===== RUN 1 ===== Sun Apr 12 08:00:32 PM EDT 2026 /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 20:00:34 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:00:34 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:00:35 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7213080946598261 Sun Apr 12 20:00:35 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0802710060201304 Sun Apr 12 20:00:35 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3886239943020071 Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=2.1280158917546523 Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.087904658336132 Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.9713224680016613 Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Episode 1 ended after 66 steps at Sun Apr 12 20:00:36 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:00:37 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5957076116207101 Sun Apr 12 20:00:37 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7140644210783558 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2138556396360602 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.5691546505397327 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6052229039597405 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.2724789196614459 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.1644972860190776 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.5169857637605824 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Step 86 done=True reward=-1.0 Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Episode 2 ended after 86 steps at Sun Apr 12 20:00:38 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.738580901475451 Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0039394233718268 Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3037707467530035 Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.3877786726276452 Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Step 44 done=True reward=-1.0 Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Episode 3 ended after 44 steps at Sun Apr 12 20:00:40 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:00:41 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4744044178301902 Sun Apr 12 20:00:41 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7089464882556727 Sun Apr 12 20:00:42 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0515489515979286 Sun Apr 12 20:00:42 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.38687197850480715 Sun Apr 12 20:00:42 2026 [SB3 Runner][TEST] Step 45 done=True reward=-1.0 Sun Apr 12 20:00:42 2026 [SB3 Runner][TEST] Episode 4 ended after 45 steps at Sun Apr 12 20:00:42 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:00:43 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39685600385276076 Sun Apr 12 20:00:43 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9605821337260222 Sun Apr 12 20:00:43 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.993885840494414 Sun Apr 12 20:00:43 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0986742251151262 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3260797202482077 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.370842393174199 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.5631910593922649 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.9592415381934885 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.8079369826517386 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Step 93 done=True reward=-1.0 Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Episode 5 ended after 93 steps at Sun Apr 12 20:00:44 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:00:45 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7029900610706963 Sun Apr 12 20:00:45 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9709077201192896 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0924706781363398 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2954837926629994 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2194549850252234 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0283522205915179 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.687677836212961 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.2821627514137256 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.9154527492334188 Sun Apr 12 20:00:46 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.144608386183322 Sun Apr 12 20:00:47 2026 [SB3 Runner][TEST] Step 108 done=True reward=-1.0 Sun Apr 12 20:00:47 2026 [SB3 Runner][TEST] Episode 6 ended after 108 steps at Sun Apr 12 20:00:47 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:00:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7019310245403739 Sun Apr 12 20:00:48 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0957615067814692 Sun Apr 12 20:00:48 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.427810912109959 Sun Apr 12 20:00:48 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.794607934436121 Sun Apr 12 20:00:48 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.9311887223169248 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7943988589932138 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.4918356362288785 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7911233350926544 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.2865736523755537 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Step 93 done=True reward=-1.0 Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Episode 7 ended after 93 steps at Sun Apr 12 20:00:49 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:00:50 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6176725060312991 Sun Apr 12 20:00:50 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.125840552612553 Sun Apr 12 20:00:51 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.313326831784643 Sun Apr 12 20:00:51 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7514161883185527 Sun Apr 12 20:00:51 2026 [SB3 Runner][TEST] Step 49 done=True reward=-1.0 Sun Apr 12 20:00:51 2026 [SB3 Runner][TEST] Episode 8 ended after 49 steps at Sun Apr 12 20:00:51 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:00:52 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3686673341981214 Sun Apr 12 20:00:52 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9468026651572682 Sun Apr 12 20:00:52 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1866321440681697 Sun Apr 12 20:00:52 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.039691504465004 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.8203977080097722 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.414839133536297 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.7480082849283923 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.6526758176968054 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.0978428964687332 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.00041319234835104863 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Step 101 done=True reward=-1.0 Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Episode 9 ended after 101 steps at Sun Apr 12 20:00:53 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4478835593786388 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7730997126949635 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9724592532201258 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.18582288108161 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.091153322422404 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:00:55 2026 [SB3 Runner][TEST] Episode 10 ended after 60 steps at Sun Apr 12 20:00:55 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:00:55 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:00:55 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:00:55 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:00:57 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 ===== END RUN 1 ===== Sun Apr 12 08:00:58 PM EDT 2026 ===== RUN 2 ===== Sun Apr 12 08:01:00 PM EDT 2026 /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 20:01:02 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:01:02 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:01:03 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3086025244277664 Sun Apr 12 20:01:03 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6546580130185553 Sun Apr 12 20:01:03 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8725119275596652 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.156400096922747 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.387767001038838 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.360496455819407 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5635759305759719 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Step 74 done=True reward=-1.0 Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Episode 1 ended after 74 steps at Sun Apr 12 20:01:04 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:01:05 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5415246840335963 Sun Apr 12 20:01:05 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7908318489436224 Sun Apr 12 20:01:06 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.227817812185773 Sun Apr 12 20:01:06 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7504625309089197 Sun Apr 12 20:01:06 2026 [SB3 Runner][TEST] Step 46 done=True reward=-1.0 Sun Apr 12 20:01:06 2026 [SB3 Runner][TEST] Episode 2 ended after 46 steps at Sun Apr 12 20:01:06 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:01:07 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6576007531883672 Sun Apr 12 20:01:07 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9888692346612558 Sun Apr 12 20:01:07 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9930028715153345 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2600064724441735 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1959461680275703 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.6333140963482813 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.004838384827197648 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Episode 3 ended after 71 steps at Sun Apr 12 20:01:08 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:01:09 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3950569423974814 Sun Apr 12 20:01:09 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0274682059006224 Sun Apr 12 20:01:09 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.322144024267676 Sun Apr 12 20:01:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.170655779539129 Sun Apr 12 20:01:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.6431823243023463 Sun Apr 12 20:01:10 2026 [SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 20:01:10 2026 [SB3 Runner][TEST] Episode 4 ended after 58 steps at Sun Apr 12 20:01:10 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:01:11 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5727479215282193 Sun Apr 12 20:01:11 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8392055934249568 Sun Apr 12 20:01:11 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2001563594678397 Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1832791418451194 Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6198063595481145 Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.193514053862396 Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Episode 5 ended after 70 steps at Sun Apr 12 20:01:12 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:01:13 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4726144181869355 Sun Apr 12 20:01:13 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9785058471861549 Sun Apr 12 20:01:13 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9444133790577245 Sun Apr 12 20:01:14 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5906097540890205 Sun Apr 12 20:01:14 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:01:14 2026 [SB3 Runner][TEST] Episode 6 ended after 50 steps at Sun Apr 12 20:01:14 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:01:15 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5271612257554114 Sun Apr 12 20:01:15 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8653571227610468 Sun Apr 12 20:01:15 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1942138150149741 Sun Apr 12 20:01:15 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5905963529454233 Sun Apr 12 20:01:16 2026 [SB3 Runner][TEST] Step 45 done=True reward=-1.0 Sun Apr 12 20:01:16 2026 [SB3 Runner][TEST] Episode 7 ended after 45 steps at Sun Apr 12 20:01:16 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4990854054928102 Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1776767076819747 Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0735206045271617 Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5965040528772693 Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Step 46 done=True reward=-1.0 Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Episode 8 ended after 46 steps at Sun Apr 12 20:01:17 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5369037767553213 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9013203785649235 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3494385724638382 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 40 done=False reward=2.076104667750919 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2306541789251084 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.142573675309702 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.2187679425610742 Sun Apr 12 20:01:19 2026 [SB3 Runner][TEST] Step 78 done=True reward=-1.0 Sun Apr 12 20:01:20 2026 [SB3 Runner][TEST] Episode 9 ended after 78 steps at Sun Apr 12 20:01:20 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2516414851343053 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7222237064980102 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9036584022999319 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3935670841693524 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.9092895505042924 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7818704344713865 Sun Apr 12 20:01:21 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.5347239072180676 Sun Apr 12 20:01:22 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.6910780810435427 Sun Apr 12 20:01:22 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.05951539790215617 Sun Apr 12 20:01:22 2026 [SB3 Runner][TEST] Step 92 done=True reward=-1.0 Sun Apr 12 20:01:22 2026 [SB3 Runner][TEST] Episode 10 ended after 92 steps at Sun Apr 12 20:01:22 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:01:22 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:01:22 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:01:22 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:01:24 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 ===== END RUN 2 ===== Sun Apr 12 08:01:24 PM EDT 2026 ===== RUN 3 ===== Sun Apr 12 08:01:26 PM EDT 2026 /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 20:01:29 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:01:29 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4135799158873678 Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8948830935504299 Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0435248820965173 Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.161421437086159 Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6377022946835595 Sun Apr 12 20:01:30 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.8497518602988412 Sun Apr 12 20:01:31 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.2450905224873552 Sun Apr 12 20:01:31 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.5105039306373395 Sun Apr 12 20:01:31 2026 [SB3 Runner][TEST] Step 90 done=True reward=-1.0 Sun Apr 12 20:01:31 2026 [SB3 Runner][TEST] Episode 1 ended after 90 steps at Sun Apr 12 20:01:31 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:01:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.36170632345005144 Sun Apr 12 20:01:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9800946237352702 Sun Apr 12 20:01:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1787448574312007 Sun Apr 12 20:01:32 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3709692949915702 Sun Apr 12 20:01:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1413299993321429 Sun Apr 12 20:01:33 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.4615786950638227 Sun Apr 12 20:01:33 2026 [SB3 Runner][TEST] Step 63 done=True reward=-1.0 Sun Apr 12 20:01:33 2026 [SB3 Runner][TEST] Episode 2 ended after 63 steps at Sun Apr 12 20:01:33 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:01:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5728099615584514 Sun Apr 12 20:01:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.065782142203682 Sun Apr 12 20:01:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.6415156450822397 Sun Apr 12 20:01:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4962859210751125 Sun Apr 12 20:01:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.34024296774026436 Sun Apr 12 20:01:35 2026 [SB3 Runner][TEST] Step 55 done=True reward=-1.0 Sun Apr 12 20:01:35 2026 [SB3 Runner][TEST] Episode 3 ended after 55 steps at Sun Apr 12 20:01:35 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:01:36 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7848277544038605 Sun Apr 12 20:01:36 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.3895295311595584 Sun Apr 12 20:01:36 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1524868441212368 Sun Apr 12 20:01:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7956527252831102 Sun Apr 12 20:01:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.3448694122978374 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.4749637523919142 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3813863009739729 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.997590284386587 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.1461749609769482 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Step 91 done=True reward=-1.0 Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Episode 4 ended after 91 steps at Sun Apr 12 20:01:37 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:01:38 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2851095034342244 Sun Apr 12 20:01:38 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8806489574822909 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1362626432610965 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.5471880542316496 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7010505274245766 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0280688898083117 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5871451525931024 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.8491819923031566 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.5107390973474628 Sun Apr 12 20:01:39 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.4446418432910788 Sun Apr 12 20:01:40 2026 [SB3 Runner][TEST] Step 106 done=True reward=-1.0 Sun Apr 12 20:01:40 2026 [SB3 Runner][TEST] Episode 5 ended after 106 steps at Sun Apr 12 20:01:40 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.48405180056009295 Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0000236876262596 Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.177568282834821 Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8239358490625718 Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Episode 6 ended after 50 steps at Sun Apr 12 20:01:41 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.30382136944880966 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8538940379185532 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.019422337417243 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0443747862754136 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7359835829601593 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.2785988706252309 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Step 62 done=True reward=-1.0 Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Episode 7 ended after 62 steps at Sun Apr 12 20:01:43 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5394791589492552 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.212494826504447 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3644167539814813 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.6321655040659313 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.190424143562379 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.6743309887686026 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.3021749579426455 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Step 72 done=True reward=-1.0 Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Episode 8 ended after 72 steps at Sun Apr 12 20:01:45 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4473511277134255 Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.094101794453325 Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.274501891007951 Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6236038985778658 Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Step 45 done=True reward=-1.0 Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Episode 9 ended after 45 steps at Sun Apr 12 20:01:47 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:01:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3176925759049695 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.729412821067453 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.009597526671729 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.432545973355504 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9950274006291095 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.13871571899810145 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Step 62 done=True reward=-1.0 Sun Apr 12 20:01:49 2026 [SB3 Runner][TEST] Episode 10 ended after 62 steps at Sun Apr 12 20:01:49 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:01:49 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:01:49 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:01:49 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:01:51 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 ===== END RUN 3 ===== Sun Apr 12 08:01:52 PM EDT 2026 ===== RUN 4 ===== Sun Apr 12 08:01:54 PM EDT 2026 /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 20:01:56 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:01:56 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:01:57 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.535980845106413 Sun Apr 12 20:01:57 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.68513674836135 Sun Apr 12 20:01:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9631204504046671 Sun Apr 12 20:01:58 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.37758774665008554 Sun Apr 12 20:01:58 2026 [SB3 Runner][TEST] Step 44 done=True reward=-1.0 Sun Apr 12 20:01:58 2026 [SB3 Runner][TEST] Episode 1 ended after 44 steps at Sun Apr 12 20:01:58 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:01:59 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.46034352176554516 Sun Apr 12 20:01:59 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6065906232714188 Sun Apr 12 20:01:59 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.850635786066935 Sun Apr 12 20:01:59 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0610692045150292 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2594427446057315 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3166165634337927 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.2726267867835062 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7214817645905173 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Step 85 done=True reward=-1.0 Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Episode 2 ended after 85 steps at Sun Apr 12 20:02:00 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:02:01 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5524612973293612 Sun Apr 12 20:02:01 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.006067072992166 Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3438202513076063 Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.939899917576854 Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.11748972527987243 Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Step 52 done=True reward=-1.0 Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Episode 3 ended after 52 steps at Sun Apr 12 20:02:02 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:02:03 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6871899549048044 Sun Apr 12 20:02:03 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0352074710455834 Sun Apr 12 20:02:03 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2011878759502472 Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.532405692185176 Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3921458731040142 Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.349176961414376 Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Episode 4 ended after 70 steps at Sun Apr 12 20:02:04 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:02:05 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3821455383419741 Sun Apr 12 20:02:05 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8549168462659686 Sun Apr 12 20:02:05 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9775679791169601 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2096306334202764 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3741516618730687 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.198180501263107 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.9381386416841496 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.11238778495568442 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Episode 5 ended after 82 steps at Sun Apr 12 20:02:06 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:02:07 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.36739961328319476 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8666895913660253 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0280558165794058 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9683999334703072 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1296751700051224 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.2931050033341052 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.494760473226407 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.8093730868736813 Sun Apr 12 20:02:08 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.1269569710895257 Sun Apr 12 20:02:09 2026 [SB3 Runner][TEST] Step 97 done=True reward=-1.0 Sun Apr 12 20:02:09 2026 [SB3 Runner][TEST] Episode 6 ended after 97 steps at Sun Apr 12 20:02:09 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.40308089576422707 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9592723921494056 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8696786949044379 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6754265323999394 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.31864166844780184 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Step 53 done=True reward=-1.0 Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Episode 7 ended after 53 steps at Sun Apr 12 20:02:10 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6344129949108869 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0926838190496344 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9542208055668037 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9175530433455726 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.1552039123036793 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Episode 8 ended after 56 steps at Sun Apr 12 20:02:12 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2513260746814147 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.4589367979930714 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.009625878811977 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0771387425250976 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5303521178659616 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Episode 9 ended after 56 steps at Sun Apr 12 20:02:14 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:02:15 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5149224406142052 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8657267113163498 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1715601816793915 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5987070050014796 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.635175835170669 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.828008945561575 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:02:16 2026 [SB3 Runner][TEST] Episode 10 ended after 70 steps at Sun Apr 12 20:02:16 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:02:16 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:02:16 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:02:16 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:02:18 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 ===== END RUN 4 ===== Sun Apr 12 08:02:19 PM EDT 2026 ===== RUN 5 ===== Sun Apr 12 08:02:21 PM EDT 2026 /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 20:02:23 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:02:23 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:02:24 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6706076864156069 Sun Apr 12 20:02:24 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8660987620406142 Sun Apr 12 20:02:24 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0566039366656168 Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.027002939058091 Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.9948446270545692 Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.665775986071111 Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Step 64 done=True reward=-1.0 Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Episode 1 ended after 64 steps at Sun Apr 12 20:02:25 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:02:26 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.43573959353829567 Sun Apr 12 20:02:26 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0012823029423985 Sun Apr 12 20:02:26 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2005175185418115 Sun Apr 12 20:02:27 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7550525681035857 Sun Apr 12 20:02:27 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.2044913571205039 Sun Apr 12 20:02:27 2026 [SB3 Runner][TEST] Step 53 done=True reward=-1.0 Sun Apr 12 20:02:27 2026 [SB3 Runner][TEST] Episode 2 ended after 53 steps at Sun Apr 12 20:02:27 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:02:28 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5033939319947018 Sun Apr 12 20:02:28 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1618507234099713 Sun Apr 12 20:02:28 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0707218589046048 Sun Apr 12 20:02:28 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.091030257443634 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.561647415599741 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.8983154998373613 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.2152782360268906 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7003124811234629 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Step 83 done=True reward=-1.0 Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Episode 3 ended after 83 steps at Sun Apr 12 20:02:29 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:02:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5481441164117935 Sun Apr 12 20:02:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.981403547752741 Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2084594219463227 Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2526691338987876 Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.4985074600653827 Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Step 53 done=True reward=-1.0 Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Episode 4 ended after 53 steps at Sun Apr 12 20:02:31 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:02:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.41030877983118186 Sun Apr 12 20:02:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0574738026122161 Sun Apr 12 20:02:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.310072646795091 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3864596530677546 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.419112978972129 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.2136108498237292 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.8052879905332025 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.5866186977674165 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.023946263040858822 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Step 91 done=True reward=-1.0 Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Episode 5 ended after 91 steps at Sun Apr 12 20:02:33 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6216043216281388 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8936905749220896 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.830485787984664 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6488717847138686 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3327956003848784 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.2316429324133717 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.8435408358058136 Sun Apr 12 20:02:35 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7806959015369013 Sun Apr 12 20:02:36 2026 [SB3 Runner][TEST] Step 88 done=True reward=-1.0 Sun Apr 12 20:02:36 2026 [SB3 Runner][TEST] Episode 6 ended after 88 steps at Sun Apr 12 20:02:36 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4562786407925438 Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9750152628632789 Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8681645114118309 Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5779628171387439 Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Step 48 done=True reward=-1.0 Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Episode 7 ended after 48 steps at Sun Apr 12 20:02:37 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.35055395983837473 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8998619013966597 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2093066218827866 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1045718994681222 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.982276474010561 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.1134804385335448 Sun Apr 12 20:02:39 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.890014695691046 Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.4499135350434273 Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.028610163453816 Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.8086347573540144 Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Step 103 done=True reward=-1.0 Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Episode 8 ended after 103 steps at Sun Apr 12 20:02:40 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:02:41 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6970095810381364 Sun Apr 12 20:02:41 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0365233632624453 Sun Apr 12 20:02:41 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.495610398316735 Sun Apr 12 20:02:41 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.9095134691329783 Sun Apr 12 20:02:42 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7461323023821675 Sun Apr 12 20:02:42 2026 [SB3 Runner][TEST] Step 57 done=True reward=-1.0 Sun Apr 12 20:02:42 2026 [SB3 Runner][TEST] Episode 9 ended after 57 steps at Sun Apr 12 20:02:42 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:02:43 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3905864495620488 Sun Apr 12 20:02:43 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7554980370444196 Sun Apr 12 20:02:43 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.330684143880486 Sun Apr 12 20:02:43 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.576474586905059 Sun Apr 12 20:02:44 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7782260571630708 Sun Apr 12 20:02:44 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:02:44 2026 [SB3 Runner][TEST] Episode 10 ended after 56 steps at Sun Apr 12 20:02:44 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:02:44 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:02:44 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:02:44 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:02:46 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 ===== END RUN 5 ===== Sun Apr 12 08:02:46 PM EDT 2026 ===== RUN 6 ===== Sun Apr 12 08:02:48 PM EDT 2026 /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 20:02:50 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:02:50 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4709506739990149 Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1134946540331558 Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8903708379241756 Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.23061619933073144 Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Step 45 done=True reward=-1.0 Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Episode 1 ended after 45 steps at Sun Apr 12 20:02:52 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:02:53 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5136826079700785 Sun Apr 12 20:02:53 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8224669521906665 Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9756201167183538 Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8770382218898839 Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7093694822025284 Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Episode 2 ended after 60 steps at Sun Apr 12 20:02:54 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:02:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5801681782072812 Sun Apr 12 20:02:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9216897377078742 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.083084274318387 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9282904615104723 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7038008308658916 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8935249235804266 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.9764799805877787 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.195122508928185 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.6466160578912707 Sun Apr 12 20:02:56 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.604745781997388 Sun Apr 12 20:02:57 2026 [SB3 Runner][TEST] Step 107 done=True reward=-1.0 Sun Apr 12 20:02:57 2026 [SB3 Runner][TEST] Episode 3 ended after 107 steps at Sun Apr 12 20:02:57 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3149247522075409 Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.914578835438102 Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3525603552035361 Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1011072660199583 Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0324416679481603 Sun Apr 12 20:02:58 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.5620324194888985 Sun Apr 12 20:02:59 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:02:59 2026 [SB3 Runner][TEST] Episode 4 ended after 66 steps at Sun Apr 12 20:02:59 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2328464194940314 Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8534962833980777 Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.326855242266271 Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.7115703626375143 Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6043398849464294 Sun Apr 12 20:03:00 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.4296605803754454 Sun Apr 12 20:03:01 2026 [SB3 Runner][TEST] Step 69 done=True reward=-1.0 Sun Apr 12 20:03:01 2026 [SB3 Runner][TEST] Episode 5 ended after 69 steps at Sun Apr 12 20:03:01 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:03:02 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.21023598841488922 Sun Apr 12 20:03:02 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5610308708313225 Sun Apr 12 20:03:02 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9387301364553551 Sun Apr 12 20:03:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0053230084516416 Sun Apr 12 20:03:02 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5494049162053083 Sun Apr 12 20:03:03 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:03:03 2026 [SB3 Runner][TEST] Episode 6 ended after 56 steps at Sun Apr 12 20:03:03 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3123846576182518 Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7638493941411117 Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.259478480840286 Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.357293868932715 Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8453726976782117 Sun Apr 12 20:03:04 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.517862890136653 Sun Apr 12 20:03:05 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:03:05 2026 [SB3 Runner][TEST] Episode 7 ended after 70 steps at Sun Apr 12 20:03:05 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6752177864356049 Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.930396225065195 Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9470380409827401 Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7810676051884412 Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0305853202805118 Sun Apr 12 20:03:06 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.9519039254953843 Sun Apr 12 20:03:07 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.567947424648368 Sun Apr 12 20:03:07 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.16750154149282606 Sun Apr 12 20:03:07 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 20:03:07 2026 [SB3 Runner][TEST] Episode 8 ended after 82 steps at Sun Apr 12 20:03:07 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:03:08 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4633134923424253 Sun Apr 12 20:03:08 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9033782509681676 Sun Apr 12 20:03:08 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1364313607205734 Sun Apr 12 20:03:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4598298704750219 Sun Apr 12 20:03:09 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.07264401151697718 Sun Apr 12 20:03:09 2026 [SB3 Runner][TEST] Step 51 done=True reward=-1.0 Sun Apr 12 20:03:09 2026 [SB3 Runner][TEST] Episode 9 ended after 51 steps at Sun Apr 12 20:03:09 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:03:10 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3566726381949269 Sun Apr 12 20:03:10 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7562134545978249 Sun Apr 12 20:03:10 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0915765678807727 Sun Apr 12 20:03:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1992022356562861 Sun Apr 12 20:03:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2214077944678663 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0069476525648418 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.9388137272402206 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.3657282368407582 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.425860415996062 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 100 done=False reward=2.5743972858970006 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 110 done=False reward=2.1381766487376614 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 120 done=False reward=2.3807894418352538 Sun Apr 12 20:03:11 2026 [SB3 Runner][TEST] Step 130 done=False reward=0.40265461814523545 Sun Apr 12 20:03:12 2026 [SB3 Runner][TEST] Step 133 done=True reward=-1.0 Sun Apr 12 20:03:12 2026 [SB3 Runner][TEST] Episode 10 ended after 133 steps at Sun Apr 12 20:03:12 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:03:12 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:03:12 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:03:12 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:03:14 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 ===== END RUN 6 ===== Sun Apr 12 08:03:14 PM EDT 2026 ===== RUN 7 ===== Sun Apr 12 08:03:16 PM EDT 2026 /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 20:03:18 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:03:18 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:03:19 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6571230838559049 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8485784423365395 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7933922587286282 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.49731346876187343 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.2895330590667837 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7598038723969917 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.820943155143356 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.40586204592806424 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Step 83 done=True reward=-1.0 Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Episode 1 ended after 83 steps at Sun Apr 12 20:03:20 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2545639946054609 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7418317354415955 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0375309573612452 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7073857440154349 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.45336848295435567 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.08678318154292847 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Step 61 done=True reward=-1.0 Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Episode 2 ended after 61 steps at Sun Apr 12 20:03:22 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3685261189913699 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1275173016609974 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2850918432805147 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.8365593085007745 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.9424061753313275 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.379699765856113 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.4832566798686709 Sun Apr 12 20:03:24 2026 [SB3 Runner][TEST] Step 73 done=True reward=-1.0 Sun Apr 12 20:03:25 2026 [SB3 Runner][TEST] Episode 3 ended after 73 steps at Sun Apr 12 20:03:25 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7990584856877457 Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1755422027164455 Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3518866166763692 Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4223966074631278 Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Episode 4 ended after 50 steps at Sun Apr 12 20:03:26 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3161968136672645 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5915717071997862 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0872071128580807 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.096921752902933 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9958430765878209 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0867532520843526 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3410292211414345 Sun Apr 12 20:03:28 2026 [SB3 Runner][TEST] Step 80 done=True reward=-1.0 Sun Apr 12 20:03:29 2026 [SB3 Runner][TEST] Episode 5 ended after 80 steps at Sun Apr 12 20:03:29 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5194328972256821 Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.010640886689079 Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.31159125818497 Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3856381392404873 Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8036402443744052 Sun Apr 12 20:03:30 2026 [SB3 Runner][TEST] Step 57 done=True reward=-1.0 Sun Apr 12 20:03:31 2026 [SB3 Runner][TEST] Episode 6 ended after 57 steps at Sun Apr 12 20:03:31 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3890011475972786 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7428709312568474 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2735861309813297 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.7440831528384821 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6315981101960189 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.6729072765335349 Sun Apr 12 20:03:32 2026 [SB3 Runner][TEST] Step 67 done=True reward=-1.0 Sun Apr 12 20:03:33 2026 [SB3 Runner][TEST] Episode 7 ended after 67 steps at Sun Apr 12 20:03:33 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39254069921102114 Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0939068774009268 Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1811892785778466 Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.38107060725317365 Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Step 43 done=True reward=-1.0 Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Episode 8 ended after 43 steps at Sun Apr 12 20:03:34 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6046710991889535 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8843390551553884 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.6671474022415087 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6625154324153604 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.12657209893853835 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Step 52 done=True reward=-1.0 Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Episode 9 ended after 52 steps at Sun Apr 12 20:03:36 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:03:37 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5237583914158959 Sun Apr 12 20:03:37 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9219654683114592 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8546044450092584 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8940122362849999 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0261816478214612 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.1021769306766807 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3449539779721424 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.4235308952486052 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Step 88 done=True reward=-1.0 Sun Apr 12 20:03:38 2026 [SB3 Runner][TEST] Episode 10 ended after 88 steps at Sun Apr 12 20:03:38 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:03:38 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:03:38 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:03:38 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:03:40 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 ===== END RUN 7 ===== Sun Apr 12 08:03:41 PM EDT 2026 ===== RUN 8 ===== Sun Apr 12 08:03:43 PM EDT 2026 /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 20:03:45 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:03:45 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:03:46 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39527566126431046 Sun Apr 12 20:03:46 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7578785145968608 Sun Apr 12 20:03:46 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.061032267008438 Sun Apr 12 20:03:47 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6198270160256639 Sun Apr 12 20:03:47 2026 [SB3 Runner][TEST] Step 47 done=True reward=-1.0 Sun Apr 12 20:03:47 2026 [SB3 Runner][TEST] Episode 1 ended after 47 steps at Sun Apr 12 20:03:47 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:03:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5906393048755704 Sun Apr 12 20:03:48 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.343571773434912 Sun Apr 12 20:03:48 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.6401048336642072 Sun Apr 12 20:03:48 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.657278302618862 Sun Apr 12 20:03:48 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.2335335061478525 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.381000627434125 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.893910197093499 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.6118184639230178 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.4789697618398025 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Step 93 done=True reward=-1.0 Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Episode 2 ended after 93 steps at Sun Apr 12 20:03:49 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:03:50 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.47679335276108364 Sun Apr 12 20:03:50 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6803171604872275 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.6777884608880631 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0013378071397394 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0640548918620336 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.3641219654185462 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Step 63 done=True reward=-1.0 Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Episode 3 ended after 63 steps at Sun Apr 12 20:03:51 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:03:52 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.15689963220541978 Sun Apr 12 20:03:52 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6701515448482097 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.990277112687757 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2456091245273644 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.686203296923954 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.4481926841389092 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Episode 4 ended after 70 steps at Sun Apr 12 20:03:53 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:03:54 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.48644187541776224 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9348355372094818 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1870901121564952 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2969941313506235 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0726932189093854 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.46640072301503543 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Step 65 done=True reward=-1.0 Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Episode 5 ended after 65 steps at Sun Apr 12 20:03:55 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:03:56 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.38830719581573064 Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.092624531394812 Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1631513680233823 Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.31304647456806073 Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Step 42 done=True reward=-1.0 Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Episode 6 ended after 42 steps at Sun Apr 12 20:03:57 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:03:58 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3460975523953682 Sun Apr 12 20:03:58 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5732313207572334 Sun Apr 12 20:03:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9678772494674172 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1210063707702058 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.201215616841772 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.5828346092875207 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.678310590726266 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.0163085443594506 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.9925606206332641 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.10036344964516421 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Step 101 done=True reward=-1.0 Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Episode 7 ended after 101 steps at Sun Apr 12 20:03:59 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4139066085537458 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6069417167127326 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1448386428687831 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.136393880251355 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3374482770913951 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7043188875111035 Sun Apr 12 20:04:01 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.7128883857050101 Sun Apr 12 20:04:02 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.8602998716122301 Sun Apr 12 20:04:02 2026 [SB3 Runner][TEST] Step 86 done=True reward=-1.0 Sun Apr 12 20:04:02 2026 [SB3 Runner][TEST] Episode 8 ended after 86 steps at Sun Apr 12 20:04:02 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6828803760986136 Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2870564951975498 Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7036410350284027 Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Step 37 done=True reward=-1.0 Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Episode 9 ended after 37 steps at Sun Apr 12 20:04:03 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.34904709521559724 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8120153512172997 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2041763210125331 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1918195739072526 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3036357721496783 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.4123339607653809 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.3334287894643285 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Step 72 done=True reward=-1.0 Sun Apr 12 20:04:05 2026 [SB3 Runner][TEST] Episode 10 ended after 72 steps at Sun Apr 12 20:04:05 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:04:05 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:04:05 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:04:05 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:04:07 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 ===== END RUN 8 ===== Sun Apr 12 08:04:09 PM EDT 2026 ===== RUN 9 ===== Sun Apr 12 08:04:11 PM EDT 2026 /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 20:04:13 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:04:13 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.37565994640520206 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7093729273241772 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2033845718638503 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0802549915072086 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9959109938384804 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.4610673983551023 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Step 63 done=True reward=-1.0 Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Episode 1 ended after 63 steps at Sun Apr 12 20:04:15 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5415560183290556 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9637052042217124 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0732299090212107 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.501621342001161 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5573935672230355 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.2490157312033294 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Step 69 done=True reward=-1.0 Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Episode 2 ended after 69 steps at Sun Apr 12 20:04:17 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.49222913755630837 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7716012784165882 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1662830727894768 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4559145685417456 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1187874894256926 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Episode 3 ended after 60 steps at Sun Apr 12 20:04:19 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.44974823033458994 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7408755676787487 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8448271006635554 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9003364846711057 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3746335587399874 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.826139524953465 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Episode 4 ended after 66 steps at Sun Apr 12 20:04:21 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4833871755154667 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7220865781270881 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1282837494035367 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4664255555599068 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5030729143671344 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.5689365313741835 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Step 63 done=True reward=-1.0 Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Episode 5 ended after 63 steps at Sun Apr 12 20:04:23 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5396994380788712 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1997453157676463 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.437615417865182 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.068790103007101 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7514083218592734 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.5466890932331657 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.043007884244703 Sun Apr 12 20:04:25 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.3574151110575547 Sun Apr 12 20:04:26 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.224404121432915 Sun Apr 12 20:04:26 2026 [SB3 Runner][TEST] Step 99 done=True reward=-1.0 Sun Apr 12 20:04:26 2026 [SB3 Runner][TEST] Episode 6 ended after 99 steps at Sun Apr 12 20:04:26 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:04:27 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.38225520659126316 Sun Apr 12 20:04:27 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9881642323183207 Sun Apr 12 20:04:27 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.885083839231848 Sun Apr 12 20:04:27 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.45021953398352055 Sun Apr 12 20:04:28 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:04:28 2026 [SB3 Runner][TEST] Episode 7 ended after 50 steps at Sun Apr 12 20:04:28 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4890095753202534 Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8464933662398114 Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7735030896414581 Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2283988542454274 Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1745829096036526 Sun Apr 12 20:04:29 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.30483272888355073 Sun Apr 12 20:04:30 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:04:30 2026 [SB3 Runner][TEST] Episode 8 ended after 66 steps at Sun Apr 12 20:04:30 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.34481988552381326 Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2118970657592574 Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2247149673887923 Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.38844454261584516 Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Step 48 done=True reward=-1.0 Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Episode 9 ended after 48 steps at Sun Apr 12 20:04:31 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5909349871102291 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.868290621067278 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.349843359612744 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1104071895087715 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.195472947407355 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.789448563923815 Sun Apr 12 20:04:33 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.6635484230085664 Sun Apr 12 20:04:34 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.40093530250391823 Sun Apr 12 20:04:34 2026 [SB3 Runner][TEST] Step 84 done=True reward=-1.0 Sun Apr 12 20:04:34 2026 [SB3 Runner][TEST] Episode 10 ended after 84 steps at Sun Apr 12 20:04:34 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:04:34 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:04:34 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:04:34 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:04:36 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 ===== END RUN 9 ===== Sun Apr 12 08:04:36 PM EDT 2026 ===== RUN 10 ===== Sun Apr 12 08:04:38 PM EDT 2026 /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 20:04:40 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:04:40 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.35375660066994813 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6439310028905846 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9004793972734617 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4289089957731311 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3490805099995737 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.6566351774495379 Sun Apr 12 20:04:42 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5601000365802041 Sun Apr 12 20:04:43 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.21431884366487003 Sun Apr 12 20:04:43 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 20:04:43 2026 [SB3 Runner][TEST] Episode 1 ended after 82 steps at Sun Apr 12 20:04:43 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3589928459293866 Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8306078303746705 Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1831826942716377 Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.273858676146449 Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5818476782709443 Sun Apr 12 20:04:44 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7026472892783153 Sun Apr 12 20:04:45 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.0502414818226897 Sun Apr 12 20:04:45 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.56732244135545 Sun Apr 12 20:04:45 2026 [SB3 Runner][TEST] Step 89 done=True reward=-1.0 Sun Apr 12 20:04:45 2026 [SB3 Runner][TEST] Episode 2 ended after 89 steps at Sun Apr 12 20:04:45 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:04:46 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.15641001721257167 Sun Apr 12 20:04:46 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6918010439427532 Sun Apr 12 20:04:46 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2183000048708388 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.57951944094805 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6034053670990769 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3471329352242778 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.4847540982521053 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Step 74 done=True reward=-1.0 Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Episode 3 ended after 74 steps at Sun Apr 12 20:04:47 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:04:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4997825561733326 Sun Apr 12 20:04:48 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8637406851988315 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.518157714647116 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3946185104009543 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8591686860154245 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.046300545038384 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5023242158632577 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Step 79 done=True reward=-1.0 Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Episode 4 ended after 79 steps at Sun Apr 12 20:04:49 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:04:50 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6225392417625456 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.3392815991325557 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.5174391426286409 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.80806025210522 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4526528671554855 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.185783712483072 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.0656730882059027 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.343815013402678 Sun Apr 12 20:04:51 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.3929554761233308 Sun Apr 12 20:04:52 2026 [SB3 Runner][TEST] Step 92 done=True reward=-1.0 Sun Apr 12 20:04:52 2026 [SB3 Runner][TEST] Episode 5 ended after 92 steps at Sun Apr 12 20:04:52 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3016760544647524 Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6985322505582486 Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9637713170009422 Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.875011734569983 Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7959458315805051 Sun Apr 12 20:04:53 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.626998948230535 Sun Apr 12 20:04:54 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.6312677262357097 Sun Apr 12 20:04:54 2026 [SB3 Runner][TEST] Step 74 done=True reward=-1.0 Sun Apr 12 20:04:54 2026 [SB3 Runner][TEST] Episode 6 ended after 74 steps at Sun Apr 12 20:04:54 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:04:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5279924919596269 Sun Apr 12 20:04:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8461966102357328 Sun Apr 12 20:04:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9756786939585053 Sun Apr 12 20:04:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0901493582984687 Sun Apr 12 20:04:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3825001684889424 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.5035825240980276 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3558216049626044 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.1534524700650084 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.0582548973837222 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.8720997249398202 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 110 done=False reward=0.383300092473038 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Step 113 done=True reward=-1.0 Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Episode 7 ended after 113 steps at Sun Apr 12 20:04:56 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.20052254099185654 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5534515083150396 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8010773101613761 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.133133600160021 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4868986323922735 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.4966102689716105 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3528939786499334 Sun Apr 12 20:04:58 2026 [SB3 Runner][TEST] Step 77 done=True reward=-1.0 Sun Apr 12 20:04:59 2026 [SB3 Runner][TEST] Episode 8 ended after 77 steps at Sun Apr 12 20:04:59 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39338923661520775 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0965358620203252 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4047158042506 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2523388107070699 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5570299577381753 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.5971982004107499 Sun Apr 12 20:05:00 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.7765592399711625 Sun Apr 12 20:05:01 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.9764480909576715 Sun Apr 12 20:05:01 2026 [SB3 Runner][TEST] Step 84 done=True reward=-1.0 Sun Apr 12 20:05:01 2026 [SB3 Runner][TEST] Episode 9 ended after 84 steps at Sun Apr 12 20:05:01 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:05:02 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5815576526086814 Sun Apr 12 20:05:02 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1639076625935876 Sun Apr 12 20:05:02 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.5617621708972484 Sun Apr 12 20:05:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4053627966866826 Sun Apr 12 20:05:02 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.32856436360281105 Sun Apr 12 20:05:03 2026 [SB3 Runner][TEST] Step 53 done=True reward=-1.0 Sun Apr 12 20:05:03 2026 [SB3 Runner][TEST] Episode 10 ended after 53 steps at Sun Apr 12 20:05:03 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:05:03 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:05:03 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:05:03 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:05:05 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 ===== END RUN 10 ===== Sun Apr 12 08:05:05 PM EDT 2026 ===== RUN 11 ===== Sun Apr 12 08:05:07 PM EDT 2026 /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 20:05:10 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:05:10 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39389731679852263 Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6958730317958512 Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2734021203190666 Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1274407154742379 Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7025926826181572 Sun Apr 12 20:05:11 2026 [SB3 Runner][TEST] Step 59 done=True reward=-1.0 Sun Apr 12 20:05:12 2026 [SB3 Runner][TEST] Episode 1 ended after 59 steps at Sun Apr 12 20:05:12 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.12400431316528192 Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5929249317466807 Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9228679100055842 Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8808184603412949 Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.02289968275632 Sun Apr 12 20:05:13 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.110968363029195 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.1564215563920148 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.3472808289809 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.3502042414372264 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.5449788008810474 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 110 done=False reward=1.4156389356483017 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 120 done=False reward=1.8934401685337496 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 130 done=False reward=2.588254184760248 Sun Apr 12 20:05:14 2026 [SB3 Runner][TEST] Step 140 done=False reward=1.6539958772537153 Sun Apr 12 20:05:15 2026 [SB3 Runner][TEST] Step 150 done=True reward=-1.0 Sun Apr 12 20:05:15 2026 [SB3 Runner][TEST] Episode 2 ended after 150 steps at Sun Apr 12 20:05:15 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.1904818041250452 Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6419018782972259 Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8535134807021532 Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8577554800306444 Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.6041122609193903 Sun Apr 12 20:05:16 2026 [SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 20:05:17 2026 [SB3 Runner][TEST] Episode 3 ended after 58 steps at Sun Apr 12 20:05:17 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6507130929855622 Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0505810405674112 Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.098642842834719 Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5844586577040077 Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Step 47 done=True reward=-1.0 Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Episode 4 ended after 47 steps at Sun Apr 12 20:05:18 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6200770326879057 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0730219354808628 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4359474531295602 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.388159327985464 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7491431486768048 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0397271966226385 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Episode 5 ended after 66 steps at Sun Apr 12 20:05:20 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.38727556582175376 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8192565722233389 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1302070198230405 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3572021306621898 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5673068447559846 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8840146533274668 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Episode 6 ended after 66 steps at Sun Apr 12 20:05:22 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5217526885461806 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6950074294193258 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1227591911942774 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4314767085156381 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5270735769559638 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3328649348574186 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.8471420007148347 Sun Apr 12 20:05:24 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.5622245600180686 Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.5229846852831622 Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.10399311046260037 Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Step 110 done=False reward=0.16372442873640874 Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Step 114 done=True reward=-1.0 Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Episode 7 ended after 114 steps at Sun Apr 12 20:05:25 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:05:26 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.533104953372206 Sun Apr 12 20:05:26 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2885070469147384 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3947730073791218 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.380741570560282 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3103296194134775 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8187106941435338 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Step 65 done=True reward=-1.0 Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Episode 8 ended after 65 steps at Sun Apr 12 20:05:27 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:05:28 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.464736493225596 Sun Apr 12 20:05:28 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8504700557165445 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2989338395182857 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4161465098142165 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.8585345626879626 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7658263481972198 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.06245317916134665 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Episode 9 ended after 71 steps at Sun Apr 12 20:05:29 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:05:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6279832688811716 Sun Apr 12 20:05:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2499970201681219 Sun Apr 12 20:05:31 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.6700570395047416 Sun Apr 12 20:05:31 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1661174283853155 Sun Apr 12 20:05:31 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.3893411204351362 Sun Apr 12 20:05:31 2026 [SB3 Runner][TEST] Step 55 done=True reward=-1.0 Sun Apr 12 20:05:31 2026 [SB3 Runner][TEST] Episode 10 ended after 55 steps at Sun Apr 12 20:05:31 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:05:31 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:05:31 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:05:31 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:05:33 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 ===== END RUN 11 ===== Sun Apr 12 08:05:34 PM EDT 2026 ===== RUN 12 ===== Sun Apr 12 08:05:36 PM EDT 2026 /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 20:05:38 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:05:38 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:05:39 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.33210061340239533 Sun Apr 12 20:05:39 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8258375762090203 Sun Apr 12 20:05:39 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.5680266766502113 Sun Apr 12 20:05:39 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4195243031194906 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4692596124849862 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0906833333690045 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.7451249683160115 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.38901940856088 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.2586067207093117 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 100 done=False reward=2.4227234420874084 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 110 done=False reward=1.5694429344948506 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Step 118 done=True reward=-1.0 Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Episode 1 ended after 118 steps at Sun Apr 12 20:05:40 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.35122015397571454 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7988317563496716 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.970873357293215 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.5999112047483786 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6197889642020113 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3900722025713101 Sun Apr 12 20:05:42 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.5737387690845768 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.2233056159977305 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.5107986898197487 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.5890167694985874 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 110 done=False reward=2.0847888060968125 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 120 done=False reward=1.8781981419276348 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 130 done=False reward=1.4346725355279975 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 140 done=False reward=2.182316452389937 Sun Apr 12 20:05:43 2026 [SB3 Runner][TEST] Step 150 done=False reward=0.8340302345962858 Sun Apr 12 20:05:44 2026 [SB3 Runner][TEST] Step 156 done=True reward=-1.0 Sun Apr 12 20:05:44 2026 [SB3 Runner][TEST] Episode 2 ended after 156 steps at Sun Apr 12 20:05:44 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4936291967982892 Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1502832288284033 Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.177128465716276 Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4052484447451326 Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7930767178060085 Sun Apr 12 20:05:45 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.673954877361202 Sun Apr 12 20:05:46 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.878694759009904 Sun Apr 12 20:05:46 2026 [SB3 Runner][TEST] Step 78 done=True reward=-1.0 Sun Apr 12 20:05:46 2026 [SB3 Runner][TEST] Episode 3 ended after 78 steps at Sun Apr 12 20:05:46 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:05:47 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2688338776382764 Sun Apr 12 20:05:47 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6711419227674839 Sun Apr 12 20:05:47 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0754989230697625 Sun Apr 12 20:05:47 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2346079445789409 Sun Apr 12 20:05:47 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.149978238567227 Sun Apr 12 20:05:48 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.4644642050723864 Sun Apr 12 20:05:48 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5940980168651685 Sun Apr 12 20:05:48 2026 [SB3 Runner][TEST] Step 80 done=True reward=-1.0 Sun Apr 12 20:05:48 2026 [SB3 Runner][TEST] Episode 4 ended after 80 steps at Sun Apr 12 20:05:48 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:05:49 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.471823824288535 Sun Apr 12 20:05:49 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9292708044011316 Sun Apr 12 20:05:49 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0280331966757172 Sun Apr 12 20:05:50 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.248638924005483 Sun Apr 12 20:05:50 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.14217949799262192 Sun Apr 12 20:05:50 2026 [SB3 Runner][TEST] Step 51 done=True reward=-1.0 Sun Apr 12 20:05:50 2026 [SB3 Runner][TEST] Episode 5 ended after 51 steps at Sun Apr 12 20:05:50 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:05:51 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.45694086716693305 Sun Apr 12 20:05:51 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9110628648767418 Sun Apr 12 20:05:51 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.639408475433486 Sun Apr 12 20:05:51 2026 [SB3 Runner][TEST] Step 40 done=True reward=-1.0 Sun Apr 12 20:05:52 2026 [SB3 Runner][TEST] Episode 6 ended after 40 steps at Sun Apr 12 20:05:52 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5580666486459834 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.88871899153071 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.248886649435894 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.8793025229116225 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2103301049778605 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Step 57 done=True reward=-1.0 Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Episode 7 ended after 57 steps at Sun Apr 12 20:05:53 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3875024577377222 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9206793728064571 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3143188480055696 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2369711502445397 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5367580225294659 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Episode 8 ended after 56 steps at Sun Apr 12 20:05:55 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2838429666917393 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6491832026414657 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.12343217004294 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3409785638988239 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.2214613961645213 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7560050565806641 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Step 64 done=True reward=-1.0 Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Episode 9 ended after 64 steps at Sun Apr 12 20:05:57 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.8335952606096914 Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.5138495550196163 Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2936433887263865 Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6502892015007562 Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Step 49 done=True reward=-1.0 Sun Apr 12 20:05:59 2026 [SB3 Runner][TEST] Episode 10 ended after 49 steps at Sun Apr 12 20:05:59 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:05:59 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:05:59 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:05:59 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:06:01 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 ===== END RUN 12 ===== Sun Apr 12 08:06:02 PM EDT 2026 ===== RUN 13 ===== Sun Apr 12 08:06:04 PM EDT 2026 /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 20:06:06 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:06:06 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:06:07 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2668352182953885 Sun Apr 12 20:06:07 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.825762223148914 Sun Apr 12 20:06:07 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0914694178827145 Sun Apr 12 20:06:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9669833643561428 Sun Apr 12 20:06:08 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7421344621359826 Sun Apr 12 20:06:08 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:06:08 2026 [SB3 Runner][TEST] Episode 1 ended after 60 steps at Sun Apr 12 20:06:08 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:06:09 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4624582985916365 Sun Apr 12 20:06:09 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7328842537801178 Sun Apr 12 20:06:09 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8727435467123701 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7782011063753813 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5813645499178589 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0747207694243086 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.788066540510575 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.0886387017571149 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Step 85 done=True reward=-1.0 Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Episode 2 ended after 85 steps at Sun Apr 12 20:06:10 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:06:11 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.34052824750507016 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6197385235091365 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1969302097355496 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0027702214448213 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.980424114254801 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7992326939020663 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Step 67 done=True reward=-1.0 Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Episode 3 ended after 67 steps at Sun Apr 12 20:06:12 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:06:13 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.33938640519215624 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8664697067850426 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9441031500197071 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9180696668709448 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.6096203278447945 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.11196333198364487 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Step 62 done=True reward=-1.0 Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Episode 4 ended after 62 steps at Sun Apr 12 20:06:14 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:06:15 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7368386686183911 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8638047069527528 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9630464310593426 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5720135395780312 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.10191274594183729 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Step 52 done=True reward=-1.0 Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Episode 5 ended after 52 steps at Sun Apr 12 20:06:16 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:06:17 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4584179633018662 Sun Apr 12 20:06:17 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8857190112856294 Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1774540029191614 Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.299190328462582 Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0536972643524223 Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Episode 6 ended after 56 steps at Sun Apr 12 20:06:18 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:06:19 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6645424984202882 Sun Apr 12 20:06:19 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1425622367701835 Sun Apr 12 20:06:19 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1897155996749784 Sun Apr 12 20:06:20 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9182825230195405 Sun Apr 12 20:06:20 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:06:20 2026 [SB3 Runner][TEST] Episode 7 ended after 50 steps at Sun Apr 12 20:06:20 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:06:21 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5284914164047846 Sun Apr 12 20:06:21 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8097777296019218 Sun Apr 12 20:06:21 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4826435798151645 Sun Apr 12 20:06:21 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0746242018352157 Sun Apr 12 20:06:22 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9380805532794294 Sun Apr 12 20:06:22 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.924059914325171 Sun Apr 12 20:06:22 2026 [SB3 Runner][TEST] Step 69 done=True reward=-1.0 Sun Apr 12 20:06:22 2026 [SB3 Runner][TEST] Episode 8 ended after 69 steps at Sun Apr 12 20:06:22 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:06:23 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5014997686565882 Sun Apr 12 20:06:23 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0354234712393922 Sun Apr 12 20:06:23 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4112703428907736 Sun Apr 12 20:06:23 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.489036393549169 Sun Apr 12 20:06:24 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6992230251663716 Sun Apr 12 20:06:24 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.4612533503885445 Sun Apr 12 20:06:24 2026 [SB3 Runner][TEST] Step 63 done=True reward=-1.0 Sun Apr 12 20:06:24 2026 [SB3 Runner][TEST] Episode 9 ended after 63 steps at Sun Apr 12 20:06:24 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:06:25 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.23790337482277163 Sun Apr 12 20:06:25 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7255334229228788 Sun Apr 12 20:06:25 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0398379994889184 Sun Apr 12 20:06:25 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2049209857921168 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.038166560319377 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.700236284124926 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.368547423135319 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.3092755545873437 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 20:06:26 2026 [SB3 Runner][TEST] Episode 10 ended after 82 steps at Sun Apr 12 20:06:26 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:06:26 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:06:26 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:06:26 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:06:28 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 ===== END RUN 13 ===== Sun Apr 12 08:06:29 PM EDT 2026 ===== RUN 14 ===== Sun Apr 12 08:06:31 PM EDT 2026 /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 20:06:33 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:06:33 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:06:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3933866365625183 Sun Apr 12 20:06:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8107205193277366 Sun Apr 12 20:06:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.912963681798682 Sun Apr 12 20:06:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5298234956193281 Sun Apr 12 20:06:34 2026 [SB3 Runner][TEST] Step 48 done=True reward=-1.0 Sun Apr 12 20:06:35 2026 [SB3 Runner][TEST] Episode 1 ended after 48 steps at Sun Apr 12 20:06:35 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3548302097247012 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6153182453777595 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0942587790007394 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2838498914510934 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.317330469565442 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.48457566161964355 Sun Apr 12 20:06:36 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.6079505139323348 Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.1510799523276303 Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.104169448503792 Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.1561022145920723 Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Step 106 done=True reward=-1.0 Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Episode 2 ended after 106 steps at Sun Apr 12 20:06:37 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:06:38 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6111577484852043 Sun Apr 12 20:06:38 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9776330744690588 Sun Apr 12 20:06:38 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8332225440171047 Sun Apr 12 20:06:39 2026 [SB3 Runner][TEST] Step 40 done=True reward=-1.0 Sun Apr 12 20:06:39 2026 [SB3 Runner][TEST] Episode 3 ended after 40 steps at Sun Apr 12 20:06:39 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:06:40 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.26527869029982704 Sun Apr 12 20:06:40 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6261482430393627 Sun Apr 12 20:06:40 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8798060259963919 Sun Apr 12 20:06:40 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1857993545201706 Sun Apr 12 20:06:40 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3188134864870795 Sun Apr 12 20:06:41 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.57253647882607 Sun Apr 12 20:06:41 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.31904919092025 Sun Apr 12 20:06:41 2026 [SB3 Runner][TEST] Step 79 done=True reward=-1.0 Sun Apr 12 20:06:41 2026 [SB3 Runner][TEST] Episode 4 ended after 79 steps at Sun Apr 12 20:06:41 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:06:42 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.41140371572713513 Sun Apr 12 20:06:42 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1271278424026012 Sun Apr 12 20:06:42 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0704402743491472 Sun Apr 12 20:06:43 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.3108907538988383 Sun Apr 12 20:06:43 2026 [SB3 Runner][TEST] Step 44 done=True reward=-1.0 Sun Apr 12 20:06:43 2026 [SB3 Runner][TEST] Episode 5 ended after 44 steps at Sun Apr 12 20:06:43 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.8151845523143926 Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8964826796279226 Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.6605140318893982 Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.14103095929383858 Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Step 42 done=True reward=-1.0 Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Episode 6 ended after 42 steps at Sun Apr 12 20:06:44 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.480566914016071 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9649640419118156 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1618542465271489 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9574846912161771 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5138863368917741 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Episode 7 ended after 56 steps at Sun Apr 12 20:06:46 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:06:47 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.7462487428317548 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.3904183070377187 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.366129278313943 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4875653772322355 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.4112393151183296 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7517883655636326 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.08188176282612357 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Step 72 done=True reward=-1.0 Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Episode 8 ended after 72 steps at Sun Apr 12 20:06:48 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4952622615783144 Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.073218722995522 Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.11076974337491 Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.1825388235693688 Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Step 42 done=True reward=-1.0 Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Episode 9 ended after 42 steps at Sun Apr 12 20:06:50 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:06:51 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5568852538554818 Sun Apr 12 20:06:51 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9997754336142082 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0780019905733558 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.079732090140533 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8958272277293209 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.1770387961336646 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.483602477793297 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Step 80 done=True reward=-1.0 Sun Apr 12 20:06:52 2026 [SB3 Runner][TEST] Episode 10 ended after 80 steps at Sun Apr 12 20:06:52 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:06:52 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:06:52 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:06:52 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:06:54 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 ===== END RUN 14 ===== Sun Apr 12 08:06:55 PM EDT 2026 ===== RUN 15 ===== Sun Apr 12 08:06:57 PM EDT 2026 /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 20:06:59 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:06:59 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:07:00 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4282690100006783 Sun Apr 12 20:07:00 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5605599321959092 Sun Apr 12 20:07:00 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1133605931558253 Sun Apr 12 20:07:00 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1244950989895937 Sun Apr 12 20:07:01 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5939853734357394 Sun Apr 12 20:07:01 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:07:01 2026 [SB3 Runner][TEST] Episode 1 ended after 56 steps at Sun Apr 12 20:07:01 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:07:02 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3031808421810946 Sun Apr 12 20:07:02 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7451497973073825 Sun Apr 12 20:07:02 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1772995085508784 Sun Apr 12 20:07:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2664165252955375 Sun Apr 12 20:07:02 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.2122568206232909 Sun Apr 12 20:07:03 2026 [SB3 Runner][TEST] Step 52 done=True reward=-1.0 Sun Apr 12 20:07:03 2026 [SB3 Runner][TEST] Episode 2 ended after 52 steps at Sun Apr 12 20:07:03 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4497872228437858 Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9425120826014384 Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8994008693198287 Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.894044657632324 Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.134213999198774 Sun Apr 12 20:07:04 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7510360162430323 Sun Apr 12 20:07:05 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.9081432592876333 Sun Apr 12 20:07:05 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.10086803934855966 Sun Apr 12 20:07:05 2026 [SB3 Runner][TEST] Step 83 done=True reward=-1.0 Sun Apr 12 20:07:05 2026 [SB3 Runner][TEST] Episode 3 ended after 83 steps at Sun Apr 12 20:07:05 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:07:06 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4776489335193433 Sun Apr 12 20:07:06 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7444790747339572 Sun Apr 12 20:07:06 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7717615785949086 Sun Apr 12 20:07:06 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5789785272994201 Sun Apr 12 20:07:07 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5497937228714489 Sun Apr 12 20:07:07 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.17572300750722192 Sun Apr 12 20:07:07 2026 [SB3 Runner][TEST] Step 62 done=True reward=-1.0 Sun Apr 12 20:07:07 2026 [SB3 Runner][TEST] Episode 4 ended after 62 steps at Sun Apr 12 20:07:07 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:07:08 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4355528555806868 Sun Apr 12 20:07:08 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9847043441842356 Sun Apr 12 20:07:08 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1626607920002947 Sun Apr 12 20:07:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.590683863681707 Sun Apr 12 20:07:09 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.3585612630725049 Sun Apr 12 20:07:09 2026 [SB3 Runner][TEST] Step 57 done=True reward=-1.0 Sun Apr 12 20:07:09 2026 [SB3 Runner][TEST] Episode 5 ended after 57 steps at Sun Apr 12 20:07:09 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:07:10 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.28730725976596283 Sun Apr 12 20:07:10 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6113640661632305 Sun Apr 12 20:07:10 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2403579070987512 Sun Apr 12 20:07:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9777409540627804 Sun Apr 12 20:07:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.18555842202336334 Sun Apr 12 20:07:11 2026 [SB3 Runner][TEST] Step 52 done=True reward=-1.0 Sun Apr 12 20:07:11 2026 [SB3 Runner][TEST] Episode 6 ended after 52 steps at Sun Apr 12 20:07:11 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3236674592092598 Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7318938338589176 Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1198829554346432 Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9379359074524853 Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5048555460787395 Sun Apr 12 20:07:12 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.14147968715922138 Sun Apr 12 20:07:13 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.49246422073589685 Sun Apr 12 20:07:13 2026 [SB3 Runner][TEST] Step 78 done=True reward=-1.0 Sun Apr 12 20:07:13 2026 [SB3 Runner][TEST] Episode 7 ended after 78 steps at Sun Apr 12 20:07:13 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:07:14 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.44702294397132786 Sun Apr 12 20:07:14 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7231870509382609 Sun Apr 12 20:07:14 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7346560293118068 Sun Apr 12 20:07:14 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6078637037321615 Sun Apr 12 20:07:14 2026 [SB3 Runner][TEST] Step 47 done=True reward=-1.0 Sun Apr 12 20:07:15 2026 [SB3 Runner][TEST] Episode 8 ended after 47 steps at Sun Apr 12 20:07:15 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5635641423136364 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9148456715534578 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1178363771010098 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7061564877193708 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7273238033255213 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.199126656010815 Sun Apr 12 20:07:16 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.6544852936045372 Sun Apr 12 20:07:17 2026 [SB3 Runner][TEST] Step 74 done=True reward=-1.0 Sun Apr 12 20:07:17 2026 [SB3 Runner][TEST] Episode 9 ended after 74 steps at Sun Apr 12 20:07:17 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3783437722222457 Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.395157283438815 Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7445977063573148 Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9629690382864045 Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9656251096764392 Sun Apr 12 20:07:18 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8882995310553783 Sun Apr 12 20:07:19 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.8339626010306095 Sun Apr 12 20:07:19 2026 [SB3 Runner][TEST] Step 77 done=True reward=-1.0 Sun Apr 12 20:07:19 2026 [SB3 Runner][TEST] Episode 10 ended after 77 steps at Sun Apr 12 20:07:19 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:07:19 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:07:19 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:07:19 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:07:21 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 ===== END RUN 15 ===== Sun Apr 12 08:07:21 PM EDT 2026 ===== RUN 16 ===== Sun Apr 12 08:07:23 PM EDT 2026 /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 20:07:26 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:07:26 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.434828893618147 Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9043473150920711 Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.100435058286636 Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8245913180158264 Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Episode 1 ended after 50 steps at Sun Apr 12 20:07:27 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5846143847255914 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8924386165875487 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0047299955975204 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6337299794171111 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.16127230003885024 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.3516040428485347 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.8805324108698787 Sun Apr 12 20:07:29 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.5616859144347475 Sun Apr 12 20:07:30 2026 [SB3 Runner][TEST] Step 82 done=True reward=-1.0 Sun Apr 12 20:07:30 2026 [SB3 Runner][TEST] Episode 2 ended after 82 steps at Sun Apr 12 20:07:30 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2967756418375083 Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.768063745238938 Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0007347577038406 Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6509876412669174 Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Step 49 done=True reward=-1.0 Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Episode 3 ended after 49 steps at Sun Apr 12 20:07:31 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.30871549225355427 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8439269529590017 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.030034064839972 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9828811801016005 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.3286559880274258 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Step 54 done=True reward=-1.0 Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Episode 4 ended after 54 steps at Sun Apr 12 20:07:33 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:07:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.26215794794230907 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6876350790515479 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1758098085874467 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.369230336493946 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5306896267837766 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.6554957144759055 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.1965341217966174 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 80 done=False reward=2.091326999759658 Sun Apr 12 20:07:35 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.11637317244909451 Sun Apr 12 20:07:36 2026 [SB3 Runner][TEST] Step 91 done=True reward=-1.0 Sun Apr 12 20:07:36 2026 [SB3 Runner][TEST] Episode 5 ended after 91 steps at Sun Apr 12 20:07:36 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6226161392490772 Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2058359079143288 Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.8277215513835272 Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 40 done=False reward=2.068190557609792 Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.856250550084824 Sun Apr 12 20:07:37 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:07:38 2026 [SB3 Runner][TEST] Episode 6 ended after 60 steps at Sun Apr 12 20:07:38 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6004561986225181 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0048342645436406 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8398010311167485 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6533319261399985 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7992139998937057 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7082396447423835 Sun Apr 12 20:07:39 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.7096998230112193 Sun Apr 12 20:07:40 2026 [SB3 Runner][TEST] Step 74 done=True reward=-1.0 Sun Apr 12 20:07:40 2026 [SB3 Runner][TEST] Episode 7 ended after 74 steps at Sun Apr 12 20:07:40 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.32288870719875457 Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8926003054633642 Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1924275755013518 Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.4103307960871906 Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Step 46 done=True reward=-1.0 Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Episode 8 ended after 46 steps at Sun Apr 12 20:07:41 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.683925130640676 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0820374754666067 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3520089147919727 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0939641406120728 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8418791335909901 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.001800850067395 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.23959938462968164 Sun Apr 12 20:07:43 2026 [SB3 Runner][TEST] Step 72 done=True reward=-1.0 Sun Apr 12 20:07:44 2026 [SB3 Runner][TEST] Episode 9 ended after 72 steps at Sun Apr 12 20:07:44 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:07:45 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4384325720669941 Sun Apr 12 20:07:45 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9377857193340923 Sun Apr 12 20:07:45 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2435105211989224 Sun Apr 12 20:07:45 2026 [SB3 Runner][TEST] Step 39 done=True reward=-1.0 Sun Apr 12 20:07:45 2026 [SB3 Runner][TEST] Episode 10 ended after 39 steps at Sun Apr 12 20:07:45 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:07:45 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:07:45 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:07:45 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:07:47 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 ===== END RUN 16 ===== Sun Apr 12 08:07:48 PM EDT 2026 ===== RUN 17 ===== Sun Apr 12 08:07:50 PM EDT 2026 /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 20:07:52 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:07:52 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:07:53 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4264697085109322 Sun Apr 12 20:07:53 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9076616631010401 Sun Apr 12 20:07:53 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7767645116635402 Sun Apr 12 20:07:53 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.5290131226608471 Sun Apr 12 20:07:53 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:07:54 2026 [SB3 Runner][TEST] Episode 1 ended after 50 steps at Sun Apr 12 20:07:54 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6451593545752506 Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9581136851431565 Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.061029778006195 Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4376972119343117 Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.6360382000601552 Sun Apr 12 20:07:55 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7700715376452987 Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.1442709536297617 Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7026134168233457 Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.134804440594847 Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Step 100 done=True reward=-1.0 Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Episode 2 ended after 100 steps at Sun Apr 12 20:07:56 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:07:57 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4267029288845433 Sun Apr 12 20:07:57 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.047223489939994 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3492830929721564 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4840694086367048 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.6746396371302136 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.0005957863404618657 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Step 61 done=True reward=-1.0 Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Episode 3 ended after 61 steps at Sun Apr 12 20:07:58 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:07:59 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39738071558515625 Sun Apr 12 20:07:59 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0573377755062163 Sun Apr 12 20:07:59 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8830177827772893 Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6270109129824859 Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.25490636259198296 Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.028152245485467794 Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Step 65 done=True reward=-1.0 Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Episode 4 ended after 65 steps at Sun Apr 12 20:08:00 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:08:01 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6838968643044878 Sun Apr 12 20:08:01 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1921192018451745 Sun Apr 12 20:08:01 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.1642143846981003 Sun Apr 12 20:08:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.7176575730056167 Sun Apr 12 20:08:02 2026 [SB3 Runner][TEST] Step 48 done=True reward=-1.0 Sun Apr 12 20:08:02 2026 [SB3 Runner][TEST] Episode 5 ended after 48 steps at Sun Apr 12 20:08:02 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:08:03 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6663217928397119 Sun Apr 12 20:08:03 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8560292748473622 Sun Apr 12 20:08:03 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9207196559266575 Sun Apr 12 20:08:03 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3357760069598494 Sun Apr 12 20:08:04 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.871583957939852 Sun Apr 12 20:08:04 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0596791049750098 Sun Apr 12 20:08:04 2026 [SB3 Runner][TEST] Step 70 done=True reward=-1.0 Sun Apr 12 20:08:04 2026 [SB3 Runner][TEST] Episode 6 ended after 70 steps at Sun Apr 12 20:08:04 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:08:05 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6417214669848688 Sun Apr 12 20:08:05 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.2245263409309268 Sun Apr 12 20:08:05 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.626137526223702 Sun Apr 12 20:08:05 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.8083854112509956 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.8928817000214386 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.5896106652893733 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.5706353669869049 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.8942969252284119 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 90 done=False reward=2.3443287779779824 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 100 done=False reward=2.569501461539167 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 110 done=False reward=2.607072222631673 Sun Apr 12 20:08:06 2026 [SB3 Runner][TEST] Step 120 done=False reward=1.75763849351489 Sun Apr 12 20:08:07 2026 [SB3 Runner][TEST] Step 130 done=False reward=0.9938466575811492 Sun Apr 12 20:08:07 2026 [SB3 Runner][TEST] Step 140 done=True reward=-1.0 Sun Apr 12 20:08:07 2026 [SB3 Runner][TEST] Episode 7 ended after 140 steps at Sun Apr 12 20:08:07 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:08:08 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3048015524246749 Sun Apr 12 20:08:08 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.4782531722551498 Sun Apr 12 20:08:08 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.6449499539939851 Sun Apr 12 20:08:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.743215416041083 Sun Apr 12 20:08:09 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.48080951145688455 Sun Apr 12 20:08:09 2026 [SB3 Runner][TEST] Step 59 done=True reward=-1.0 Sun Apr 12 20:08:09 2026 [SB3 Runner][TEST] Episode 8 ended after 59 steps at Sun Apr 12 20:08:09 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:08:10 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5796693142007461 Sun Apr 12 20:08:10 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.368569466342926 Sun Apr 12 20:08:10 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2162393163017244 Sun Apr 12 20:08:10 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8102657134235198 Sun Apr 12 20:08:10 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9782671674375822 Sun Apr 12 20:08:11 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.4902304245769888 Sun Apr 12 20:08:11 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.9615650303958253 Sun Apr 12 20:08:11 2026 [SB3 Runner][TEST] Step 77 done=True reward=-1.0 Sun Apr 12 20:08:11 2026 [SB3 Runner][TEST] Episode 9 ended after 77 steps at Sun Apr 12 20:08:11 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:08:12 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.580239161215815 Sun Apr 12 20:08:12 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8368669345273407 Sun Apr 12 20:08:12 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7963469802559572 Sun Apr 12 20:08:12 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.41058848775133905 Sun Apr 12 20:08:13 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.17896701167638795 Sun Apr 12 20:08:13 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:08:13 2026 [SB3 Runner][TEST] Episode 10 ended after 56 steps at Sun Apr 12 20:08:13 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:08:13 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:08:13 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:08:13 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:08:15 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 ===== END RUN 17 ===== Sun Apr 12 08:08:15 PM EDT 2026 ===== RUN 18 ===== Sun Apr 12 08:08:17 PM EDT 2026 /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 20:08:19 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:08:19 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5211803452299646 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9571883203073175 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9733125349147888 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9759724835619411 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5129241503365257 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Step 54 done=True reward=-1.0 Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Episode 1 ended after 54 steps at Sun Apr 12 20:08:21 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:08:22 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5284770697561315 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1186422583194804 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.147396531027265 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3106261456380073 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3895628894619703 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.707940339644599 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.8317329953597108 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.9414805402696895 Sun Apr 12 20:08:23 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.20105157585483482 Sun Apr 12 20:08:24 2026 [SB3 Runner][TEST] Step 92 done=True reward=-1.0 Sun Apr 12 20:08:24 2026 [SB3 Runner][TEST] Episode 2 ended after 92 steps at Sun Apr 12 20:08:24 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5509944090137482 Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8846330251728618 Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0822741966558067 Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0365469681992436 Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9274397486931876 Sun Apr 12 20:08:25 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.496392957199978 Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5902141047887626 Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.463561837851699 Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.0440821915784575 Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Step 94 done=True reward=-1.0 Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Episode 3 ended after 94 steps at Sun Apr 12 20:08:26 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:08:27 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.386776220652198 Sun Apr 12 20:08:27 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5268322078162835 Sun Apr 12 20:08:27 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0247455316936134 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.9886022611165255 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.313009120878806 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3424196298096103 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.2599693718410759 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Step 72 done=True reward=-1.0 Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Episode 4 ended after 72 steps at Sun Apr 12 20:08:28 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:08:29 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.43230824859949957 Sun Apr 12 20:08:29 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7169660537190868 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7395231727913076 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1944693472967491 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.5991223364373828 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8100158095632514 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.01933006166956366 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Episode 5 ended after 71 steps at Sun Apr 12 20:08:30 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:08:31 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4297883113470899 Sun Apr 12 20:08:31 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7703213864442179 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.785597865406573 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0999954592267125 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.3153050562323494 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.551807514271067 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.3421501545492474 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.3077242052791689 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.9248496766428658 Sun Apr 12 20:08:32 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.3243236232037003 Sun Apr 12 20:08:33 2026 [SB3 Runner][TEST] Step 106 done=True reward=-1.0 Sun Apr 12 20:08:33 2026 [SB3 Runner][TEST] Episode 6 ended after 106 steps at Sun Apr 12 20:08:33 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6843328609160452 Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0565538355408401 Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.5237914590211454 Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3132471706477749 Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5683004405374557 Sun Apr 12 20:08:34 2026 [SB3 Runner][TEST] Step 59 done=True reward=-1.0 Sun Apr 12 20:08:35 2026 [SB3 Runner][TEST] Episode 7 ended after 59 steps at Sun Apr 12 20:08:35 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2741011684255864 Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9679976210424123 Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3218390455277302 Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.42903206646983 Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.821890424662466 Sun Apr 12 20:08:36 2026 [SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 20:08:37 2026 [SB3 Runner][TEST] Episode 8 ended after 58 steps at Sun Apr 12 20:08:37 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5912925041589465 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.11446912991097 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.173571153743323 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.6171042032841143 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7446183798250392 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.499500024272664 Sun Apr 12 20:08:38 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.6746181640571987 Sun Apr 12 20:08:39 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.6748906824910841 Sun Apr 12 20:08:39 2026 [SB3 Runner][TEST] Step 83 done=True reward=-1.0 Sun Apr 12 20:08:39 2026 [SB3 Runner][TEST] Episode 9 ended after 83 steps at Sun Apr 12 20:08:39 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:08:40 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5562723829783842 Sun Apr 12 20:08:40 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8762911886738219 Sun Apr 12 20:08:40 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9476669488489445 Sun Apr 12 20:08:40 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.2539261477618215 Sun Apr 12 20:08:40 2026 [SB3 Runner][TEST] Step 43 done=True reward=-1.0 Sun Apr 12 20:08:41 2026 [SB3 Runner][TEST] Episode 10 ended after 43 steps at Sun Apr 12 20:08:41 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:08:41 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:08:41 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:08:41 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:08:43 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 ===== END RUN 18 ===== Sun Apr 12 08:08:43 PM EDT 2026 ===== RUN 19 ===== Sun Apr 12 08:08:45 PM EDT 2026 /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 20:08:47 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:08:47 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:08:48 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5513850331967547 Sun Apr 12 20:08:48 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9250391967860937 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9065425635733272 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.8081197313773749 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.6677542132260809 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7323803720738884 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.17887962699536855 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7459319415257629 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.8860252031015913 Sun Apr 12 20:08:49 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.610980517095172 Sun Apr 12 20:08:50 2026 [SB3 Runner][TEST] Step 110 done=False reward=1.6611422424633093 Sun Apr 12 20:08:50 2026 [SB3 Runner][TEST] Step 120 done=False reward=2.4905710369474243 Sun Apr 12 20:08:50 2026 [SB3 Runner][TEST] Step 128 done=True reward=-1.0 Sun Apr 12 20:08:50 2026 [SB3 Runner][TEST] Episode 1 ended after 128 steps at Sun Apr 12 20:08:50 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:08:51 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.39869117345376853 Sun Apr 12 20:08:51 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.1113398891715138 Sun Apr 12 20:08:51 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0904779262080384 Sun Apr 12 20:08:51 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.11192998506725117 Sun Apr 12 20:08:52 2026 [SB3 Runner][TEST] Step 41 done=True reward=-1.0 Sun Apr 12 20:08:52 2026 [SB3 Runner][TEST] Episode 2 ended after 41 steps at Sun Apr 12 20:08:52 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3687501959909173 Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7285196016718312 Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0954517500310883 Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1066273989857685 Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0301411848295006 Sun Apr 12 20:08:53 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.0536668721319826 Sun Apr 12 20:08:54 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.5115883185666236 Sun Apr 12 20:08:54 2026 [SB3 Runner][TEST] Step 75 done=True reward=-1.0 Sun Apr 12 20:08:54 2026 [SB3 Runner][TEST] Episode 3 ended after 75 steps at Sun Apr 12 20:08:54 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:08:55 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.2707805365399459 Sun Apr 12 20:08:55 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8805312349722085 Sun Apr 12 20:08:55 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0621287631771261 Sun Apr 12 20:08:55 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.212631229591528 Sun Apr 12 20:08:55 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1545833782300639 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.924213927278783 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.1982367842507533 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.7358234046422345 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.7189442074936704 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Step 96 done=True reward=-1.0 Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Episode 4 ended after 96 steps at Sun Apr 12 20:08:56 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:08:57 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6487278257983747 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.179884033479927 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.0647952114530612 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2330631458581172 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.822380371900149 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8854260354334741 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Episode 5 ended after 66 steps at Sun Apr 12 20:08:58 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:08:59 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.47792271921670687 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9954410101835662 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4457772213575741 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 40 done=False reward=2.1603715508497165 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 50 done=False reward=2.1456740137435846 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7807100353817034 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.08480249871577031 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Step 71 done=True reward=-1.0 Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Episode 6 ended after 71 steps at Sun Apr 12 20:09:00 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.47587115524477075 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.9621265137642402 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.033974644704774 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3894743548462616 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.7686955002541599 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Episode 7 ended after 56 steps at Sun Apr 12 20:09:02 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:09:03 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.48236782250099575 Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8438735621827962 Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.571327646151473 Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.3804452859023753 Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Step 50 done=True reward=-1.0 Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Episode 8 ended after 50 steps at Sun Apr 12 20:09:04 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:09:05 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4916743905575972 Sun Apr 12 20:09:05 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8789273595950226 Sun Apr 12 20:09:05 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2952734904757959 Sun Apr 12 20:09:06 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.3934395871569574 Sun Apr 12 20:09:06 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0490414056392707 Sun Apr 12 20:09:06 2026 [SB3 Runner][TEST] Step 59 done=True reward=-1.0 Sun Apr 12 20:09:06 2026 [SB3 Runner][TEST] Episode 9 ended after 59 steps at Sun Apr 12 20:09:06 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:09:07 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.22424132441572964 Sun Apr 12 20:09:07 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6349443014264436 Sun Apr 12 20:09:07 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.7650896037394692 Sun Apr 12 20:09:08 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.2986992670512838 Sun Apr 12 20:09:08 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7700463349671898 Sun Apr 12 20:09:08 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.3526564102931133 Sun Apr 12 20:09:08 2026 [SB3 Runner][TEST] Step 69 done=True reward=-1.0 Sun Apr 12 20:09:08 2026 [SB3 Runner][TEST] Episode 10 ended after 69 steps at Sun Apr 12 20:09:08 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:09:08 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:09:08 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:09:08 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:09:10 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 ===== END RUN 19 ===== Sun Apr 12 08:09:10 PM EDT 2026 ===== RUN 20 ===== Sun Apr 12 08:09:12 PM EDT 2026 /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 20:09:15 2026 [SB3 Runner][MONITOR] Action discretization: steer=3, throttle=3. Sun Apr 12 20:09:15 2026 [SB3 Runner][TEST] Episode 1/10 - reset at Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.487290449999534 Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.025234481518737 Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2696713864106883 Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.796639467803989 Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.2916744161972058 Sun Apr 12 20:09:16 2026 [SB3 Runner][TEST] Step 60 done=True reward=-1.0 Sun Apr 12 20:09:17 2026 [SB3 Runner][TEST] Episode 1 ended after 60 steps at Sun Apr 12 20:09:17 2026 [SB3 Runner][TEST] Episode 2/10 - reset at Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.13334825070806172 Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7559984686303208 Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.3021528037001358 Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6159621585223476 Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Step 48 done=True reward=-1.0 Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Episode 2 ended after 48 steps at Sun Apr 12 20:09:18 2026 [SB3 Runner][TEST] Episode 3/10 - reset at Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4900586523637981 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.689060037117775 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.077958542999985 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.1675077181831013 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.5960794247944478 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Step 58 done=True reward=-1.0 Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Episode 3 ended after 58 steps at Sun Apr 12 20:09:20 2026 [SB3 Runner][TEST] Episode 4/10 - reset at Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.36282493681039735 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.7059665111234973 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.2205313029028744 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.4382387613519811 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.7787272344967895 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 60 done=False reward=1.7107649307525372 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.047609127486335 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.7011279214787554 Sun Apr 12 20:09:22 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.2071512579841261 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.5331504604875021 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 110 done=False reward=0.8154563322681523 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 120 done=False reward=0.7455897884228101 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 130 done=False reward=1.4251046525436912 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 140 done=False reward=2.09919369757645 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 150 done=False reward=2.1315805961574616 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Step 160 done=True reward=-1.0 Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Episode 4 ended after 160 steps at Sun Apr 12 20:09:23 2026 [SB3 Runner][TEST] Episode 5/10 - reset at Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3761642960255997 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.5878188752395554 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8758416833928325 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0730447768571352 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.9326610645442959 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.7420440353382101 Sun Apr 12 20:09:25 2026 [SB3 Runner][TEST] Step 70 done=False reward=1.5891961567859956 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.7157024186566405 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.926577106467141 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.5643041516835239 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 110 done=False reward=2.1517560562966684 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 120 done=False reward=2.8073548988497437 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 130 done=False reward=0.781732838105006 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Step 134 done=True reward=-1.0 Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Episode 5 ended after 134 steps at Sun Apr 12 20:09:26 2026 [SB3 Runner][TEST] Episode 6/10 - reset at Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3590937942881679 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.0573270808361037 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.4420772677850378 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.6903958239270327 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.825487861907702 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.8841189327155232 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Step 66 done=True reward=-1.0 Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Episode 6 ended after 66 steps at Sun Apr 12 20:09:28 2026 [SB3 Runner][TEST] Episode 7/10 - reset at Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.4280474872948679 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.3405130337121762 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.279557057513244 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.0967315170627945 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.1691265147815717 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 60 done=False reward=2.138308919849079 Sun Apr 12 20:09:30 2026 [SB3 Runner][TEST] Step 70 done=False reward=2.1930609927686677 Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Step 80 done=False reward=1.3505320862393624 Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Step 90 done=False reward=1.8406611717063368 Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Step 100 done=False reward=0.2727384317535103 Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Step 101 done=True reward=-1.0 Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Episode 7 ended after 101 steps at Sun Apr 12 20:09:31 2026 [SB3 Runner][TEST] Episode 8/10 - reset at Sun Apr 12 20:09:32 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.6776686296784862 Sun Apr 12 20:09:32 2026 [SB3 Runner][TEST] Step 20 done=False reward=1.3310097073693936 Sun Apr 12 20:09:32 2026 [SB3 Runner][TEST] Step 30 done=False reward=1.5822281675855911 Sun Apr 12 20:09:32 2026 [SB3 Runner][TEST] Step 40 done=False reward=1.788259841275812 Sun Apr 12 20:09:33 2026 [SB3 Runner][TEST] Step 50 done=False reward=1.0329782722859011 Sun Apr 12 20:09:33 2026 [SB3 Runner][TEST] Step 56 done=True reward=-1.0 Sun Apr 12 20:09:33 2026 [SB3 Runner][TEST] Episode 8 ended after 56 steps at Sun Apr 12 20:09:33 2026 [SB3 Runner][TEST] Episode 9/10 - reset at Sun Apr 12 20:09:34 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.3652586207214113 Sun Apr 12 20:09:34 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.6778484885361739 Sun Apr 12 20:09:34 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.9543447385729847 Sun Apr 12 20:09:34 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.888260476647694 Sun Apr 12 20:09:35 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.8902320784874977 Sun Apr 12 20:09:35 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.34715163663798576 Sun Apr 12 20:09:35 2026 [SB3 Runner][TEST] Step 64 done=True reward=-1.0 Sun Apr 12 20:09:35 2026 [SB3 Runner][TEST] Episode 9 ended after 64 steps at Sun Apr 12 20:09:35 2026 [SB3 Runner][TEST] Episode 10/10 - reset at Sun Apr 12 20:09:36 2026 [SB3 Runner][TEST] Step 10 done=False reward=0.5699155889511026 Sun Apr 12 20:09:36 2026 [SB3 Runner][TEST] Step 20 done=False reward=0.8277009757620966 Sun Apr 12 20:09:36 2026 [SB3 Runner][TEST] Step 30 done=False reward=0.8981661595639635 Sun Apr 12 20:09:36 2026 [SB3 Runner][TEST] Step 40 done=False reward=0.6986437066380928 Sun Apr 12 20:09:36 2026 [SB3 Runner][TEST] Step 50 done=False reward=0.568315324790113 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 60 done=False reward=0.6183947410410052 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 70 done=False reward=0.942968902263444 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 80 done=False reward=0.6624664758487661 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 90 done=False reward=0.8325844936998291 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 100 done=False reward=1.6412597666652529 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 110 done=False reward=1.2978200291507451 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Step 117 done=True reward=-1.0 Sun Apr 12 20:09:37 2026 [SB3 Runner][TEST] Episode 10 ended after 117 steps at Sun Apr 12 20:09:37 2026 [SB3 Runner][MONITOR] Calling env.close() at Sun Apr 12 20:09:37 2026 [SB3 Runner][MONITOR] env.close() complete. Sun Apr 12 20:09:37 2026 [SB3 Runner][MONITOR] Waiting 2s before process exit to avoid race. Sun Apr 12 20:09:37 2026 [SB3 Runner][MONITOR] Exiting RL runner at Sun Apr 12 20:09:39 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 ===== END RUN 20 ===== Sun Apr 12 08:09:40 PM EDT 2026