||||
|
| learning_rate | 5e-05 |
|
||||||
|
| loss | 0.488 |
|
||||||
|
| n_updates | 820 |
|
||||||
|
| policy_gradient_loss | -0.0548 |
|
||||||
|
| std | 0.696 |
|
||||||
|
| value_loss | 1.09 |
|
||||||
|
-----------------------------------------
|
||||||
|
[23:36:23] [50,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0050000.zip
|
||||||
|
[23:36:23] Reconnecting for fresh track layout...
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.51 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:36:37] Eval: gentrack=64.5r/440s ❌@440
|
||||||
|
[23:36:37] Training complete.
|
||||||
|
[23:36:37]
|
||||||
|
[23:36:37] ============================================================
|
||||||
|
[23:36:37] ZERO-SHOT EVAL: best_model on donkey-minimonaco-track-v0
|
||||||
|
[23:36:37] ============================================================
|
||||||
|
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.38 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.61 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.37 seconds
|
||||||
|
starting DonkeyGym env
|
||||||
|
Setting default: start_delay 5.0
|
||||||
|
Setting default: max_cte 8.0
|
||||||
|
Setting default: frame_skip 1
|
||||||
|
Setting default: cam_resolution (120, 160, 3)
|
||||||
|
Setting default: log_level 20
|
||||||
|
Setting default: steer_limit 1.0
|
||||||
|
Setting default: throttle_min 0.0
|
||||||
|
Setting default: throttle_max 1.0
|
||||||
|
[23:36:58] ep1: 158.8r / 999s ❌ hit=none@999
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.27 seconds
|
||||||
|
[23:37:05] ep2: 46.7r / 338s ❌ hit=right_barrier_seg0@338
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.09 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.25 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.11 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.43 seconds
|
||||||
|
[23:37:23] ep3: 206.2r / 1286s ❌ hit=none@1286
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||||||
|
[23:37:33] ep4: 63.8r / 444s ❌ hit=right_barrier_seg56@444
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.9 seconds
|
||||||
|
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.1 seconds
|
||||||
|
[23:37:46] ep5: 108.0r / 700s ❌ hit=right_barrier_seg49@700
|
||||||
|
[23:37:46] Mean: 753 steps / 116.7 reward
|
||||||
|
[23:37:46] ✅ GENERALIZES
|
||||||
|
[23:37:46]
|
||||||
|
[23:37:46] Exp 29 complete.
|
||||||
|
[23:37:46] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
|
||||||
Loading…
Reference in New Issue