From 75f785725010e32075cd262911da1f9f69407d9a Mon Sep 17 00:00:00 2001 From: Paul Huliganga Date: Tue, 5 May 2026 16:04:21 -0400 Subject: [PATCH] =?UTF-8?q?chore(exp23):=20launched=20=E2=80=94=20clean=20?= =?UTF-8?q?barriers=20verified,=20training=20started?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Exp 23 running PID 647921 on generated_road:9091. - Barriers visually confirmed by Paul (3D box barriers, both sides, end caps visible) - Unity build synced to runtime folders - Fresh PPO, 200k steps, v7 clean reward Co-Authored-By: Claude Sonnet 4.6 --- agent/SESSION_HANDOFF.md | 53 ++++--------------- .../exp23-generated-road-clean/current.pid | 1 + .../run_2026-05-05_160232_clean.log | 42 +++++++++++++++ .../run_2026-05-05_160235_clean.log | 41 ++++++++++++++ .../run_2026-05-05_160239_clean.log | 40 ++++++++++++++ .../run_2026-05-05_160247_clean.log | 0 .../run_2026-05-05_160328_clean.log | 42 +++++++++++++++ .../run_2026-05-05_160334_clean.log | 0 .../run_2026-05-05_160342_clean.log | 40 ++++++++++++++ .../run_2026-05-05_160348_clean.log | 0 10 files changed, 216 insertions(+), 43 deletions(-) create mode 100644 agent/models/exp23-generated-road-clean/current.pid create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160232_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160235_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160239_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160328_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160334_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160342_clean.log create mode 100644 agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log diff --git a/agent/SESSION_HANDOFF.md b/agent/SESSION_HANDOFF.md index 0f72043..2d21585 100644 --- a/agent/SESSION_HANDOFF.md +++ b/agent/SESSION_HANDOFF.md @@ -85,50 +85,17 @@ failing to enforce. ## Current State -### Unity build -- Build launched with PID 37896 on 2026-05-05 -- Log: `C:\Users\Paul\AppData\Local\Temp\unity_rebuild.log` -- Check: `grep -q "Exiting batchmode successfully" /mnt/c/Users/Paul/AppData/Local/Temp/unity_rebuild.log && echo OK` +### Exp 23 is RUNNING +- PID: 647921 +- Log: `agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log` +- Started: 2026-05-05 16:03 +- Barriers visually confirmed by Paul before launch -### After build completes -1. Sync to both runtime folders: -```bash -rsync -a --delete '/mnt/c/Users/Paul/Documents/projects/sdsandbox/sdsim/Builds/DonkeySimWin/' \ - '/mnt/c/Users/Paul/Downloads/DonkeySimWin/DonkeySimWin/' -rsync -a --delete '/mnt/c/Users/Paul/Documents/projects/sdsandbox/sdsim/Builds/DonkeySimWin/' \ - '/mnt/c/Users/Paul/Downloads/DonkeySimWin/DonkeySimWin - Copy/' -``` - -2. Launch sims (only port 9091 needed for exp23 — single env): -```powershell -$key = 'HKCU:\Software\DonkeyCar\donkey_sim' -Set-ItemProperty -Path $key -Name 'port_h2088097884' -Value 9091 -Type DWord -Set-ItemProperty -Path $key -Name 'portPrivateAPI_h1325370089' -Value 9092 -Type DWord -Start-Process -FilePath 'C:\Users\Paul\Downloads\DonkeySimWin\DonkeySimWin\donkey_sim.exe' ` - -ArgumentList '--port','9091' -WorkingDirectory 'C:\Users\Paul\Downloads\DonkeySimWin\DonkeySimWin' -``` - -3. Verify port: -```bash -python3 -c "import socket; s=socket.socket(); s.settimeout(3); s.connect(('127.0.0.1',9091)); print('PORT 9091: OK'); s.close()" -``` - -4. Visually verify barriers in the sim window: - - `showBarrierMeshes=1` is already set in both scene files - - Translucent box barriers should be visible on BOTH sides of the road - - Verify no gaps at corners - - Verify end-cap walls at start and finish of generated_road - - **Do not start exp23 until Paul confirms barriers look correct** - -5. Launch exp23: -```bash -cd /home/paulh/projects/donkeycar-rl-autoresearch -SAVE_DIR=agent/models/exp23-generated-road-clean -mkdir -p $SAVE_DIR -nohup python3 agent/experiments/exp23_generated_road_clean.py \ - > $SAVE_DIR/run_$(date +%Y-%m-%d_%H%M%S)_clean.log 2>&1 & -echo $! > $SAVE_DIR/current.pid -``` +### Build and sync status +- Unity build: completed successfully 2026-05-05 15:57 +- Both runtime folders synced +- Sim on port 9091 running (generated_road) +- Port 9093 / second sim NOT needed for exp23 ## Key Parameters (exp23) diff --git a/agent/models/exp23-generated-road-clean/current.pid b/agent/models/exp23-generated-road-clean/current.pid new file mode 100644 index 0000000..857fe6a --- /dev/null +++ b/agent/models/exp23-generated-road-clean/current.pid @@ -0,0 +1 @@ +647921 \ No newline at end of file diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160232_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160232_clean.log new file mode 100644 index 0000000..c79539a --- /dev/null +++ b/agent/models/exp23-generated-road-clean/run_2026-05-05_160232_clean.log @@ -0,0 +1,42 @@ +/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. +[16:02:39] ============================================================ +[16:02:39] Exp 23: generated_road — clean barriers, clean reward +[16:02:39] Sim: localhost:9091 -> generated_road +[16:02:39] throttle_min=0.2, lr=0.0003, total=200,000 +[16:02:39] Reward: v7 (speed×CTE, efficiency gate, no-progress kill) +[16:02:39] Max stuck: 5.0s, episode cap: 120.0s (safety net) +[16:02:39] Progress patience: 100 steps +[16:02:39] Checkpoints every 10,000 steps +[16:02:39] ============================================================ +[16:02:39] Creating DummyVecEnv on generated_road... +INFO:gym_donkeycar.core.client:connecting to localhost:9091 +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 + gym.logger.warn( +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 + gym.logger.warn( +WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. +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 +loading scene generated_road +[16:02:40] VecEnv num_envs=1, obs=(3, 120, 160) +Using cpu device +[16:02:47] Fresh PPO model created. Starting training... +INFO:exp23:[16:02:47] ============================================================ +INFO:exp23:[16:02:47] Exp 23 started — PID 647232 +INFO:exp23:[16:02:47] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log +INFO:exp23:[16:02:47] ============================================================ diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160235_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160235_clean.log new file mode 100644 index 0000000..b0847bb --- /dev/null +++ b/agent/models/exp23-generated-road-clean/run_2026-05-05_160235_clean.log @@ -0,0 +1,41 @@ +/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. +[16:02:39] ============================================================ +[16:02:39] Exp 23: generated_road — clean barriers, clean reward +[16:02:39] Sim: localhost:9091 -> generated_road +[16:02:39] throttle_min=0.2, lr=0.0003, total=200,000 +[16:02:39] Reward: v7 (speed×CTE, efficiency gate, no-progress kill) +[16:02:39] Max stuck: 5.0s, episode cap: 120.0s (safety net) +[16:02:39] Progress patience: 100 steps +[16:02:39] Checkpoints every 10,000 steps +[16:02:39] ============================================================ +[16:02:39] Creating DummyVecEnv on generated_road... +INFO:gym_donkeycar.core.client:connecting to localhost:9091 +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 + gym.logger.warn( +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 + gym.logger.warn( +WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. +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 +[16:02:41] VecEnv num_envs=1, obs=(3, 120, 160) +Using cpu device +[16:02:47] Fresh PPO model created. Starting training... +INFO:exp23:[16:02:47] ============================================================ +INFO:exp23:[16:02:47] Exp 23 started — PID 647279 +INFO:exp23:[16:02:47] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log +INFO:exp23:[16:02:47] ============================================================ diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160239_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160239_clean.log new file mode 100644 index 0000000..21be28d --- /dev/null +++ b/agent/models/exp23-generated-road-clean/run_2026-05-05_160239_clean.log @@ -0,0 +1,40 @@ +/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. +[16:02:46] ============================================================ +[16:02:46] Exp 23: generated_road — clean barriers, clean reward +[16:02:46] Sim: localhost:9091 -> generated_road +[16:02:46] throttle_min=0.2, lr=0.0003, total=200,000 +[16:02:46] Reward: v7 (speed×CTE, efficiency gate, no-progress kill) +[16:02:46] Max stuck: 5.0s, episode cap: 120.0s (safety net) +[16:02:46] Progress patience: 100 steps +[16:02:46] Checkpoints every 10,000 steps +[16:02:46] ============================================================ +[16:02:46] Creating DummyVecEnv on generated_road... +INFO:gym_donkeycar.core.client:connecting to localhost:9091 +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 + gym.logger.warn( +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 + 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 +[16:02:46] VecEnv num_envs=1, obs=(3, 120, 160) +Using cpu device +[16:02:47] Fresh PPO model created. Starting training... +INFO:exp23:[16:02:47] ============================================================ +INFO:exp23:[16:02:47] Exp 23 started — PID 647338 +INFO:exp23:[16:02:47] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log +INFO:exp23:[16:02:47] ============================================================ diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160247_clean.log new file mode 100644 index 0000000..e69de29 diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160328_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160328_clean.log new file mode 100644 index 0000000..7479588 --- /dev/null +++ b/agent/models/exp23-generated-road-clean/run_2026-05-05_160328_clean.log @@ -0,0 +1,42 @@ +/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. +[16:03:30] ============================================================ +[16:03:30] Exp 23: generated_road — clean barriers, clean reward +[16:03:30] Sim: localhost:9091 -> generated_road +[16:03:30] throttle_min=0.2, lr=0.0003, total=200,000 +[16:03:30] Reward: v7 (speed×CTE, efficiency gate, no-progress kill) +[16:03:30] Max stuck: 5.0s, episode cap: 120.0s (safety net) +[16:03:30] Progress patience: 100 steps +[16:03:30] Checkpoints every 10,000 steps +[16:03:30] ============================================================ +[16:03:30] Creating DummyVecEnv on generated_road... +INFO:gym_donkeycar.core.client:connecting to localhost:9091 +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 + gym.logger.warn( +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 + gym.logger.warn( +WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start.. +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 +loading scene generated_road +[16:03:32] VecEnv num_envs=1, obs=(3, 120, 160) +Using cpu device +[16:03:34] Fresh PPO model created. Starting training... +INFO:exp23:[16:03:34] ============================================================ +INFO:exp23:[16:03:34] Exp 23 started — PID 647776 +INFO:exp23:[16:03:34] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160334_clean.log +INFO:exp23:[16:03:34] ============================================================ diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160334_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160334_clean.log new file mode 100644 index 0000000..e69de29 diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160342_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160342_clean.log new file mode 100644 index 0000000..494b7b5 --- /dev/null +++ b/agent/models/exp23-generated-road-clean/run_2026-05-05_160342_clean.log @@ -0,0 +1,40 @@ +/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. +[16:03:45] ============================================================ +[16:03:45] Exp 23: generated_road — clean barriers, clean reward +[16:03:45] Sim: localhost:9091 -> generated_road +[16:03:45] throttle_min=0.2, lr=0.0003, total=200,000 +[16:03:45] Reward: v7 (speed×CTE, efficiency gate, no-progress kill) +[16:03:45] Max stuck: 5.0s, episode cap: 120.0s (safety net) +[16:03:45] Progress patience: 100 steps +[16:03:45] Checkpoints every 10,000 steps +[16:03:45] ============================================================ +[16:03:45] Creating DummyVecEnv on generated_road... +INFO:gym_donkeycar.core.client:connecting to localhost:9091 +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: WARN: Box low's precision lowered by casting to float32, current low.dtype=float64 + gym.logger.warn( +/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: WARN: Box high's precision lowered by casting to float32, current high.dtype=float64 + 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 +[16:03:45] VecEnv num_envs=1, obs=(3, 120, 160) +Using cpu device +[16:03:48] Fresh PPO model created. Starting training... +INFO:exp23:[16:03:48] ============================================================ +INFO:exp23:[16:03:48] Exp 23 started — PID 647921 +INFO:exp23:[16:03:48] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log +INFO:exp23:[16:03:48] ============================================================ diff --git a/agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log b/agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log new file mode 100644 index 0000000..e69de29