/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 19:57:29 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 19:57:29 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 19:57:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.65973622115377 Sun Apr 12 19:57:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1884950808425598 Sun Apr 12 19:57:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.030493603105293 Sun Apr 12 19:57:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6701775521027226 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3537362271643043 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.071823537152857 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.1412107556301043 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.531400429582428 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Step 85 done=True reward=-1.0 Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Episode 1 ended after 85 steps at Sun Apr 12 19:57:31 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 19:57:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3517642298537958 Sun Apr 12 19:57:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.10426805722474 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2677094612911042 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1125143241312831 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2738277273340333 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.73868911522483 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Episode 2 ended after 70 steps at Sun Apr 12 19:57:33 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 19:57:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5512915623663074 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9969566648206756 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4076765903229824 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.610577303121507 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7215608221699135 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.37001288481944394 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.6636441369443967 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.5281542085163107 Sun Apr 12 19:57:35 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.5192939765888214 Sun Apr 12 19:57:36 2026 [SB3 Runner][TEST] Step 96 done=True reward=-1.0 Sun Apr 12 19:57:36 2026 [SB3 Runner][TEST] Episode 3 ended after 96 steps at Sun Apr 12 19:57:36 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.37108938866914676 Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7009612471299641 Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.026097655316046 Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1126686313594094 Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4391326739177148 Sun Apr 12 19:57:37 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.9643492986693616 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.457193009993115 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.683375585003899 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.25998582224052 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.9117954410063445 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Step 110 done=True reward=-1.0 Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Episode 4 ended after 110 steps at Sun Apr 12 19:57:38 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 19:57:39 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.45228128771287196 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9079328685784457 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.279601721215537 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.553751360108707 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2611143846889372 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.5730516208710905 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.0016544472972530836 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Episode 5 ended after 71 steps at Sun Apr 12 19:57:40 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 19:57:41 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5122266471391291 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7938577700491415 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2431387325309327 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.45543744427726 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6436637844747268 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.064149513858784 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.291397841179396 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.0851579410418273 Sun Apr 12 19:57:42 2026 [SB3 Runner][TEST] Step 87 done=True reward=-1.0 Sun Apr 12 19:57:43 2026 [SB3 Runner][TEST] Episode 6 ended after 87 steps at Sun Apr 12 19:57:43 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.38680656701677163 Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7034535460586123 Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3315501206352756 Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4771865126987036 Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3632186824763255 Sun Apr 12 19:57:44 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7204163374379118 Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.1055227916296837 Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.8273720968584293 Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.0188919489994968 Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Step 99 done=True reward=-1.0 Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Episode 7 ended after 99 steps at Sun Apr 12 19:57:45 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 19:57:46 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3180216078099282 Sun Apr 12 19:57:46 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7682414740047867 Sun Apr 12 19:57:46 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0876100763968364 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2179832309108884 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4772832334512174 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7841821435362102 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.6490377811686423 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Step 79 done=True reward=-1.0 Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Episode 8 ended after 79 steps at Sun Apr 12 19:57:47 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 19:57:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.555979368458371 Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8447797124538053 Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1591942174480756 Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.3950196074073838 Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Step 44 done=True reward=-1.0 Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Episode 9 ended after 44 steps at Sun Apr 12 19:57:49 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 19:57:50 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.40446455734969455 Sun Apr 12 19:57:50 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7352505822066754 Sun Apr 12 19:57:50 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8919553775798454 Sun Apr 12 19:57:50 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2376695046485453 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4253300169766028 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7847450930917248 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.4717171459781562 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.9325417774621616 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.6907797291211867 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.7093277217756156 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Step 110 done=True reward=-1.0 Sun Apr 12 19:57:51 2026 [SB3 Runner][TEST] Episode 10 ended after 110 steps at Sun Apr 12 19:57:51 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 19:57:51 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 19:57:51 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 19:57:51 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 19:57:53 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