/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.
[14:13:45] ============================================================
[14:13:45] Exp 22: generated_road + generated_track, warm-started, v6 reward
[14:13:45]   Warm start: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/champion/model.zip
[14:13:45]   Sim 1: localhost:9091 -> generated_road
[14:13:45]   Sim 2: localhost:9093 -> generated_track
[14:13:45]   throttle_min=0.2, lr=0.000225, total=150,000
[14:13:45]   Reward: v6 (speed x CTE with progress/efficiency exploit termination)
[14:13:45]   Stuck timeout: 8.0s, hard cap: 25.0s
[14:13:45]   Progress patience: 100 steps
[14:13:45]   Checkpoints: every 10,000 steps
[14:13:45] ============================================================
[14:13:45] Creating DummyVecEnv with the two road tracks...
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
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
INFO:gym_donkeycar.core.client:connecting to localhost:9093 
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!
[14:13:45]   VecEnv num_envs=2, obs=(3, 120, 160)
/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")
[14:13:49] Warm-start model attached. Starting training...
---------------------------------
| rollout/           |          |
|    ep_len_mean     | 118      |
|    ep_rew_mean     | 102      |
| time/              |          |
|    fps             | 29       |
|    iterations      | 1        |
|    time_elapsed    | 139      |
|    total_timesteps | 18432    |
---------------------------------