/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.
[16:03:30] ============================================================
[16:03:30] Exp 23: generated_road — clean barriers, clean reward
[16:03:30]   Sim: localhost:9091 -> generated_road
[16:03:30]   throttle_min=0.2, lr=0.0003, total=200,000
[16:03:30]   Reward: v7 (speed×CTE, efficiency gate, no-progress kill)
[16:03:30]   Max stuck: 5.0s, episode cap: 120.0s (safety net)
[16:03:30]   Progress patience: 100 steps
[16:03:30]   Checkpoints every 10,000 steps
[16:03:30] ============================================================
[16:03:30] Creating DummyVecEnv on generated_road...
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(
WARNING:gym_donkeycar.envs.donkey_sim:waiting for sim to start..
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
loading scene generated_road
[16:03:32]   VecEnv num_envs=1, obs=(3, 120, 160)
Using cpu device
[16:03:34] Fresh PPO model created. Starting training...
INFO:exp23:[16:03:34] ============================================================
INFO:exp23:[16:03:34] Exp 23 started — PID 647776
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
INFO:exp23:[16:03:34] ============================================================