/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. [SB3 Runner] Starting: 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: host localhost Setting default: port 9091 Setting default: steer_limit 1.0 Setting default: throttle_min 0.0 Setting default: throttle_max 1.0 [SB3 Runner][MONITOR] Connected to gym env. Sun Apr 12 18:31:15 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 18:31:15 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 18:31:16 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5930426588362355 Sun Apr 12 18:31:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.997441518953447 Sun Apr 12 18:31:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1941875486665035 Sun Apr 12 18:31:17 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5993382963800269 Sun Apr 12 18:31:17 2026 [SB3 Runner][TEST] Step 45 done=True reward=-1.0 Sun Apr 12 18:31:17 2026 [SB3 Runner][TEST] Episode 1 ended after 45 steps at Sun Apr 12 18:31:17 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 18:31:18 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4826139388690259 Sun Apr 12 18:31:18 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8654003065327203 Sun Apr 12 18:31:18 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9328340114788956 Sun Apr 12 18:31:18 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1622743851070587 Sun Apr 12 18:31:18 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1639181208228253 Sun Apr 12 18:31:19 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.21848382425902 Sun Apr 12 18:31:19 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.46584762516979156 Sun Apr 12 18:31:19 2026 [SB3 Runner][TEST] Step 73 done=True reward=-1.0 Sun Apr 12 18:31:19 2026 [SB3 Runner][TEST] Episode 2 ended after 73 steps at Sun Apr 12 18:31:19 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 18:31:20 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6652096245553486 Sun Apr 12 18:31:20 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7925811900478051 Sun Apr 12 18:31:20 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.6341827565527142 Sun Apr 12 18:31:20 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.20084529352851524 Sun Apr 12 18:31:20 2026 [SB3 Runner][TEST] Step 43 done=True reward=-1.0 Sun Apr 12 18:31:21 2026 [SB3 Runner][TEST] Episode 3 ended after 43 steps at Sun Apr 12 18:31:21 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.22212704854517798 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6518347935240981 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9699760916612442 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8608282098560048 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8989730803351469 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0844938168551912 Sun Apr 12 18:31:22 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.2466014578834543 Sun Apr 12 18:31:23 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.2890535957662288 Sun Apr 12 18:31:23 2026 [SB3 Runner][TEST] Step 83 done=True reward=-1.0 Sun Apr 12 18:31:23 2026 [SB3 Runner][TEST] Episode 4 ended after 83 steps at Sun Apr 12 18:31:23 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 18:31:24 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4837720168557684 Sun Apr 12 18:31:24 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9686156739779137 Sun Apr 12 18:31:24 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3094894960374734 Sun Apr 12 18:31:24 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9944284362413319 Sun Apr 12 18:31:24 2026 [SB3 Runner][TEST] Step 47 done=True reward=-1.0 Sun Apr 12 18:31:25 2026 [SB3 Runner][TEST] Episode 5 ended after 47 steps at Sun Apr 12 18:31:25 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5445520465699564 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9033961034646071 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9666531558798608 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0097969878717084 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5304824640369848 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.04834838843519289 Sun Apr 12 18:31:26 2026 [SB3 Runner][TEST] Step 62 done=True reward=-1.0 Sun Apr 12 18:31:27 2026 [SB3 Runner][TEST] Episode 6 ended after 62 steps at Sun Apr 12 18:31:27 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3405417867729822 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.798850656905738 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2296185512178774 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.5394884675497758 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.277175453253055 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7019350307128625 Sun Apr 12 18:31:28 2026 [SB3 Runner][TEST] Step 69 done=True reward=-1.0 Sun Apr 12 18:31:29 2026 [SB3 Runner][TEST] Episode 7 ended after 69 steps at Sun Apr 12 18:31:29 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.12976049310661597 Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7133498608528163 Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1313272635627378 Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9239206112267117 Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Episode 8 ended after 50 steps at Sun Apr 12 18:31:30 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.36319903336485754 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8072070462807343 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9241814878599295 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9719169073620998 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4046429710786545 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.5828575208286337 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.088702421722637 Sun Apr 12 18:31:32 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.07654815461745 Sun Apr 12 18:31:33 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.6185808817709257 Sun Apr 12 18:31:33 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.5252543080985448 Sun Apr 12 18:31:33 2026 [SB3 Runner][TEST] Step 103 done=True reward=-1.0 Sun Apr 12 18:31:33 2026 [SB3 Runner][TEST] Episode 9 ended after 103 steps at Sun Apr 12 18:31:33 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 18:31:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.458559941991351 Sun Apr 12 18:31:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0177022510031632 Sun Apr 12 18:31:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0650337275461486 Sun Apr 12 18:31:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0550222437169967 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0804996123982493 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.6714580755293313 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3632747403945464 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.17668566845698339 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 18:31:35 2026 [SB3 Runner][TEST] Episode 10 ended after 82 steps at Sun Apr 12 18:31:35 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 18:31:35 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 18:31:35 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 18:31:35 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 18:31:37 2026 Traceback (most recent call last): File "/home/paulh/.pi/agent/donkeycar_sb3_runner.py", line 96, in run_training( File "/home/paulh/.pi/agent/donkeycar_sb3_runner.py", line 80, in run_training mean_reward, std_reward = evaluate_policy(model, env, n_eval_episodes=eval_episodes, return_episode_rewards=False) NameError: name 'model' is not defined