chore(exp23): launched — clean barriers verified, training started
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 <noreply@anthropic.com>
This commit is contained in:
Paul Huliganga
parent
2d52bb4ffc
commit
75f7857250
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@ -85,50 +85,17 @@ failing to enforce.
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## Current State
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## Current State
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### Unity build
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### Exp 23 is RUNNING
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- Build launched with PID 37896 on 2026-05-05
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- PID: 647921
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- Log: `C:\Users\Paul\AppData\Local\Temp\unity_rebuild.log`
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- Log: `agent/models/exp23-generated-road-clean/run_2026-05-05_160348_clean.log`
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- Check: `grep -q "Exiting batchmode successfully" /mnt/c/Users/Paul/AppData/Local/Temp/unity_rebuild.log && echo OK`
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- Started: 2026-05-05 16:03
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- Barriers visually confirmed by Paul before launch
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### After build completes
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### Build and sync status
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1. Sync to both runtime folders:
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- Unity build: completed successfully 2026-05-05 15:57
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```bash
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- Both runtime folders synced
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rsync -a --delete '/mnt/c/Users/Paul/Documents/projects/sdsandbox/sdsim/Builds/DonkeySimWin/' \
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- Sim on port 9091 running (generated_road)
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'/mnt/c/Users/Paul/Downloads/DonkeySimWin/DonkeySimWin/'
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- Port 9093 / second sim NOT needed for exp23
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rsync -a --delete '/mnt/c/Users/Paul/Documents/projects/sdsandbox/sdsim/Builds/DonkeySimWin/' \
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'/mnt/c/Users/Paul/Downloads/DonkeySimWin/DonkeySimWin - Copy/'
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```
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2. Launch sims (only port 9091 needed for exp23 — single env):
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```powershell
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$key = 'HKCU:\Software\DonkeyCar\donkey_sim'
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Set-ItemProperty -Path $key -Name 'port_h2088097884' -Value 9091 -Type DWord
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Set-ItemProperty -Path $key -Name 'portPrivateAPI_h1325370089' -Value 9092 -Type DWord
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Start-Process -FilePath 'C:\Users\Paul\Downloads\DonkeySimWin\DonkeySimWin\donkey_sim.exe' `
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-ArgumentList '--port','9091' -WorkingDirectory 'C:\Users\Paul\Downloads\DonkeySimWin\DonkeySimWin'
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```
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3. Verify port:
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```bash
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python3 -c "import socket; s=socket.socket(); s.settimeout(3); s.connect(('127.0.0.1',9091)); print('PORT 9091: OK'); s.close()"
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```
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4. Visually verify barriers in the sim window:
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- `showBarrierMeshes=1` is already set in both scene files
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- Translucent box barriers should be visible on BOTH sides of the road
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- Verify no gaps at corners
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- Verify end-cap walls at start and finish of generated_road
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- **Do not start exp23 until Paul confirms barriers look correct**
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5. Launch exp23:
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```bash
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cd /home/paulh/projects/donkeycar-rl-autoresearch
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SAVE_DIR=agent/models/exp23-generated-road-clean
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mkdir -p $SAVE_DIR
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nohup python3 agent/experiments/exp23_generated_road_clean.py \
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> $SAVE_DIR/run_$(date +%Y-%m-%d_%H%M%S)_clean.log 2>&1 &
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echo $! > $SAVE_DIR/current.pid
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```
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## Key Parameters (exp23)
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## Key Parameters (exp23)
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@ -0,0 +1 @@
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647921
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@ -0,0 +1,42 @@
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/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.
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warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
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Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
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|
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.
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See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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[16:02:39] ============================================================
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[16:02:39] Exp 23: generated_road — clean barriers, clean reward
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[16:02:39] Sim: localhost:9091 -> generated_road
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[16:02:39] throttle_min=0.2, lr=0.0003, total=200,000
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[16:02:39] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:02:39] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:02:39] Progress patience: 100 steps
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[16:02:39] Checkpoints every 10,000 steps
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[16:02:39] ============================================================
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[16:02:39] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/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
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gym.logger.warn(
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/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
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gym.logger.warn(
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WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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loading scene generated_road
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[16:02:40] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:02:47] Fresh PPO model created. Starting training...
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INFO:exp23:[16:02:47] ============================================================
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INFO:exp23:[16:02:47] Exp 23 started — PID 647232
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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
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INFO:exp23:[16:02:47] ============================================================
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@ -0,0 +1,41 @@
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/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.
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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.
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|
See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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[16:02:39] ============================================================
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[16:02:39] Exp 23: generated_road — clean barriers, clean reward
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[16:02:39] Sim: localhost:9091 -> generated_road
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[16:02:39] throttle_min=0.2, lr=0.0003, total=200,000
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[16:02:39] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:02:39] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:02:39] Progress patience: 100 steps
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[16:02:39] Checkpoints every 10,000 steps
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[16:02:39] ============================================================
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[16:02:39] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/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
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gym.logger.warn(
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/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
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gym.logger.warn(
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WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[16:02:41] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:02:47] Fresh PPO model created. Starting training...
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INFO:exp23:[16:02:47] ============================================================
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INFO:exp23:[16:02:47] Exp 23 started — PID 647279
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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
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INFO:exp23:[16:02:47] ============================================================
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@ -0,0 +1,40 @@
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/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.
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|
[16:02:46] ============================================================
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[16:02:46] Exp 23: generated_road — clean barriers, clean reward
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[16:02:46] Sim: localhost:9091 -> generated_road
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[16:02:46] throttle_min=0.2, lr=0.0003, total=200,000
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[16:02:46] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:02:46] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:02:46] Progress patience: 100 steps
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[16:02:46] Checkpoints every 10,000 steps
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[16:02:46] ============================================================
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[16:02:46] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/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
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gym.logger.warn(
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/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
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gym.logger.warn(
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[16:02:46] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:02:47] Fresh PPO model created. Starting training...
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INFO:exp23:[16:02:47] ============================================================
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INFO:exp23:[16:02:47] Exp 23 started — PID 647338
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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
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INFO:exp23:[16:02:47] ============================================================
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@ -0,0 +1,42 @@
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/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.
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|
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.
|
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[16:03:30] ============================================================
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[16:03:30] Exp 23: generated_road — clean barriers, clean reward
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[16:03:30] Sim: localhost:9091 -> generated_road
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[16:03:30] throttle_min=0.2, lr=0.0003, total=200,000
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[16:03:30] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:03:30] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:03:30] Progress patience: 100 steps
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[16:03:30] Checkpoints every 10,000 steps
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[16:03:30] ============================================================
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[16:03:30] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/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
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gym.logger.warn(
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/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
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gym.logger.warn(
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WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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loading scene generated_road
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[16:03:32] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:03:34] Fresh PPO model created. Starting training...
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INFO:exp23:[16:03:34] ============================================================
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INFO:exp23:[16:03:34] Exp 23 started — PID 647776
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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
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INFO:exp23:[16:03:34] ============================================================
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/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.
|
||||||
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See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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[16:03:45] ============================================================
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[16:03:45] Exp 23: generated_road — clean barriers, clean reward
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[16:03:45] Sim: localhost:9091 -> generated_road
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[16:03:45] throttle_min=0.2, lr=0.0003, total=200,000
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[16:03:45] Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
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[16:03:45] Max stuck: 5.0s, episode cap: 120.0s (safety net)
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[16:03:45] Progress patience: 100 steps
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[16:03:45] Checkpoints every 10,000 steps
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[16:03:45] ============================================================
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[16:03:45] Creating DummyVecEnv on generated_road...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/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
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gym.logger.warn(
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/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
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gym.logger.warn(
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[16:03:45] VecEnv num_envs=1, obs=(3, 120, 160)
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Using cpu device
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[16:03:48] Fresh PPO model created. Starting training...
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|
INFO:exp23:[16:03:48] ============================================================
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INFO:exp23:[16:03:48] Exp 23 started — PID 647921
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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] ============================================================
|
||||||
Loading…
Reference in New Issue