/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: 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 [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: 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 [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